Hello,
I am trying to make FDCAN work but I am not receiving any messages. The TX is working fine but when trying to receive messages the interrupt is not triggered. I am using STM32H7 series with freertos.
I have set the filter, started FDCAN, enabled interrupts, activated notifications,.. Any idea what I have missed?
Even when using external loopback, I can see the messages being sent but the interrupt is not triggering.
This is my code:
/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file fdcan.c
* @brief This file provides code for the configuration
* of the FDCAN instances.
******************************************************************************
* @attention
*
* Copyright (c) 2024 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS.
*
******************************************************************************
*/
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "cmsis_os2.h"
#include "fdcan.h"
#include "stm32h7rsxx_it.h"
/* USER CODE BEGIN 0 */
#define TX_TIMEOUT (1000U) /* Transmission timeout in ms */
/* Hardware related, can't be changed */
#define NB_RX_FIFO (3U) /* Number of RX FIFO Elements available */
FDCAN_RxHeaderTypeDef rxHeader;
uint8_t rxData[12U];
static const uint8_t txData0[] = {0x10, 0x32, 0x54, 0x76, 0x98, 0x00, 0x11, 0x22, 0x33, 0x44, 0x55, 0x66};
static const uint8_t txData1[] = {0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55};
static const uint8_t txData2[] = {0xFF, 0x00, 0xFF, 0x00, 0xFF, 0x00, 0xFF, 0x00, 0xFF, 0x00, 0xFF, 0x00};
/* USER CODE END 0 */
FDCAN_HandleTypeDef hfdcan1;
/* FDCAN1 init function */
void MX_FDCAN1_Init(void)
{
/* USER CODE BEGIN FDCAN1_Init 0 */
/* USER CODE END FDCAN1_Init 0 */
/* USER CODE BEGIN FDCAN1_Init 1 */
/* USER CODE END FDCAN1_Init 1 */
hfdcan1.Instance = FDCAN1;
hfdcan1.Init.ClockDivider = FDCAN_CLOCK_DIV1;
hfdcan1.Init.FrameFormat = FDCAN_FRAME_CLASSIC;
hfdcan1.Init.Mode = FDCAN_MODE_NORMAL;
hfdcan1.Init.AutoRetransmission = ENABLE;
hfdcan1.Init.TransmitPause = DISABLE;
hfdcan1.Init.ProtocolException = DISABLE;
hfdcan1.Init.NominalPrescaler = 8;
hfdcan1.Init.NominalSyncJumpWidth = 1;
hfdcan1.Init.NominalTimeSeg1 = 8;
hfdcan1.Init.NominalTimeSeg2 = 3;
hfdcan1.Init.DataPrescaler = 1;
hfdcan1.Init.DataSyncJumpWidth = 1;
hfdcan1.Init.DataTimeSeg1 = 1;
hfdcan1.Init.DataTimeSeg2 = 1;
hfdcan1.Init.StdFiltersNbr = 0;
hfdcan1.Init.ExtFiltersNbr = 0;
hfdcan1.Init.TxFifoQueueMode = FDCAN_TX_FIFO_OPERATION;
if (HAL_FDCAN_Init(&hfdcan1) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN FDCAN1_Init 2 */
/* USER CODE END FDCAN1_Init 2 */
}
void HAL_FDCAN_MspInit(FDCAN_HandleTypeDef* fdcanHandle)
{
GPIO_InitTypeDef GPIO_InitStruct = {0};
RCC_PeriphCLKInitTypeDef PeriphClkInit = {0};
if(fdcanHandle->Instance==FDCAN1)
{
/* USER CODE BEGIN FDCAN1_MspInit 0 */
/* USER CODE END FDCAN1_MspInit 0 */
/** Initializes the peripherals clock
*/
PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_FDCAN;
PeriphClkInit.FdcanClockSelection = RCC_FDCANCLKSOURCE_HSE;
if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK)
{
Error_Handler();
}
/* FDCAN1 clock enable */
__HAL_RCC_FDCAN_CLK_ENABLE();
__HAL_RCC_GPIOD_CLK_ENABLE();
/**FDCAN1 GPIO Configuration
PD1 ------> FDCAN1_TX
PD0 ------> FDCAN1_RX
*/
GPIO_InitStruct.Pin = GPIO_PIN_1|GPIO_PIN_0;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
GPIO_InitStruct.Alternate = GPIO_AF9_FDCAN1;
HAL_GPIO_Init(GPIOD, &GPIO_InitStruct);
/* FDCAN1 interrupt Init */
HAL_NVIC_SetPriority(FDCAN1_IT0_IRQn, 5, 0);
HAL_NVIC_EnableIRQ(FDCAN1_IT0_IRQn);
/* USER CODE BEGIN FDCAN1_MspInit 1 */
/* USER CODE END FDCAN1_MspInit 1 */
}
}
void HAL_FDCAN_MspDeInit(FDCAN_HandleTypeDef* fdcanHandle)
{
if(fdcanHandle->Instance==FDCAN1)
{
/* USER CODE BEGIN FDCAN1_MspDeInit 0 */
/* USER CODE END FDCAN1_MspDeInit 0 */
/* Peripheral clock disable */
__HAL_RCC_FDCAN_CLK_DISABLE();
/**FDCAN1 GPIO Configuration
PD1 ------> FDCAN1_TX
PD0 ------> FDCAN1_RX
*/
HAL_GPIO_DeInit(GPIOD, GPIO_PIN_1|GPIO_PIN_0);
/* FDCAN1 interrupt Deinit */
HAL_NVIC_DisableIRQ(FDCAN1_IT0_IRQn);
/* USER CODE BEGIN FDCAN1_MspDeInit 1 */
/* USER CODE END FDCAN1_MspDeInit 1 */
}
}
/* USER CODE BEGIN 1 */
void FDCAN_Task(void *argument)
{
/* USER CODE BEGIN FDCAN_Task */
// Activate the notification for new data in FIFO0 for FDCAN1
if (HAL_FDCAN_ActivateNotification(&hfdcan1, FDCAN_IT_RX_FIFO0_NEW_MESSAGE, 0) != HAL_OK)
{
/* Notification Error */
Error_Handler();
}
// Start FDCAN
/*##-1 Configure the FDCAN filters ########################################*/
/* Configure standard ID reception filter to Rx FIFO 0. Only accept ID = FilterID1 */
FDCAN_FilterTypeDef sFilterConfig;
sFilterConfig.IdType = FDCAN_STANDARD_ID;
sFilterConfig.FilterIndex = 0U;
sFilterConfig.FilterType = FDCAN_FILTER_DUAL;
sFilterConfig.FilterConfig = FDCAN_FILTER_TO_RXFIFO0;
sFilterConfig.FilterID1 = 0x444;
sFilterConfig.FilterID2 = 0x444; /* For acceptance, MessageID and FilterID1 must match exactly */
if (HAL_FDCAN_ConfigFilter(&hfdcan1, &sFilterConfig) != HAL_OK)
{
Error_Handler();
}
/* Configure extended ID reception filter to Rx FIFO 1. Only accept ID between FilterID1 and FilterID2. */
sFilterConfig.IdType = FDCAN_EXTENDED_ID;
sFilterConfig.FilterIndex = 0U;
sFilterConfig.FilterType = FDCAN_FILTER_RANGE_NO_EIDM;
sFilterConfig.FilterConfig = FDCAN_FILTER_TO_RXFIFO1;
sFilterConfig.FilterID1 = 0x1111111;
sFilterConfig.FilterID2 = 0x2222222;
if (HAL_FDCAN_ConfigFilter(&hfdcan1, &sFilterConfig) != HAL_OK)
{
Error_Handler();
}
/**
* Configure global filter:
* - Filter all remote frames with STD and EXT ID
* - Reject non matching frames with STD ID and EXT ID
*/
if (HAL_FDCAN_ConfigGlobalFilter(&hfdcan1,
FDCAN_REJECT, FDCAN_REJECT,
FDCAN_FILTER_REMOTE, FDCAN_FILTER_REMOTE) != HAL_OK)
{
Error_Handler();
}
/*##-2 Start FDCAN controller (continuous listening CAN bus) ##############*/
if (HAL_FDCAN_Start(&hfdcan1) != HAL_OK)
{
Error_Handler();
}
// Activate the notification for new data in FIFO0 for FDCAN1
if (HAL_FDCAN_ActivateNotification(&hfdcan1, FDCAN_IT_RX_FIFO0_NEW_MESSAGE, 0) != HAL_OK)
{
/* Notification Error */
Error_Handler();
}
/* Infinite loop */
for(;;)
{
// /*##-3 Transmit messages ##################################################*/
//
FDCAN_TxHeaderTypeDef txHeader;
/* Add message to Tx FIFO */
txHeader.Identifier = 0x444;
txHeader.IdType = FDCAN_STANDARD_ID;
txHeader.TxFrameType = FDCAN_DATA_FRAME;
txHeader.DataLength = FDCAN_DLC_BYTES_12;
txHeader.ErrorStateIndicator = FDCAN_ESI_ACTIVE;
txHeader.BitRateSwitch = FDCAN_BRS_ON;
txHeader.FDFormat = FDCAN_FD_CAN;
txHeader.TxEventFifoControl = FDCAN_STORE_TX_EVENTS;
txHeader.MessageMarker = 0x52U;
if (HAL_FDCAN_AddMessageToTxFifoQ(&hfdcan1, &txHeader, txData0) != HAL_OK)
{
Error_Handler();
}
/* Add second message to Tx FIFO */
txHeader.Identifier = 0x1111112;
txHeader.IdType = FDCAN_EXTENDED_ID;
txHeader.TxFrameType = FDCAN_DATA_FRAME;
txHeader.DataLength = FDCAN_DLC_BYTES_12;
txHeader.ErrorStateIndicator = FDCAN_ESI_PASSIVE;
txHeader.BitRateSwitch = FDCAN_BRS_ON;
txHeader.FDFormat = FDCAN_FD_CAN;
txHeader.TxEventFifoControl = FDCAN_STORE_TX_EVENTS;
txHeader.MessageMarker = 0xCCU;
if (HAL_FDCAN_AddMessageToTxFifoQ(&hfdcan1, &txHeader, txData1) != HAL_OK)
{
Error_Handler();
}
/* Add third message to Tx FIFO */
txHeader.Identifier = 0x1111113;
txHeader.IdType = FDCAN_EXTENDED_ID;
txHeader.TxFrameType = FDCAN_DATA_FRAME;
txHeader.DataLength = FDCAN_DLC_BYTES_12;
txHeader.ErrorStateIndicator = FDCAN_ESI_PASSIVE;
txHeader.BitRateSwitch = FDCAN_BRS_OFF;
txHeader.FDFormat = FDCAN_FD_CAN;
txHeader.TxEventFifoControl = FDCAN_STORE_TX_EVENTS;
txHeader.MessageMarker = 0xDDU;
if (HAL_FDCAN_AddMessageToTxFifoQ(&hfdcan1, &txHeader, txData2) != HAL_OK)
{
Error_Handler();
}
/* Get tick */
uint32_t tickstart = HAL_GetTick();
/* Wait transmission complete */
while (HAL_FDCAN_GetTxFifoFreeLevel(&hfdcan1) != NB_RX_FIFO)
{
/* Timeout handling */
if ((HAL_GetTick() - tickstart) > TX_TIMEOUT)
{
Error_Handler();
}
}
/*##-4 Receive messages ###################################################*/
/* Check one message is received in Rx FIFO 0 */
HAL_FDCAN_GetRxFifoFillLevel(&hfdcan1, FDCAN_RX_FIFO0);
/* Retrieve message from Rx FIFO 0 */
HAL_FDCAN_GetRxMessage(&hfdcan1, FDCAN_RX_FIFO0, &rxHeader, rxData);
osDelay(1);
}
/* USER CODE END FDCAN_Task */
}
void HAL_FDCAN_RxFifo0Callback(FDCAN_HandleTypeDef *hfdcan, uint32_t RxFifo0ITs)
{
if((RxFifo0ITs & FDCAN_IT_RX_FIFO0_NEW_MESSAGE) != RESET)
{
/* Retreive Rx messages from RX FIFO0 */
if (HAL_FDCAN_GetRxMessage(hfdcan, FDCAN_RX_FIFO0, &rxHeader, &rxData) != HAL_OK)
{
/* Reception Error */
Error_Handler();
}
if (HAL_FDCAN_ActivateNotification(hfdcan, FDCAN_IT_RX_FIFO0_NEW_MESSAGE, 0) != HAL_OK)
{
/* Notification Error */
Error_Handler();
}
}
}
/* USER CODE END 1 */
