I have multiple CAN FD Participant which are configured the same way:
if (canFdMode == canFdModes_2mbit) {
hfdcan1.Instance = FDCAN1;
hfdcan1.Init.ClockDivider = FDCAN_CLOCK_DIV1;
hfdcan1.Init.FrameFormat = FDCAN_FRAME_FD_BRS;
hfdcan1.Init.Mode = FDCAN_MODE_NORMAL;
hfdcan1.Init.AutoRetransmission = ENABLE;
hfdcan1.Init.TransmitPause = DISABLE;
hfdcan1.Init.ProtocolException = DISABLE;
hfdcan1.Init.NominalPrescaler = 1;
hfdcan1.Init.NominalSyncJumpWidth = 1;
hfdcan1.Init.NominalTimeSeg1 = 127;
hfdcan1.Init.NominalTimeSeg2 = 32;
hfdcan1.Init.DataPrescaler = 2;
hfdcan1.Init.DataSyncJumpWidth = 4;
hfdcan1.Init.DataTimeSeg1 = 31;
hfdcan1.Init.DataTimeSeg2 = 8;
hfdcan1.Init.StdFiltersNbr = 0;
hfdcan1.Init.ExtFiltersNbr = 0;
hfdcan1.Init.TxFifoQueueMode = FDCAN_TX_FIFO_OPERATION;
if (HAL_FDCAN_Init(&hfdcan1) != HAL_OK) {
Error_Handler();
}
if (HAL_FDCAN_ConfigGlobalFilter(&hfdcan1,
FDCAN_ACCEPT_IN_RX_FIFO0, FDCAN_ACCEPT_IN_RX_FIFO0,
FDCAN_FILTER_REMOTE, FDCAN_FILTER_REMOTE) != HAL_OK) {
Error_Handler();
return;
}
if (HAL_FDCAN_ActivateNotification(&hfdcan1,
FDCAN_IT_RX_FIFO0_NEW_MESSAGE, 0) != HAL_OK) {
Error_Handler();
return;
}
if (HAL_FDCAN_ConfigTxDelayCompensation(&hfdcan1, hfdcan1.Init.DataTimeSeg1 * hfdcan1.Init.DataPrescaler, 0) != HAL_OK) {
Error_Handler();
}
if (HAL_FDCAN_EnableTxDelayCompensation(&hfdcan1) != HAL_OK) {
Error_Handler();
}
if (HAL_FDCAN_Start(&hfdcan1) != HAL_OK) {
Error_Handler();
}
Communication works perfectly fine.
Problem is, when I have a Bus Load of 100%, I expect my devices to priorize the messages following the CAN rules, which is by Message ID.
To test this, I filled every Pariticipants TX Buffer with a rotation of the Message IDs 0x10x, 0x20x, 0x30x.
E.G.
Node 1: 0x101, 0x201, 0x301, 0x101, 0x201 .....
Node 2: 0x102, 0x202, 0x302, 0x102, 0x202 .....
What I expect: Node 1 and 2 are alternating with sending their messages.
What happens: Only 1 Node is sending all the time.
Whats the problem here?
