Some of CAN packet have trouble.

[interactics_ST]

Hello. 

I am developing CAN communication protocols using STM32F429.
However there is a problem in sending CAN frame data.

Here is a picture which I captured in CAN TX using logic analyzer, and as you can see, the series of data is losted after first data.

I tested this with publishing 100Hz, this problem occurred once a minute.

In normal case, it should be like this.

And also I add my code for helping to understanding.

    __disable_irq();

	motorCANTxMailBox = HAL_CAN_GetTxMailboxesFreeLevel(&hcan1);
    HAL_CAN_AddTxMessage(&MTRL_CAN, &motorCANTxHeader, &motorCANTxData[0], &motorCANTxMailBox);

    __enable_irq();

I disabled the non-automatic retransimission and enabled automatic bus-off feature.

But I wonder why the retransimission did not occur.

[interactics_ST]

I can't show all my code because of the confidential. Instead, I show the CAN part of my codes.

here is the G0 code which is responsible for receiving the CAN frame.  

void HAL_FDCAN_RxFifo0Callback(FDCAN_HandleTypeDef *hfdcan, uint32_t RxFifo0ITs){
	if((RxFifo0ITs & FDCAN_IT_RX_FIFO0_NEW_MESSAGE) != RESET){

		HAL_StatusTypeDef ref;

		ref = HAL_FDCAN_GetRxMessage(hfdcan, FDCAN_RX_FIFO0, &RxHeader, RxData);
		if (ref == HAL_OK){

			RxSLCANFrame.can_id = RxHeader.Identifier;
			tester = RxSLCANFrame.can_id;
			if ((RxSLCANFrame.can_id & uint32_t(0x0f)) == NODE_ID){

				RxSLCANFrame.can_id = (RxSLCANFrame.can_id & 0xfffffff0);

				memcpy(RxSLCANFrame.data, RxData, CAN_Frame_len);

				CB_push(&cb_can_frame, &RxSLCANFrame);
				RxCANFrameFlag = true;
			}
		} else {
			Error_Handler();
		}

		ref = HAL_FDCAN_ActivateNotification(hfdcan, FDCAN_IT_RX_FIFO0_NEW_MESSAGE, 0);

		if (ref == HAL_OK){
		} else {
			Error_Handler();
		}
	}
}

and here is F4 code which is in charge of transmitting the packets. and changed some name of the variables.

void CANCmd(const uint32_t node_id, const float rad1, const float rad2){
    uint32_t diriect_ID = 0x700 + node_id;
    uint8_t data[8] ={0,};
    
    data_frame64_t position_cmd_data;

    position_cmd_data.data_float_t[0] = rad1;
    position_cmd_data.data_float_t[1] = rad2;

    CANPacketCreate(diriect_ID, position_cmd_data.data8_t);
    CANWrite();
}

void CANPacketCreate(uint32_t id, uint8_t *data){
    CANTxHeader.StdId = id;
    CANTxHeader.RTR = CAN_RTR_DATA;
    CANTxHeader.IDE = CAN_ID_STD;
    CANTxHeader.DLC = 8;

    memset(CANTxData, 0, 8);
    memcpy(CANTxData, data, 8);

    CANTxMailBox = HAL_CAN_GetTxMailboxesFreeLevel(&MTRL_CAN);
}

void motorCANWrite(){
    CANTxMailBox = HAL_CAN_GetTxMailboxesFreeLevel(&MTRL_CAN);
    __disable_irq();
    HAL_CAN_AddTxMessage(&MTRL_CAN, &CANTxHeader, &CANTxData[0], &CANTxMailBox);
    __enable_irq();

}

[SofLit]

Sorry I need at least ioc files otherwise I can't help you efficiently.

[interactics_ST]

OK. I'll upload it later. 

[interactics_ST · Accepted solution]

I found a trouble in my system.

I had added one more CAN Slave which received the data frames from the STMF4 board, and this was the reason why the CAN BUS didn't work.

After I eliminated this board, the system worked well.

Thank you so much for looking into my problem.

[SofLit]

Not sure I understood how you did solve the problem.

You have one F429 board and in the other side there is a CAN analyzer (only two nodes on the bus). So you removed the third board F4! which board? but at first time this board was not connected to the bus!

[interactics_ST]

The system actually is rather complicated because this board is one of machine systems. So I couldn't exactly catch the whole system structure.

In fact, STMF4 Board have two another CAN devices. One is STMG4 board which I mentioned, and other is another CAN Device, Battery BMS which I didn't catch. After checked this, I removed the BMS device from CAN BUS and then the problem was recovered.

I'm sorry to gave you some confusing parts.