Hi there,
I am using two STM32H723ZGT communicating via FDCAN2 instance (FDCAN, no bit rate switch, 12500 bit/s). Both controller use the same FDCAN initialization code, but different filter IDs.
As shown below, the message is transfered on receiver CAN_Rx (upper trace) and acknowledged on sender CAN_Rx (lower trace), but neither the HAL_FDCAN_RxFifo0Callback() nor HAL_FDCAN_RxFifo1Callback() is triggered. When the receiver is shut down, the ackowledge disapears, so the message seems stuck in the the CAN peripherial.
CAN instance 1 (CAN2.0) is used for communication with other periperhial devices an works as expected.
What am I missing?
Thanks in advance!
CAN2 initialization FDCAN for both controller
/* USER CODE END FDCAN2_Init 1 */
hfdcan2.Instance = FDCAN2;
hfdcan2.Init.FrameFormat = FDCAN_FRAME_FD_NO_BRS;
hfdcan2.Init.Mode = FDCAN_MODE_NORMAL;
hfdcan2.Init.AutoRetransmission = DISABLE;
hfdcan2.Init.TransmitPause = DISABLE;
hfdcan2.Init.ProtocolException = ENABLE;
hfdcan2.Init.NominalPrescaler = 32;
hfdcan2.Init.NominalSyncJumpWidth = 5;
hfdcan2.Init.NominalTimeSeg1 = 32;
hfdcan2.Init.NominalTimeSeg2 = 7;
hfdcan2.Init.DataPrescaler = 1;
hfdcan2.Init.DataSyncJumpWidth = 16;
hfdcan2.Init.DataTimeSeg1 = 20;
hfdcan2.Init.DataTimeSeg2 = 16;
hfdcan2.Init.MessageRAMOffset = 196;
hfdcan2.Init.StdFiltersNbr = 1;
hfdcan2.Init.ExtFiltersNbr = 1;
hfdcan2.Init.RxFifo0ElmtsNbr = 16;
hfdcan2.Init.RxFifo0ElmtSize = FDCAN_DATA_BYTES_64;
hfdcan2.Init.RxFifo1ElmtsNbr = 16;
hfdcan2.Init.RxFifo1ElmtSize = FDCAN_DATA_BYTES_64;
hfdcan2.Init.RxBuffersNbr = 0;
hfdcan2.Init.RxBufferSize = FDCAN_DATA_BYTES_64;
hfdcan2.Init.TxEventsNbr = 0;
hfdcan2.Init.TxBuffersNbr = 0;
hfdcan2.Init.TxFifoQueueElmtsNbr = 16;
hfdcan2.Init.TxFifoQueueMode = FDCAN_TX_FIFO_OPERATION;
hfdcan2.Init.TxElmtSize = FDCAN_DATA_BYTES_64;
if (HAL_FDCAN_Init(&hfdcan2) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN FDCAN2_Init 2 */
CAN2 Filter configuration
uint8_t CAN_ConfigCAN02Filter(uint8_t own_address)
{
//
uint8_t result = 0;
FDCAN_FilterTypeDef canFilterConfig = { 0 };
uint8_t filterindex = 0;
//
canFilterConfig.FilterConfig = FDCAN_FILTER_TO_RXFIFO1;
//
canFilterConfig.IdType = FDCAN_EXTENDED_ID;
//
canFilterConfig.FilterType = FDCAN_FILTER_MASK;
//
canFilterConfig.FilterID1 = own_address; // canIdentifier
canFilterConfig.FilterID2 = 0; // mask: 0 => accept all messages
//
canFilterConfig.RxBufferIndex = 0; // set to 0 if using FIFO
// canFilterConfig.IsCalibrationMsg = 0;
//
canFilterConfig.FilterIndex = filterindex;
// configure the FDCAN reception filter
result += HAL_FDCAN_ConfigFilter(&hfdcan2, &canFilterConfig);
//
filterindex += 2;
// enable Rx interrupts
result += HAL_FDCAN_ActivateNotification(&hfdcan2, FDCAN_IT_RX_FIFO0_NEW_MESSAGE, 0);
result += HAL_FDCAN_ActivateNotification(&hfdcan2, FDCAN_IT_RX_FIFO1_NEW_MESSAGE, 0);
// enable Tx interrupts
result += HAL_FDCAN_ActivateNotification(&hfdcan2, FDCAN_IT_TX_COMPLETE, FDCAN_TX_BUFFER0);
result += HAL_FDCAN_ActivateNotification(&hfdcan2, FDCAN_IT_TX_FIFO_EMPTY, 0);
// configure global filter to reject all non-matching frames
HAL_FDCAN_ConfigGlobalFilter(&hfdcan2,
FDCAN_REJECT,
FDCAN_REJECT,
FDCAN_REJECT_REMOTE,
FDCAN_REJECT_REMOTE);
//
return result;
}
CAN1 initialization CAN2.0
/* USER CODE END FDCAN1_Init 1 */
hfdcan1.Instance = FDCAN1;
hfdcan1.Init.FrameFormat = FDCAN_FRAME_CLASSIC;
hfdcan1.Init.Mode = FDCAN_MODE_NORMAL;
hfdcan1.Init.AutoRetransmission = DISABLE;
hfdcan1.Init.TransmitPause = DISABLE;
hfdcan1.Init.ProtocolException = ENABLE;
hfdcan1.Init.NominalPrescaler = 40;
hfdcan1.Init.NominalSyncJumpWidth = 5;
hfdcan1.Init.NominalTimeSeg1 = 10;
hfdcan1.Init.NominalTimeSeg2 = 9;
hfdcan1.Init.DataPrescaler = 1;
hfdcan1.Init.DataSyncJumpWidth = 16;
hfdcan1.Init.DataTimeSeg1 = 20;
hfdcan1.Init.DataTimeSeg2 = 16;
hfdcan1.Init.MessageRAMOffset = 0;
hfdcan1.Init.StdFiltersNbr = 1;
hfdcan1.Init.ExtFiltersNbr = 1;
hfdcan1.Init.RxFifo0ElmtsNbr = 16;
hfdcan1.Init.RxFifo0ElmtSize = FDCAN_DATA_BYTES_8;
hfdcan1.Init.RxFifo1ElmtsNbr = 0;
hfdcan1.Init.RxFifo1ElmtSize = FDCAN_DATA_BYTES_8;
hfdcan1.Init.RxBuffersNbr = 0;
hfdcan1.Init.RxBufferSize = FDCAN_DATA_BYTES_8;
hfdcan1.Init.TxEventsNbr = 0;
hfdcan1.Init.TxBuffersNbr = 0;
hfdcan1.Init.TxFifoQueueElmtsNbr = 32;
hfdcan1.Init.TxFifoQueueMode = FDCAN_TX_FIFO_OPERATION;
hfdcan1.Init.TxElmtSize = FDCAN_DATA_BYTES_8;
if (HAL_FDCAN_Init(&hfdcan1) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN FDCAN1_Init 2 */
Hi SofLit,
I am using two CAN channels.
Channel 1 H723 A to L432 C
Channel2 H723 A to H723 B
Channel 1 is FDCAN1 in classic format to communicate with a STM32L432 supporting only CAN2.0 (classic) at 20kbit/s.
Channel 2 is FDCAN2 in FDCAN format to communicate with another STM32H723 supporting FDCAN at 12.5kbit/s.
I want to use both channels simultaneously (A - C and A - B) and take advantage of the higher data size of FDCAN, my understanding is that all 3 FDCAN instances are fully independend.
Changing FDCAN2 to classic as recommended shows the same behaviour at receiver B, just an CAN acknowledge no interrupt at the register:
Cheers.
