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CANFD not working with FIFO1, only with FIFO0, STM32G0B1KEU6

Forum|Forum|6 months ago
November 14, 2025
5 replies
374 views

Hi Team,

Could you please assist me with the following situation:

CANFD is working with FIFO0, but not with FIFO1, same config, using STM32G0B1KEU6.

I am using same channel, FDCAN1.

I will attach both files for refference.

Thank you in advance,

Aleksandar.

FIFO0.c

FIFO1.c

Best answer by mƎALLEm

Hello,

As you are using standard ID, please increase the number of standard ID filters: hfdcan1.Init.StdFiltersNbr > 1

mƎALLEm

Technical Moderator

Hello @aleknestor and welcome to the ST community,

I don't have the full picture of your example as the NVIC is not shown. I don't have STM32G0B1 device to test but I've tested the same thing on NUCLEO-H563 in External loopback mode.

This is the code I did for the test and I'm receiving well on both FIFOs (1 & 0):

The following is my FDCAN configuration where FIFO0 is configured to receive even IDs while FIFO1 is configured to receive odd IDs:

/**
 * @brief FDCAN1 Initialization Function
 * @param None
 * @retval None
 */
static void MX_FDCAN1_Init(void)
{

 /* USER CODE BEGIN FDCAN1_Init 0 */

 /* USER CODE END FDCAN1_Init 0 */

 /* USER CODE BEGIN FDCAN1_Init 1 */

 /* USER CODE END FDCAN1_Init 1 */
 hfdcan1.Instance = FDCAN1;
 hfdcan1.Init.ClockDivider = FDCAN_CLOCK_DIV1;
 hfdcan1.Init.FrameFormat = FDCAN_FRAME_CLASSIC;
 hfdcan1.Init.Mode = FDCAN_MODE_EXTERNAL_LOOPBACK;
 hfdcan1.Init.AutoRetransmission = DISABLE;
 hfdcan1.Init.TransmitPause = DISABLE;
 hfdcan1.Init.ProtocolException = DISABLE;
 hfdcan1.Init.NominalPrescaler = 16;
 hfdcan1.Init.NominalSyncJumpWidth = 1;
 hfdcan1.Init.NominalTimeSeg1 = 13;
 hfdcan1.Init.NominalTimeSeg2 = 2;
 hfdcan1.Init.DataPrescaler = 1;
 hfdcan1.Init.DataSyncJumpWidth = 1;
 hfdcan1.Init.DataTimeSeg1 = 1;
 hfdcan1.Init.DataTimeSeg2 = 1;
 hfdcan1.Init.StdFiltersNbr = 4;
 hfdcan1.Init.ExtFiltersNbr = 0;
 hfdcan1.Init.TxFifoQueueMode = FDCAN_TX_FIFO_OPERATION;
 if (HAL_FDCAN_Init(&hfdcan1) != HAL_OK)
 {
 Error_Handler();
 }
 /* USER CODE BEGIN FDCAN1_Init 2 */
 FDCAN_FilterTypeDef FilterSetup1;

 FilterSetup1.IdType = FDCAN_STANDARD_ID;
 FilterSetup1.FilterIndex = 0;
 FilterSetup1.FilterType = FDCAN_FILTER_MASK;

 FilterSetup1.FilterConfig = FDCAN_FILTER_TO_RXFIFO0;

 FilterSetup1.FilterID1 = 0x01;
 FilterSetup1.FilterID2 = 0x01;

 if((HAL_FDCAN_ConfigFilter(&hfdcan1, &FilterSetup1)) != HAL_OK)
 {
	 Error_Handler();
 }
 
 FilterSetup1.IdType = FDCAN_STANDARD_ID;
 FilterSetup1.FilterIndex = 1;
 FilterSetup1.FilterType = FDCAN_FILTER_MASK;

 FilterSetup1.FilterConfig = FDCAN_FILTER_TO_RXFIFO1;

 FilterSetup1.FilterID1 = 0x01;
 FilterSetup1.FilterID2 = 0x00;

 if((HAL_FDCAN_ConfigFilter(&hfdcan1, &FilterSetup1)) != HAL_OK)
 {
	 Error_Handler();
 }
 
 if((HAL_FDCAN_Start(&hfdcan1)) != HAL_OK)
 {
	 Error_Handler();
 }
 // Enable the FDCAN Interrupt
 HAL_FDCAN_ActivateNotification(&hfdcan1, FDCAN_IT_RX_FIFO0_NEW_MESSAGE | FDCAN_IT_RX_FIFO1_NEW_MESSAGE, 0);
 /* USER CODE END FDCAN1_Init 2 */

}

The main where all IDs ins standard ID from 0 to 0x7FF are sent and received in the FIFOs.

/* USER CODE BEGIN 0 */
FDCAN_TxHeaderTypeDef txHeader;
static const uint8_t txData0[] = {0x10, 0x32, 0x54, 0x76, 0x98, 0x00, 0x11, 0x22};
__IO uint32_t MessageCounterfifo0 = 0;
__IO uint32_t MessageCounterfifo1 = 0;
uint8_t TxIdentifier_Test = 0;
uint8_t RxDataFIFO0[8];
uint8_t RxDataFIFO1[8];
FDCAN_RxHeaderTypeDef RxHeaderFIFO0;
FDCAN_RxHeaderTypeDef RxHeaderFIFO1;
void HAL_FDCAN_RxFifo0Callback(FDCAN_HandleTypeDef *hfdcan, uint32_t RxFifo0ITs)
{
	MessageCounterfifo0++;

	if((RxFifo0ITs & FDCAN_IT_RX_FIFO0_NEW_MESSAGE) != RESET)
	{
		if((HAL_FDCAN_GetRxMessage(&hfdcan1, FDCAN_RX_FIFO0, &RxHeaderFIFO0, RxDataFIFO0)) != HAL_OK)
		{
			Error_Handler();

		}
	}
}

void HAL_FDCAN_RxFifo1Callback(FDCAN_HandleTypeDef *hfdcan, uint32_t RxFifo1ITs)
{
	MessageCounterfifo1++;

	if((RxFifo1ITs & FDCAN_IT_RX_FIFO1_NEW_MESSAGE) != RESET)
	{
		if((HAL_FDCAN_GetRxMessage(&hfdcan1, FDCAN_RX_FIFO1, &RxHeaderFIFO1, RxDataFIFO1)) != HAL_OK)
		{
			Error_Handler();

		}
	}
}
/* USER CODE END 0 */

/**
 * @brief The application entry point.
 * @retval int
 */
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 */

 /* 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_FDCAN1_Init();
 /* USER CODE BEGIN 2 */

 /* USER CODE END 2 */

 /* Infinite loop */
 /* USER CODE BEGIN WHILE */
 txHeader.Identifier = 0;
 txHeader.IdType = FDCAN_STANDARD_ID;
 txHeader.TxFrameType = FDCAN_DATA_FRAME;
 txHeader.DataLength = FDCAN_DLC_BYTES_8;
 txHeader.ErrorStateIndicator = FDCAN_ESI_ACTIVE;
 txHeader.BitRateSwitch = FDCAN_BRS_OFF;
 txHeader.FDFormat = FDCAN_CLASSIC_CAN;
 txHeader.TxEventFifoControl = FDCAN_STORE_TX_EVENTS;
 txHeader.MessageMarker = 0x52U;
 while (1)
 {
 txHeader.Identifier++;
 if(txHeader.Identifier > 0x7FF) txHeader.Identifier = 0;
 if (HAL_FDCAN_AddMessageToTxFifoQ(&hfdcan1, &txHeader, txData0) != HAL_OK)
 {
 Error_Handler();
 }
 HAL_Delay(100);
 /* USER CODE END WHILE */

 /* USER CODE BEGIN 3 */
 }
 /* USER CODE END 3 */
}

And this is the FDCAN msp init where the FDCAN NVIC interrupt line is enabled:

void HAL_FDCAN_MspInit(FDCAN_HandleTypeDef* hfdcan)
{
 GPIO_InitTypeDef GPIO_InitStruct = {0};
 RCC_PeriphCLKInitTypeDef PeriphClkInitStruct = {0};
 if(hfdcan->Instance==FDCAN1)
 {
 /* USER CODE BEGIN FDCAN1_MspInit 0 */

 /* USER CODE END FDCAN1_MspInit 0 */

 /** Initializes the peripherals clock
 */
 PeriphClkInitStruct.PeriphClockSelection = RCC_PERIPHCLK_FDCAN;
 PeriphClkInitStruct.FdcanClockSelection = RCC_FDCANCLKSOURCE_PLL1Q;
 if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInitStruct) != HAL_OK)
 {
 Error_Handler();
 }

 /* Peripheral clock enable */
 __HAL_RCC_FDCAN_CLK_ENABLE();

 __HAL_RCC_GPIOD_CLK_ENABLE();
 /**FDCAN1 GPIO Configuration
 PD0 ------> FDCAN1_RX
 PD1 ------> FDCAN1_TX
 */
 GPIO_InitStruct.Pin = GPIO_PIN_0|GPIO_PIN_1;
 GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
 GPIO_InitStruct.Pull = GPIO_NOPULL;
 GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
 GPIO_InitStruct.Alternate = GPIO_AF9_FDCAN1;
 HAL_GPIO_Init(GPIOD, &GPIO_InitStruct);

 /* FDCAN1 interrupt Init */
 HAL_NVIC_SetPriority(FDCAN1_IT0_IRQn, 0, 0);
 HAL_NVIC_EnableIRQ(FDCAN1_IT0_IRQn);
 /* USER CODE BEGIN FDCAN1_MspInit 1 */

 /* USER CODE END FDCAN1_MspInit 1 */

 }

}

And here is the live watch of IAR showing the headers updated with the IDs in both callbacks FIFO0 and FIFO1:

May be you need to share you project to look at it in deep.

"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."

aleknestorAuthor

Associate

Hello @mƎALLEm ,

Thank you for the warm welcome, appreciate your fast responce.

Just a side info, on STM32F103C8T8 (Blue pill board) I've managed to make the single CAN channel work through both the FIFOs, there is no issue on other MCUs, only on STM32G0.

Here is the copy of the FDCAN msp init where the FDCAN NVIC interrupt line is enabled:

void HAL_FDCAN_MspInit(FDCAN_HandleTypeDef* hfdcan)
{
 GPIO_InitTypeDef GPIO_InitStruct = {0};
 RCC_PeriphCLKInitTypeDef PeriphClkInit = {0};
 if(hfdcan->Instance==FDCAN1)
 {
 /* USER CODE BEGIN FDCAN1_MspInit 0 */

 /* USER CODE END FDCAN1_MspInit 0 */

 /** Initializes the peripherals clocks
 */
 PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_FDCAN;
 PeriphClkInit.FdcanClockSelection = RCC_FDCANCLKSOURCE_PCLK1;

 if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK)
 {
 Error_Handler();
 }

 /* Peripheral clock enable */
 __HAL_RCC_FDCAN_CLK_ENABLE();

 __HAL_RCC_GPIOB_CLK_ENABLE();
 /**FDCAN1 GPIO Configuration
 PB9 ------> FDCAN1_TX
 PB8 ------> FDCAN1_RX
 */
 GPIO_InitStruct.Pin = GPIO_PIN_9|GPIO_PIN_8;
 GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
 GPIO_InitStruct.Pull = GPIO_NOPULL;
 GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
 GPIO_InitStruct.Alternate = GPIO_AF3_FDCAN1;
 HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);

 /* FDCAN1 interrupt Init */
 HAL_NVIC_SetPriority(TIM16_FDCAN_IT0_IRQn, 0, 0);
 HAL_NVIC_EnableIRQ(TIM16_FDCAN_IT0_IRQn);
 HAL_NVIC_SetPriority(TIM17_FDCAN_IT1_IRQn, 0, 0);
 HAL_NVIC_EnableIRQ(TIM17_FDCAN_IT1_IRQn);
 /* USER CODE BEGIN FDCAN1_MspInit 1 */

 /* USER CODE END FDCAN1_MspInit 1 */
 }
}

For better transparency, I've attached the project as well, hope this can bring more info.

Thanks again :)

Aleksandar.

FIFO1_Test.zip

aleknestorAuthor

Associate

Hi @mƎALLEm ,

would like to share more info if this can help this case.

I tried the same approach on STM32G474 MCU, and I am facing the same issue, FIFO0 is working and FIFO1 is NOT working.

I'm attaching the project as well, to hopefully find the issue.

main file:

/* USER CODE BEGIN Header */
/**
 ******************************************************************************
 * @file : main.c
 * @brief : Main program body
 ******************************************************************************
 * @attention
 *
 * Copyright (c) 2025 STMicroelectronics.
 * All rights reserved.
 *
 * This software is licensed under terms that can be found in the LICENSE file
 * in the root directory of this software component.
 * If no LICENSE file comes with this software, it is provided AS-IS.
 *
 ******************************************************************************
 */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */

/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */

/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/
FDCAN_HandleTypeDef hfdcan1;

/* USER CODE BEGIN PV */

/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
static void MX_GPIO_Init(void);
static void MX_FDCAN1_Init(void);
/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */

int8_t LedCounter = 0;
uint8_t TestCounter = 0;
uint8_t MessageCounter = 0;
uint8_t TxIdentifier_Test = 0;

// FDCAN data
uint8_t TxData1[8];
uint8_t RxData1[8];
FDCAN_TxHeaderTypeDef TxHeader1;
FDCAN_RxHeaderTypeDef RxHeader1;

void HAL_FDCAN_RxFifo1Callback(FDCAN_HandleTypeDef *hfdcan, uint32_t RxFifo1ITs)
{
	MessageCounter++;

	HAL_GPIO_TogglePin(GPIOC, GPIO_PIN_6);

	if((RxFifo1ITs & FDCAN_IT_RX_FIFO1_NEW_MESSAGE) != RESET)
	{
		if((HAL_FDCAN_GetRxMessage(&hfdcan1, FDCAN_RX_FIFO1, &RxHeader1, RxData1)) != HAL_OK)
		{
			Error_Handler();

		}
	}
}


/* USER CODE END 0 */

/**
 * @brief The application entry point.
 * @retval int
 */
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 */

 /* 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_FDCAN1_Init();
 /* USER CODE BEGIN 2 */

	TxHeader1.Identifier = 0xA1;
	TxHeader1.IdType = FDCAN_STANDARD_ID;
	TxHeader1.TxFrameType = FDCAN_DATA_FRAME;
	TxHeader1.DataLength = FDCAN_DLC_BYTES_8;
	TxHeader1.ErrorStateIndicator = FDCAN_ESI_ACTIVE;
	TxHeader1.BitRateSwitch = FDCAN_BRS_OFF;
	TxHeader1.FDFormat = FDCAN_FD_CAN;
	TxHeader1.TxEventFifoControl = FDCAN_NO_TX_EVENTS;
	TxHeader1.MessageMarker = 0;

	// Start the FDCAN Communication
	if((HAL_FDCAN_Start(&hfdcan1)) != HAL_OK)
	{
	 Error_Handler();
	}

	// Enable the FDCAN Interrupt
	HAL_FDCAN_ActivateNotification(&hfdcan1, FDCAN_IT_RX_FIFO1_NEW_MESSAGE, 0);

 /* USER CODE END 2 */

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

 /* USER CODE BEGIN 3 */

	 HAL_Delay(100);

	 for(int i = 0; i<8; i++)
	 {
		 TxData1[i] = TestCounter++;
	 }

	 if((HAL_FDCAN_AddMessageToTxFifoQ(&hfdcan1, &TxHeader1, TxData1)) != HAL_OK)
	 {
		 Error_Handler();

	 }
 }
 /* USER CODE END 3 */
}

/**
 * @brief System Clock Configuration
 * @retval None
 */
void SystemClock_Config(void)
{
 RCC_OscInitTypeDef RCC_OscInitStruct = {0};
 RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

 /** Configure the main internal regulator output voltage
 */
 HAL_PWREx_ControlVoltageScaling(PWR_REGULATOR_VOLTAGE_SCALE1);

 /** Initializes the RCC Oscillators according to the specified parameters
 * in the RCC_OscInitTypeDef structure.
 */
 RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
 RCC_OscInitStruct.HSIState = RCC_HSI_ON;
 RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
 RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
 RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
 RCC_OscInitStruct.PLL.PLLM = RCC_PLLM_DIV1;
 RCC_OscInitStruct.PLL.PLLN = 8;
 RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
 RCC_OscInitStruct.PLL.PLLQ = RCC_PLLQ_DIV2;
 RCC_OscInitStruct.PLL.PLLR = RCC_PLLR_DIV2;
 if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
 {
 Error_Handler();
 }

 /** Initializes the CPU, AHB and APB buses clocks
 */
 RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
 |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
 RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
 RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV2;
 RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1;
 RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;

 if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_1) != HAL_OK)
 {
 Error_Handler();
 }
}

/**
 * @brief FDCAN1 Initialization Function
 * @param None
 * @retval None
 */
static void MX_FDCAN1_Init(void)
{

 /* USER CODE BEGIN FDCAN1_Init 0 */

 /* USER CODE END FDCAN1_Init 0 */

 /* USER CODE BEGIN FDCAN1_Init 1 */

 /* USER CODE END FDCAN1_Init 1 */
 hfdcan1.Instance = FDCAN1;
 hfdcan1.Init.ClockDivider = FDCAN_CLOCK_DIV1;
 hfdcan1.Init.FrameFormat = FDCAN_FRAME_FD_NO_BRS;
 hfdcan1.Init.Mode = FDCAN_MODE_EXTERNAL_LOOPBACK;
 hfdcan1.Init.AutoRetransmission = ENABLE;
 hfdcan1.Init.TransmitPause = DISABLE;
 hfdcan1.Init.ProtocolException = DISABLE;
 hfdcan1.Init.NominalPrescaler = 1;
 hfdcan1.Init.NominalSyncJumpWidth = 9;
 hfdcan1.Init.NominalTimeSeg1 = 54;
 hfdcan1.Init.NominalTimeSeg2 = 9;
 hfdcan1.Init.DataPrescaler = 4;
 hfdcan1.Init.DataSyncJumpWidth = 2;
 hfdcan1.Init.DataTimeSeg1 = 13;
 hfdcan1.Init.DataTimeSeg2 = 2;
 hfdcan1.Init.StdFiltersNbr = 1;
 hfdcan1.Init.ExtFiltersNbr = 2;
 hfdcan1.Init.TxFifoQueueMode = FDCAN_TX_FIFO_OPERATION;
 if (HAL_FDCAN_Init(&hfdcan1) != HAL_OK)
 {
 Error_Handler();
 }
 /* USER CODE BEGIN FDCAN1_Init 2 */

 FDCAN_FilterTypeDef FilterSetup1;

 FilterSetup1.IdType = FDCAN_STANDARD_ID;
 FilterSetup1.FilterIndex = 2;
 FilterSetup1.FilterType = FDCAN_FILTER_MASK;
 FilterSetup1.FilterConfig = FDCAN_FILTER_TO_RXFIFO1;
 FilterSetup1.FilterID1 = 0x00;
 FilterSetup1.FilterID2 = 0x00;


 if((HAL_FDCAN_ConfigFilter(&hfdcan1, &FilterSetup1)) != HAL_OK)
 {
	 Error_Handler();
 }

 /* USER CODE END FDCAN1_Init 2 */

}

/**
 * @brief GPIO Initialization Function
 * @param None
 * @retval None
 */
static void MX_GPIO_Init(void)
{
 GPIO_InitTypeDef GPIO_InitStruct = {0};
 /* USER CODE BEGIN MX_GPIO_Init_1 */

 /* USER CODE END MX_GPIO_Init_1 */

 /* GPIO Ports Clock Enable */
 __HAL_RCC_GPIOC_CLK_ENABLE();
 __HAL_RCC_GPIOA_CLK_ENABLE();

 /*Configure GPIO pin Output Level */
 HAL_GPIO_WritePin(GPIOC, GPIO_PIN_6, GPIO_PIN_RESET);

 /*Configure GPIO pin : PC13 */
 GPIO_InitStruct.Pin = GPIO_PIN_13;
 GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
 GPIO_InitStruct.Pull = GPIO_NOPULL;
 HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);

 /*Configure GPIO pin : PC6 */
 GPIO_InitStruct.Pin = GPIO_PIN_6;
 GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
 GPIO_InitStruct.Pull = GPIO_NOPULL;
 GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
 HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);

 /* USER CODE BEGIN MX_GPIO_Init_2 */

 /* USER CODE END MX_GPIO_Init_2 */
}

/* USER CODE BEGIN 4 */

/* USER CODE END 4 */

/**
 * @brief This function is executed in case of error occurrence.
 * @retval None
 */
void Error_Handler(void)
{
 /* USER CODE BEGIN Error_Handler_Debug */
 /* User can add his own implementation to report the HAL error return state */
 __disable_irq();
 while (1)
 {
 }
 /* USER CODE END Error_Handler_Debug */
}
#ifdef USE_FULL_ASSERT
/**
 * @brief Reports the name of the source file and the source line number
 * where the assert_param error has occurred.
 * @param file: pointer to the source file name
 * @param line: assert_param error line source number
 * @retval None
 */
void assert_failed(uint8_t *file, uint32_t line)
{
 /* USER CODE BEGIN 6 */
 /* User can add his own implementation to report the file name and line number,
 ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
 /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */

msp init function:

void HAL_FDCAN_MspInit(FDCAN_HandleTypeDef* hfdcan)
{
 GPIO_InitTypeDef GPIO_InitStruct = {0};
 RCC_PeriphCLKInitTypeDef PeriphClkInit = {0};
 if(hfdcan->Instance==FDCAN1)
 {
 /* USER CODE BEGIN FDCAN1_MspInit 0 */

 /* USER CODE END FDCAN1_MspInit 0 */

 /** Initializes the peripherals clocks
 */
 PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_FDCAN;
 PeriphClkInit.FdcanClockSelection = RCC_FDCANCLKSOURCE_PCLK1;
 if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK)
 {
 Error_Handler();
 }

 /* Peripheral clock enable */
 __HAL_RCC_FDCAN_CLK_ENABLE();

 __HAL_RCC_GPIOA_CLK_ENABLE();
 /**FDCAN1 GPIO Configuration
 PA11 ------> FDCAN1_RX
 PA12 ------> FDCAN1_TX
 */
 GPIO_InitStruct.Pin = GPIO_PIN_11|GPIO_PIN_12;
 GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
 GPIO_InitStruct.Pull = GPIO_NOPULL;
 GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
 GPIO_InitStruct.Alternate = GPIO_AF9_FDCAN1;
 HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);

 /* FDCAN1 interrupt Init */
 HAL_NVIC_SetPriority(FDCAN1_IT0_IRQn, 0, 0);
 HAL_NVIC_EnableIRQ(FDCAN1_IT0_IRQn);
 HAL_NVIC_SetPriority(FDCAN1_IT1_IRQn, 0, 0);
 HAL_NVIC_EnableIRQ(FDCAN1_IT1_IRQn);
 /* USER CODE BEGIN FDCAN1_MspInit 1 */

 /* USER CODE END FDCAN1_MspInit 1 */
 }
}

Appreciate your help and time,

Aleksandar.

FIFO1_STM32G4.zip

mƎALLEmBest answer

Technical Moderator

Hello,

As you are using standard ID, please increase the number of standard ID filters: hfdcan1.Init.StdFiltersNbr > 1

"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."

aleknestorAuthor

Associate

Hi @mƎALLEm ,

Thanks a million, this solved my issue, as well the issue I had with not able to set up filters and masks.

Highly appreciate it,

Aleksandar.

aleknestorAuthor

Associate

Dear @mƎALLEm ,

I have one more question, if you can help me.

The filter and masks are working for FIFO1, but whenever I change to FIFO0, filters are not working, just all messages are passed through. I change all settings so that the CANFD channel 1 is using the FIFO0.

Could you please help me with this question?

/* USER CODE BEGIN Header */
/**
 ******************************************************************************
 * @file : main.c
 * @brief : Main program body
 ******************************************************************************
 * @attention
 *
 * Copyright (c) 2025 STMicroelectronics.
 * All rights reserved.
 *
 * This software is licensed under terms that can be found in the LICENSE file
 * in the root directory of this software component.
 * If no LICENSE file comes with this software, it is provided AS-IS.
 *
 ******************************************************************************
 */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */

/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */

/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/
FDCAN_HandleTypeDef hfdcan1;

/* USER CODE BEGIN PV */

/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
static void MX_GPIO_Init(void);
static void MX_FDCAN1_Init(void);
/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
int8_t LedCounter = 0;
uint8_t TestCounter = 0;
uint8_t MessageCounter = 0;
uint8_t TxIdentifier_Test = 0;

// FDCAN data
uint8_t TxData1[8];
uint8_t RxData1[8];
FDCAN_TxHeaderTypeDef TxHeader1;
FDCAN_RxHeaderTypeDef RxHeader1;

void HAL_FDCAN_RxFifo1Callback(FDCAN_HandleTypeDef *hfdcan, uint32_t RxFifo1ITs)
{
	MessageCounter++;

	HAL_GPIO_TogglePin(GPIOC, GPIO_PIN_6);

	if((RxFifo1ITs & FDCAN_IT_RX_FIFO1_NEW_MESSAGE) != RESET)
	{
		if((HAL_FDCAN_GetRxMessage(&hfdcan1, FDCAN_RX_FIFO1, &RxHeader1, RxData1)) != HAL_OK)
		{
			Error_Handler();

		}
	}
}

/* USER CODE END 0 */

/**
 * @brief The application entry point.
 * @retval int
 */
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 */

 /* 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_FDCAN1_Init();
 /* USER CODE BEGIN 2 */

 // Start the FDCAN Communication
 if((HAL_FDCAN_Start(&hfdcan1)) != HAL_OK)
 {
	 Error_Handler();
 }

	TxHeader1.Identifier = 0xA1;
	TxHeader1.IdType = FDCAN_STANDARD_ID;
	TxHeader1.TxFrameType = FDCAN_DATA_FRAME;
	TxHeader1.DataLength = FDCAN_DLC_BYTES_8;
	TxHeader1.ErrorStateIndicator = FDCAN_ESI_ACTIVE;
	TxHeader1.BitRateSwitch = FDCAN_BRS_ON;
	TxHeader1.FDFormat = FDCAN_FD_CAN;
	TxHeader1.TxEventFifoControl = FDCAN_NO_TX_EVENTS;
	TxHeader1.MessageMarker = 0;

 // Enable the FDCAN Interrupt
 HAL_FDCAN_ActivateNotification(&hfdcan1, FDCAN_IT_RX_FIFO1_NEW_MESSAGE, 0);

 /* USER CODE END 2 */

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

 /* USER CODE BEGIN 3 */

	 /*
	 HAL_Delay(100);

	 TxHeader1.Identifier = TxIdentifier_Test++;

	 for(int i = 0; i<8; i++)
	 {
		 TxData1[i] = TestCounter++;
	 }

	 if((HAL_FDCAN_AddMessageToTxFifoQ(&hfdcan1, &TxHeader1, TxData1)) != HAL_OK)
	 {
		 Error_Handler();

	 }
	 */
 }
 /* USER CODE END 3 */
}

/**
 * @brief System Clock Configuration
 * @retval None
 */
void SystemClock_Config(void)
{
 RCC_OscInitTypeDef RCC_OscInitStruct = {0};
 RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

 /** Configure the main internal regulator output voltage
 */
 HAL_PWREx_ControlVoltageScaling(PWR_REGULATOR_VOLTAGE_SCALE1);

 /** Initializes the RCC Oscillators according to the specified parameters
 * in the RCC_OscInitTypeDef structure.
 */
 RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
 RCC_OscInitStruct.HSIState = RCC_HSI_ON;
 RCC_OscInitStruct.HSIDiv = RCC_HSI_DIV1;
 RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
 RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
 RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
 RCC_OscInitStruct.PLL.PLLM = RCC_PLLM_DIV1;
 RCC_OscInitStruct.PLL.PLLN = 8;
 RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
 RCC_OscInitStruct.PLL.PLLQ = RCC_PLLQ_DIV2;
 RCC_OscInitStruct.PLL.PLLR = RCC_PLLR_DIV2;
 if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
 {
 Error_Handler();
 }

 /** Initializes the CPU, AHB and APB buses clocks
 */
 RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
 |RCC_CLOCKTYPE_PCLK1;
 RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
 RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
 RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;

 if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
 {
 Error_Handler();
 }
}

/**
 * @brief FDCAN1 Initialization Function
 * @param None
 * @retval None
 */
static void MX_FDCAN1_Init(void)
{

 /* USER CODE BEGIN FDCAN1_Init 0 */

 /* USER CODE END FDCAN1_Init 0 */

 /* USER CODE BEGIN FDCAN1_Init 1 */

 /* USER CODE END FDCAN1_Init 1 */
 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 = 9;
 hfdcan1.Init.NominalTimeSeg1 = 54;
 hfdcan1.Init.NominalTimeSeg2 = 9;
 hfdcan1.Init.DataPrescaler = 1;
 hfdcan1.Init.DataSyncJumpWidth = 2;
 hfdcan1.Init.DataTimeSeg1 = 13;
 hfdcan1.Init.DataTimeSeg2 = 2;
 hfdcan1.Init.StdFiltersNbr = 4;
 hfdcan1.Init.ExtFiltersNbr = 4;
 hfdcan1.Init.TxFifoQueueMode = FDCAN_TX_FIFO_OPERATION;
 if (HAL_FDCAN_Init(&hfdcan1) != HAL_OK)
 {
 Error_Handler();
 }
 /* USER CODE BEGIN FDCAN1_Init 2 */

 FDCAN_FilterTypeDef FilterSetup1;

 FilterSetup1.IdType = FDCAN_STANDARD_ID;
 FilterSetup1.FilterIndex = 1;
 FilterSetup1.FilterType = FDCAN_FILTER_MASK;

 FilterSetup1.FilterConfig = FDCAN_FILTER_TO_RXFIFO1;

 FilterSetup1.FilterID1 = 0x205;
 FilterSetup1.FilterID2 = 0x205;

 if((HAL_FDCAN_ConfigFilter(&hfdcan1, &FilterSetup1)) != HAL_OK)
 {
	 Error_Handler();
 }


 /* USER CODE END FDCAN1_Init 2 */

}

/**
 * @brief GPIO Initialization Function
 * @param None
 * @retval None
 */
static void MX_GPIO_Init(void)
{
 GPIO_InitTypeDef GPIO_InitStruct = {0};
 /* USER CODE BEGIN MX_GPIO_Init_1 */

 /* USER CODE END MX_GPIO_Init_1 */

 /* GPIO Ports Clock Enable */
 __HAL_RCC_GPIOB_CLK_ENABLE();
 __HAL_RCC_GPIOA_CLK_ENABLE();

 /*Configure GPIO pin Output Level */
 HAL_GPIO_WritePin(GPIOA, GPIO_PIN_6, GPIO_PIN_RESET);

 /*Configure GPIO pin : PA6 */
 GPIO_InitStruct.Pin = GPIO_PIN_6;
 GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
 GPIO_InitStruct.Pull = GPIO_NOPULL;
 GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
 HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);

 /*Configure GPIO pin : PA7 */
 GPIO_InitStruct.Pin = GPIO_PIN_7;
 GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING;
 GPIO_InitStruct.Pull = GPIO_NOPULL;
 HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);

 /* USER CODE BEGIN MX_GPIO_Init_2 */

 /* USER CODE END MX_GPIO_Init_2 */
}

/* USER CODE BEGIN 4 */

/* USER CODE END 4 */

/**
 * @brief This function is executed in case of error occurrence.
 * @retval None
 */
void Error_Handler(void)
{
 /* USER CODE BEGIN Error_Handler_Debug */
 /* User can add his own implementation to report the HAL error return state */
 __disable_irq();
 while (1)
 {
 }
 /* USER CODE END Error_Handler_Debug */
}
#ifdef USE_FULL_ASSERT
/**
 * @brief Reports the name of the source file and the source line number
 * where the assert_param error has occurred.
 * @param file: pointer to the source file name
 * @param line: assert_param error line source number
 * @retval None
 */
void assert_failed(uint8_t *file, uint32_t line)
{
 /* USER CODE BEGIN 6 */
 /* User can add his own implementation to report the file name and line number,
 ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
 /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */

mƎALLEm

Technical Moderator

Hello @aleknestor ,

@aleknestor wrote:

Dear @mƎALLEm ,

I have one more question, if you can help me.

The original question has been answered and the thread has been closed. Need to create a new post.

Thank you for your understanding.

"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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