FDCAN not receive messages from a few particular sensors

[Ping1]

Dear all

I am using STM32H563 and interface with some CAN bus sensors to receive and sometimes send data to them. The CAN bus sensors are developed by a partner company. I developed my software refer to FDCAN_Com_IT example provided in IDE firmware package. They work fine most of time, but there is an issue has been bother me - for a few sensors, tmy software doesn't receive the message form them, it doesn't generate interrupt simply.  Don't think the sensor module is fault as they can be received by a CANUSB dongle, it seems the issues are with a few fixed sensor modules only, so i am wonder what I have done wrong to miss the message, on Logic analyser, message can be seen although sometimes it is with error, but most of time, they are fine, just doesn't reach my ISR.

Regards!

Ping

[Ozone]

You would need to present that FDCAN configuration settings (code) to check this issue.
Perhaps the message filtering settings are the problem.
Set those to default (no filtering), and implement filters later, once communication works otherwise.

Additionally I would check the TEC and REC fields in the CAN status.

[LCE]

And maybe the messages that you can't receive use bit rate switching (BRS) ?

[Ping1]

Hi, LCE, thanks for reply!

Below is FDCAN configuration - CAN sensor use extended message ID at 500kbps, they are all same.

  hfdcan2.Instance = FDCAN2;
  hfdcan2.Init.ClockDivider = FDCAN_CLOCK_DIV1;
  hfdcan2.Init.FrameFormat = FDCAN_FRAME_CLASSIC;
  hfdcan2.Init.Mode = FDCAN_MODE_NORMAL;
  hfdcan2.Init.AutoRetransmission = ENABLE;
  hfdcan2.Init.TransmitPause = ENABLE;
  hfdcan2.Init.ProtocolException = ENABLE;
  hfdcan2.Init.NominalPrescaler = 4;
  hfdcan2.Init.NominalSyncJumpWidth = 1;
  hfdcan2.Init.NominalTimeSeg1 = 70;
  hfdcan2.Init.NominalTimeSeg2 = 54;
  hfdcan2.Init.DataPrescaler = 1;
  hfdcan2.Init.DataSyncJumpWidth = 1;
  hfdcan2.Init.DataTimeSeg1 = 1;
  hfdcan2.Init.DataTimeSeg2 = 1;
  hfdcan2.Init.StdFiltersNbr = 1;
  hfdcan2.Init.ExtFiltersNbr = 1;
  hfdcan2.Init.TxFifoQueueMode = FDCAN_TX_FIFO_OPERATION;
  if (HAL_FDCAN_Init(&hfdcan2) != HAL_OK)
  {
    Error_Handler();
  }

Below is the code snap for filter configuration, it accept all message IDs, basically.

  /* USER CODE BEGIN FDCAN2_Init 2 */
  /* Configure standard ID reception filter to Rx FIFO 0. accept any message IDs */
  FDCAN_FilterTypeDef        sFilterConfig;
  sFilterConfig.IdType       = FDCAN_EXTENDED_ID;
  sFilterConfig.FilterIndex  = 0U;
  sFilterConfig.FilterType   = FDCAN_FILTER_RANGE_NO_EIDM;
  sFilterConfig.FilterConfig = FDCAN_FILTER_TO_RXFIFO0;
  sFilterConfig.FilterID1    = 0x00000000;
  sFilterConfig.FilterID2    = 0x1FFFFFFF;
  if (HAL_FDCAN_ConfigFilter(&hfdcan2, &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(&hfdcan2,
                                     FDCAN_REJECT, FDCAN_REJECT,
                                     FDCAN_FILTER_REMOTE, FDCAN_FILTER_REMOTE) != HAL_OK)
    {
      Error_Handler();
    }

    /* Activate Rx FIFO 0 new message notification */
    if (HAL_FDCAN_ActivateNotification(&hfdcan2, (FDCAN_IT_RX_FIFO0_NEW_MESSAGE | FDCAN_IT_RX_FIFO0_FULL), 0U) != HAL_OK)  //enable interrupt
    {
      Error_Handler();
    }

    /*##-2 Start FDCAN controller (continuous listening CAN bus) ##############*/

    if (HAL_FDCAN_Start(&hfdcan2) != HAL_OK)
    {
      Error_Handler();
    }

 I did check BRS from received message , it doesn't use BRS, all sensor modules are programmed with same code.

Regards!

Ping

[mƎALLEm]

Hello,

---

@Ping1 wrote:

for a few sensors, tmy software doesn't receive the message form them, it doesn't generate interrupt simply. 

---

1 - Are these sensors (not working) are same as the others which are working? bitrate issue? connection issue?

You need to sniff the frames at CAN_H/CAN_L of the sensors to confirm the sent frames from STM32H5 are well seen on CAN pins of these sensors.

2- It could be also a filtering issue. But for that you need to be sure of:

 - The frames are well seen on CAN_H/CAN_L

 - The bitrate used by these sensors is the same of what you have configured in STM32H5. 

[mƎALLEm]

You didn't show the code responsible of sending frames to the sensors.

Also try the filter config:

  FDCAN_FilterTypeDef        sFilterConfig;
  sFilterConfig.IdType       = FDCAN_STANDARD_ID;
  sFilterConfig.FilterIndex  = 0U;
  sFilterConfig.FilterType   = FDCAN_FILTER_MASK;
  sFilterConfig.FilterConfig = FDCAN_FILTER_TO_RXFIFO0;
  sFilterConfig.FilterID1    = 0;
  sFilterConfig.FilterID2    = 0;