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Issue receiving CAN Frames

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Erwan03
Associate III

‎2024-05-16 12:48 AM - last edited on ‎2024-05-16 01:16 AM by

Hello ST community,

 

I am currently programming an ECU system, using f446re nucleo board. Right now i am trying to communicate with BMS using CAN communication.

So far, everything has been set: CAN Initialization and start, sending works properly.

The issue i am facing is that i cannot receive frames from battery, even though i can communicate with laptop for UDS protocole (Reception works properly in that case), but when i try with the battery, the debug mode doesn't stop at the rx interrupt routine.

I have verified the CANFilter configuration to make sure, i didn't see any mistake, nothing has been changed but i only can communicate with UDS frames and not with batteries.

for example: frame ID 0x586 entering fifo0 with such a filter:

 

void CAN_Filter_FIFO0(CAN_HandleTypeDef* hcan)

{

CAN_FilterTypeDef canfilterconfig;



canfilterconfig.FilterActivation = CAN_FILTER_ENABLE;

canfilterconfig.FilterBank = 10;

canfilterconfig.FilterFIFOAssignment = CAN_FILTER_FIFO0;

canfilterconfig.FilterIdHigh = 0x580 << 5; // According to the DBC

canfilterconfig.FilterIdLow = 0x0000;

canfilterconfig.FilterMaskIdHigh = 0xfe0<<5;// Calculation of the mask according to the DBC

canfilterconfig.FilterMaskIdLow = 0x0000;

canfilterconfig.FilterMode = CAN_FILTERMODE_IDMASK;

canfilterconfig.FilterScale = CAN_FILTERSCALE_32BIT;

canfilterconfig.SlaveStartFilterBank = 13;

HAL_CAN_ConfigFilter(hcan, &canfilterconfig);

}

Please let me know if anyone has any idea.

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Erwan03
Associate III

‎2024-05-21 06:11 AM

Alright, found the problem, I was using both fifo0 and fifo1 for receiving whereas i had to use only one for all the frames. Don't know how to use both of them s

void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan)
{
	HAL_CAN_GetRxMessage(&hcan1, CAN_RX_FIFO0, &RxHeader, RxFrame);
	  {
		  switch(RxHeader.StdId)
		  {
		  	  case 0x586:
				  BatteryChargeCurrent_rcv(RxFrame, &rx_BCC); //Receive frame
				  BatteryChargeCurrent_memHandler(rx_BCC, &h_BCC); //handle memory
				  BCCFlag++;
				  break;
		  	case 0x591:
				  BatteryCurrentLimit_rcv(RxFrame, &rx_BCL); //Receive frame
				  BatteryCurrentLimit_memHandler(rx_BCL, h_BCL); //handle memory
				  BCLFlag++;
				  break;
			  case 0x587:
				  BatteryStatusCharge_rcv(RxFrame, &rx_BSC); //Receive frame
				  BatteryStatusCharge_memHandler(rx_BSC, h_BSC); //handle memory
				  BSCFlag++;
				  break;
			  case 0x580:
				  BatteryStatusGeneral_rcv(RxFrame, &rx_BSG); //Receive frame
				  BatteryStatusGeneral_memHandler(rx_BSG, h_BSG); //handle memory
				  BSGFlag++;
				  break;
			  case 0x59f:
				  BatteryVehicleHandling_rcv(RxFrame, &rx_BVH); //Receive frame
				  BatteryVehicleHandling_memHandler(rx_BVH, h_BVH); //handle memory
				  BVHFlag++;
				  break;
		  	  case 0x24:
		  		  EPIC_PMZ_A_rcv(RxFrame, &rx_pmzA); //Receive frame
		  		  EPIC_PMZ_A_memHandler(rx_pmzA, h_PMZ_A); //handle memory
		  		  break;
		  	  case 0x50:
		  		  EPIC_PMZ_C_rcv(RxFrame, &rx_pmzC); //Receive frame
		  		  EPIC_PMZ_C_memHandler(rx_pmzC, h_PMZ_C); //handle memory
		  		  break;
		  	  case 0x5A:
		  		  EPIC_PMZ_E_rcv(RxFrame, &rx_pmzE); //Receive frame
		  		  EPIC_PMZ_E_memHandler(rx_pmzE, h_PMZ_E); //handle memory
		  		  break;
		  	  case 0x5E:
		  		  EPIC_PMZ_G_rcv(RxFrame, &rx_pmzG); //Receive frame
		  		  EPIC_PMZ_G_memHandler(rx_pmzG, h_PMZ_G); //handle memory
		  		  break;
		  	  case 0x60:
		  		  EPIC_PMZ_H_rcv(RxFrame, &rx_pmzH); //Receive frame
		  		  EPIC_PMZ_H_memHandler(rx_pmzH, h_PMZ_H); //handle memory
		  		  break;
		  	  case 0x4e2:
		  		  EPIC_PMZ_I_rcv(RxFrame, &rx_pmzI); //Receive frame
		  		  EPIC_PMZ_I_memHandler(rx_pmzI, &h_PMZ_I); //handle memory
		  		  break;
		  	  case 0x621:
		  		  HMI_DATA1_rcv(RxFrame, &rx_cluster); //Receive frame
		  		  HMI_DATA1_memHandler(rx_cluster, h_HMI); //handle memory
		  		  break;
		  	  case 0x719:
		  		  UDS_DIAG_rcv(RxFrame);
		  		  UDSFlag ++;
		  		  break;
		  	  case 0x700:
		  		  DCDC700_rcv(RxFrame, &rx_dcdc700); //Receive frame
		  		  DCDC700_memHandler(rx_dcdc700, DCDC_700); //handle memory
		  		  break;
		  	  case 0x703:
		  		  DCDC703_rcv(RxFrame, &rx_dcdc703); //Receive frame
		  		  break;
		  	  default:
		  		  sprintf(msg, "Unknown ID in FIFO 1\r\n");
		  		  HAL_UART_Transmit(&huart2, (uint8_t*)msg, strlen(msg), HAL_MAX_DELAY);
		  		  break;
		  }
	  }
}

imultaneously. Then i used only one to receive the frames and it works.

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SofLit
ST Employee

‎2024-05-16 01:13 AM - edited ‎2024-05-16 01:15 AM

Hello,

Try first with "passing all messages" filter to be sure it's not a filter config issue:

 

canfilterconfig.FilterIdHigh = 0,
canfilterconfig.FilterIdLow = 0;
canfilterconfig.FilterMaskIdHigh = 0;
canfilterconfig.FilterMaskIdLow = 0;

 

PS: next time please use <\> button to insert your code. Thank you for your understanding.

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Erwan03
Associate III
In response to SofLit

‎2024-05-16 02:12 AM

Hello thank you for your quick answer.

 

I did what you said put 0 to cancel the filter. but nothing changed, here is a code of the following files: main.c; CanfilterConfig.c

 

main

void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan)
{
	HAL_CAN_GetRxMessage(&hcan1, CAN_RX_FIFO0, &RxHeader, RxFrame);
	  {
		  switch(RxHeader.StdId)
		  {
			  case 0x586:
				  BatteryChargeCurrent_rcv(RxFrame, &rx_BCC); //Receive frame
				  BatteryChargeCurrent_memHandler(rx_BCC, &h_BCC); //handle memory
				  BCCFlag++;
				  break;
			  case 0x591:
				  BatteryCurrentLimit_rcv(RxFrame, &rx_BCL); //Receive frame
				  BatteryCurrentLimit_memHandler(rx_BCL, h_BCL); //handle memory
				  BCLFlag++;
				  break;
			  case 0x587:
				  BatteryStatusCharge_rcv(RxFrame, &rx_BSC); //Receive frame
				  BatteryStatusCharge_memHandler(rx_BSC, h_BSC); //handle memory
				  BSCFlag++;
				  break;
			  case 0x580:
				  BatteryStatusGeneral_rcv(RxFrame, &rx_BSG); //Receive frame
				  BatteryStatusGeneral_memHandler(rx_BSG, h_BSG); //handle memory
				  BSGFlag++;
				  break;
			  case 0x59f:
				  BatteryVehicleHandling_rcv(RxFrame, &rx_BVH); //Receive frame
				  BatteryVehicleHandling_memHandler(rx_BVH, h_BVH); //handle memory
				  BVHFlag++;
				  break;
			  default:
				  sprintf(msg, "Unknown ID in FIFO 0\r\n");
				  HAL_UART_Transmit(&huart2, (uint8_t*)msg, strlen(msg), HAL_MAX_DELAY);
				  break;
		  }
	  }
}

int main(void)
{
  /* USER CODE BEGIN 1 */

  /* USER CODE END 1 */

  /* MCU Configuration--------------------------------------------------------*/

  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  HAL_Init();

  /* USER CODE BEGIN Init */
  DID_Init();
  /* USER CODE END Init */

  /* Configure the system clock */
  SystemClock_Config();

  /* USER CODE BEGIN SysInit */

  /* USER CODE END SysInit */

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_DMA_Init();
  MX_USART2_UART_Init();
  MX_CAN1_Init();
  MX_ADC1_Init();
  MX_TIM6_Init();
  /* USER CODE BEGIN 2 */
  CAN_Filter_FIFO0(&hcan1); // Filter config for FIFO0
  CAN_Filter_FIFO1(&hcan1); // Filter config for FIFO1
  HAL_CAN_Start(&hcan1);

  HAL_CAN_ActivateNotification(&hcan1, CAN_IT_RX_FIFO0_MSG_PENDING); // Enable Interrupt at FIFO0 reception
  HAL_CAN_ActivateNotification(&hcan1, CAN_IT_RX_FIFO1_MSG_PENDING); // Enable Interrupt at FIFO1 reception

  HAL_TIM_Base_Start_IT(&htim6); // Start timer for scheduled frame sending
  //HAL_ADC_Start_IT(&hadc1); // Start adc

  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  uint8_t countpres;
  while (1)
  {
    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */
//	  if (uADCConversionCpltFlag) {
//	  		uiADCRawValueBuffer = HAL_ADC_GetValue(&hadc1);
//	  		sprintf(msg, "Throttle: %hu \r\n", uiADCRawValueBuffer);
//	  		HAL_UART_Transmit(&huart2, (uint8_t *)msg, strlen(msg), HAL_MAX_DELAY);
//	  	}

	  /*Single channel polling*/
//		HAL_ADC_Start(&hadc1);
//		HAL_ADC_PollForConversion(&hadc1, HAL_MAX_DELAY);
//		uiADCRawValueBuffer = HAL_ADC_GetValue(&hadc1);
//		sprintf(msg, "Throttle: %hu \r\n", uiADCRawValueBuffer);
//		HAL_UART_Transmit(&huart2, (uint8_t *)msg, strlen(msg), HAL_MAX_DELAY);

	  /****************** USABLE CODE ******************/

	  /*SEND UDS RESPONSE*/

	  if(UDSFlag!=0)
	  {
		  UDSFlag = 0;
		  UDS_Response_mgt(RxFrame, VCU_Response, &TxHeader, TxFrame);
		  CAN_Send_Periodic();
	  }

	  if(BCCFlag!=0)
	  {
		  BCCFlag = 0;
		  Discharge_Battery();
		  Discharge_DCDC();
		  sprintf(msg, "BatteryChargeCurrent frame received\r\n");
		  HAL_UART_Transmit(&huart2, (uint8_t*)msg, strlen(msg), HAL_MAX_DELAY);
	  }

	  if(BCLFlag!=0)
	  {
		  BCLFlag = 0;
		  Discharge_Battery();
		  Discharge_DCDC();
		  sprintf(msg, "BatteryCurrentLimit frame received\r\n");
		  HAL_UART_Transmit(&huart2, (uint8_t*)msg, strlen(msg), HAL_MAX_DELAY);
	  }

	  if(BSCFlag!=0)
	  {
		  BSCFlag = 0;
		  Discharge_Battery();
		  Discharge_DCDC();
		  sprintf(msg, "BatteryStatusCharge frame received\r\n");
		  HAL_UART_Transmit(&huart2, (uint8_t*)msg, strlen(msg), HAL_MAX_DELAY);
	  }

	  if(BSGFlag!=0)
	  {
		  BSGFlag = 0;
		  Discharge_Battery();
		  Discharge_DCDC();
		  sprintf(msg, "BatteryStatusGeneral frame received\r\n");
		  HAL_UART_Transmit(&huart2, (uint8_t*)msg, strlen(msg), HAL_MAX_DELAY);
	  }
 }
}

 

CanFilterConfig

#include "CanFilterConfig.h"


void CAN_Filter_FIFO0(CAN_HandleTypeDef* hcan)
{
	  CAN_FilterTypeDef canfilterconfig;

	  canfilterconfig.FilterActivation = CAN_FILTER_ENABLE;
	  canfilterconfig.FilterBank = 10;
	  canfilterconfig.FilterFIFOAssignment = CAN_FILTER_FIFO0;
	  canfilterconfig.FilterIdHigh = 0x580 << 5; // According to the DBC
	  canfilterconfig.FilterIdLow = 0x0000;
	  canfilterconfig.FilterMaskIdHigh = 0xfe0 << 5;// Calculation of the mask according to the DBC
	  canfilterconfig.FilterMaskIdLow = 0x0000;
	  canfilterconfig.FilterMode = CAN_FILTERMODE_IDMASK;
	  canfilterconfig.FilterScale = CAN_FILTERSCALE_32BIT;
	  canfilterconfig.SlaveStartFilterBank = 13;

	  HAL_CAN_ConfigFilter(hcan, &canfilterconfig);
}

 

Thank you again for your time

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SofLit
ST Employee
In response to Erwan03

‎2024-05-16 02:16 AM

Hello,

Better to attach your main.c and your ioc files.

+ keep the filters to 0 for the moment.

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Erwan03
Associate III
In response to SofLit

‎2024-05-16 02:19 AM

ok, here they are.

Preview file
22 KB
CAN_transmission_LIGIER.ioc
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SofLit
ST Employee
In response to Erwan03

‎2024-05-16 02:26 AM

Hello,

Thanks for the sharing,

Do you confirm you did a test with:

canfilterconfig.FilterIdHigh = 0,
canfilterconfig.FilterIdLow = 0;
canfilterconfig.FilterMaskIdHigh = 0;
canfilterconfig.FilterMaskIdLow = 0;

and didn't work?

To give better visibility on the answered topics, please click on "Accept as Solution" on the reply which solved your issue or answered your question.
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Erwan03
Associate III
In response to SofLit

‎2024-05-16 02:38 AM

Yes, i confirm that it is not working even with every fields set to 0.

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SofLit
ST Employee
In response to Erwan03

‎2024-05-16 02:49 AM

Ok thank you.

Here I'm just pointing this statement:

"even though i can communicate with laptop for UDS protocole (Reception works properly in that case), but when i try with the battery, the debug mode doesn't stop at the rx interrupt routine."

So as I understand here, the receiving is working well when you send frames from your laptop (with a CAN bridge I suppose) but you couldn't receive any frame from the battery right?

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Erwan03
Associate III
In response to SofLit

‎2024-05-16 04:41 AM

Yes, actuallty i tried to communicate with BMS (directly on battery) but debug mode is not possible in that case so i am using the laptop to simulate the behavior but sending the frames i want, to test my state machine.

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Erwan03
Associate III
In response to SofLit

‎2024-05-16 06:35 AM

Anyways i just noticed that the frame is sent continuously from the laptop maybe it is the source of the problem. Gonna fix it, thank you very much for your support!

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