Hello,
I am using STM32G0B1, i have implemented the FDCAN communication but the issue i am facing with the cycle time
i have set the cycle time for 500ms i.e. every 400ms CAN messages will be transmitted.
every thing works good until i am not receiving the CAN message in my callback function but when i send the CAN messages the cycle time for message increases to 1000ms 1500ms and come back to 400ms this happens often.
cycle time when not receiving CAN message (refer below image ID 7A1, 7A2)
cycle time when receiving CAN message (refer below image ID 7A1, 7A2)
below are my code for CAN
void MX_FDCAN2_Init(void)
{
/* USER CODE BEGIN FDCAN2_Init 0 */
/* USER CODE END FDCAN2_Init 0 */
/* USER CODE BEGIN FDCAN2_Init 1 */
/* USER CODE END FDCAN2_Init 1 */
hfdcan2.Instance = FDCAN2;
hfdcan2.Init.ClockDivider = FDCAN_CLOCK_DIV1;
hfdcan2.Init.FrameFormat = FDCAN_FRAME_CLASSIC;
hfdcan2.Init.Mode = FDCAN_MODE_NORMAL;
hfdcan2.Init.AutoRetransmission = DISABLE;
hfdcan2.Init.TransmitPause = DISABLE;
hfdcan2.Init.ProtocolException = DISABLE;
hfdcan2.Init.NominalPrescaler = 32;
hfdcan2.Init.NominalSyncJumpWidth = 1;
hfdcan2.Init.NominalTimeSeg1 = 5;
hfdcan2.Init.NominalTimeSeg2 = 2;
hfdcan2.Init.DataPrescaler = 16;
hfdcan2.Init.DataSyncJumpWidth = 1;
hfdcan2.Init.DataTimeSeg1 = 13;
hfdcan2.Init.DataTimeSeg2 = 2;
hfdcan2.Init.StdFiltersNbr = 27;
hfdcan2.Init.ExtFiltersNbr = 0;
hfdcan2.Init.TxFifoQueueMode = FDCAN_TX_FIFO_OPERATION;
if (HAL_FDCAN_Init(&hfdcan2) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN FDCAN2_Init 2 */
/* USER CODE END FDCAN2_Init 2 */
}
callback function
void HAL_FDCAN_RxFifo0Callback(FDCAN_HandleTypeDef *hfdcan, uint32_t RxFifo0ITs)
{
if (hfdcan == &hfdcan2)
{
FDCAN_RxHeaderTypeDef RxHeader;
uint8_t RxData[8];
HAL_FDCAN_GetRxMessage(hfdcan, FDCAN_RX_FIFO0, &RxHeader, RxData);
if (RxHeader.Identifier == FDCANID_OTA_COMM_RX_6FA)
{
if (RxData[1] == CHIMERA_ID)
{
transmitter = RxData[0];
if (RxData[2] == FUPFG_REQUEST)
{
if (RxData[3] == RECEIVE_CONF)
{
uptype = COTA;
upgrade_state = UPGRADE_INIT;
}
else if (RxData[3] == PERFORM_UPGRADE)
{
set_complete_flag(1);
}
else if (RxData[3] == PAUSE_UPGRADE)
{
set_pause_flag(1);
}
else if (RxData[3] == RESUME_UPGRADE)
{
upgrade_state = UPGRADE_RESUME;
}
else if (RxData[3] == RECEIVE_BIN)
{
uptype = FOTA;
upgrade_state = UPGRADE_INIT;
}
}
}
}
else if (RxHeader.Identifier == FDCANID_FRM_UP_RX_3FE)
{
CAN_TP_Receive_interrupt(TransmitFlowControl, FDCANID_FRM_UP_RX_3FE, (uint8_t *)RxData, RxHeader.DataLength, &firmware_up_recv_shim, &firmware_up_recv_message, &firmware_up_recv_handle, &canTpinterrupt_flag);
}
else if (RxHeader.Identifier == FDCANID_DBG_RX_301)
{
if (RxData[0] == 0x01)
{
debug_State = DEBUG_ENABLE;
chimera.ADBMode = DEBUG_ENABLE;
}
else if (RxData[0] == 0x00)
{
debug_State = DEBUG_DISABLE;
chimera.ADBMode = DEBUG_DISABLE;
}
chimera.developerMode = RxData[1];
}
// RPAS DATA (CAN ID will remain same)
else if (RxHeader.Identifier == FDCANID_RPAS_RX_4A0)
{
chimera.rpas.buzzerAlarmFrequency = (RxData[0] >> 0) & 0x07; // bits 2-0
chimera.rpas.buzzerAlarmMode = (RxData[0] >> 3) & 0x07; // bits 5-3
chimera.rpas.distanceS1 = RxData[1]; // byte 1 right sensor
chimera.rpas.distanceS2 = RxData[2]; // byte 2 center sensor
chimera.rpas.distanceS3 = RxData[3]; // byte 3 not used
chimera.rpas.distanceS4 = RxData[4]; // byte 4 left sensor
chimera.rpas.errorS1 = (RxData[5] >> 0) & 0x01; // bit 40
chimera.rpas.errorS2 = (RxData[5] >> 1) & 0x01; // bit 41
chimera.rpas.errorS3 = (RxData[5] >> 2) & 0x01; // bit 42
chimera.rpas.errorS4 = (RxData[5] >> 3) & 0x01; // bit 43
}
else if (RxHeader.Identifier == FDCANID_VCU_RX_602)
{
chimera.SOC = (((uint16_t)(RxData[0] << 8)) | RxData[1]) * 0.1;
chimera.vehicleMode = (uint8_t)(RxData[6] | RxData[7]); // Vehicle mode (0 = ignition off, 1 = charging, 2 = discharging(ignition on), 3 = charging complete)
}
else if (RxHeader.Identifier == FDCANID_VCU_RX_603)
{
chimera.odometer = (((uint32_t)(RxData[2] << 24)) |
((uint32_t)(RxData[3] << 16)) |
((uint16_t)(RxData[4] << 8)) |
RxData[5]) *
0.01;
}
else if (RxHeader.Identifier == FDCANID_VCU_RX_607)
{
if(RxData[0] == 0x11)
{
chimera.vehicleStatus[0] = 0x00; // Neutral
}
else if(RxData[0] == 0x12)
{
chimera.vehicleStatus[0] = 0x02; // Drive -> Eco Mode
}
else if(RxData[0] == 0x14)
{
chimera.vehicleStatus[0] = 0x04; // Reverse
}
else if(RxData[0] == 0x22)
{
chimera.vehicleStatus[0] = 0x06; // Thunder
}
else if(RxData[0] == 0x42)
{
chimera.vehicleStatus[0] = 0x08; // Rhyno
}
chimera.vehicleSpeed = RxData[1];
}
else if (RxHeader.Identifier == FDCANID_VCU_RX_608)
{
chimera.throttleData.throttlePercentage = RxData[0];
chimera.throttleData.throttleVolt = RxData[1] * 0.1;
chimera.brakeData.brakePercentage = RxData[2];
chimera.brakeData.brakeVolt = RxData[3] * 0.1;
chimera.NVAfeedback = RxData[4];
}
else if (RxHeader.Identifier == FDCANID_VCU_RX_6F4)
{
memcpy(chimera.VIN, RxData, 8);
// chimera.VIN[0] = RxData[0];
// chimera.VIN[1] = RxData[1];
// chimera.VIN[2] = RxData[2];
// chimera.VIN[3] = RxData[3];
// chimera.VIN[4] = RxData[4];
// chimera.VIN[5] = RxData[5];
// chimera.VIN[6] = RxData[6];
// chimera.VIN[7] = RxData[7];
}
else if (RxHeader.Identifier == FDCANID_VCU_RX_6F5)
{
memcpy(chimera.VIN + 8, RxData, 8);
// chimera.VIN[8] = RxData[0];
// chimera.VIN[9] = RxData[1];
// chimera.VIN[10] = RxData[2];
// chimera.VIN[11] = RxData[3];
// chimera.VIN[12] = RxData[4];
// chimera.VIN[13] = RxData[5];
// chimera.VIN[14] = RxData[6];
// chimera.VIN[15] = RxData[7];
}
else if (RxHeader.Identifier == FDCANID_VCU_RX_6F6)
{
memcpy(chimera.VIN + 16, RxData, 1);
// chimera.VIN[16] = RxData[0];
}
}
}
For transmission of CAN id i am using while loop having 400ms HAL delay.
Regards
Bhupender Singh
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