STM32H7 FDCAN configured in CAN2.0 is not working

[b1aze]

Hi guys i have a nucleo h7A3Zi-q dev board . i am trying to receive CAN messges sent from ESP32 borads . esp is sending can  frame by using SN65HVD232D. and i configured the FDCAN to receive the can messages . esp can is set at 500 kbits , and my stm configurations is like this 

static void MX_FDCAN1_Init(void)
{

 /* USER CODE BEGIN FDCAN1_Init 0 */

 /* USER CODE END FDCAN1_Init 0 */

 FDCAN_ClkCalUnitTypeDef sCcuConfig = {0};

 /* USER CODE BEGIN FDCAN1_Init 1 */

 /* USER CODE END FDCAN1_Init 1 */
 hfdcan1.Instance = FDCAN1;
 hfdcan1.Init.FrameFormat = FDCAN_FRAME_CLASSIC;
 hfdcan1.Init.Mode = FDCAN_MODE_NORMAL;
 hfdcan1.Init.AutoRetransmission = DISABLE;
 hfdcan1.Init.TransmitPause = DISABLE;
 hfdcan1.Init.ProtocolException = DISABLE;
 hfdcan1.Init.NominalPrescaler = 8;
 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.MessageRAMOffset = 0;
 hfdcan1.Init.StdFiltersNbr = 1;
 hfdcan1.Init.ExtFiltersNbr = 0;
 hfdcan1.Init.RxFifo0ElmtsNbr = 0;
 hfdcan1.Init.RxFifo0ElmtSize = FDCAN_DATA_BYTES_8;
 hfdcan1.Init.RxFifo1ElmtsNbr = 0;
 hfdcan1.Init.RxFifo1ElmtSize = FDCAN_DATA_BYTES_8;
 hfdcan1.Init.RxBuffersNbr = 0;
 hfdcan1.Init.RxBufferSize = FDCAN_DATA_BYTES_8;
 hfdcan1.Init.TxEventsNbr = 0;
 hfdcan1.Init.TxBuffersNbr = 0;
 hfdcan1.Init.TxFifoQueueElmtsNbr = 0;
 hfdcan1.Init.TxFifoQueueMode = FDCAN_TX_FIFO_OPERATION;
 hfdcan1.Init.TxElmtSize = FDCAN_DATA_BYTES_8;
 if (HAL_FDCAN_Init(&hfdcan1) != HAL_OK)
 {
 Error_Handler();
 }
 sCcuConfig.ClockDivider = FDCAN_CLOCK_DIV1;
 sCcuConfig.MinOscClkPeriods = 0x00;
 sCcuConfig.CalFieldLength = FDCAN_CALIB_FIELD_LENGTH_32;
 sCcuConfig.TimeQuantaPerBitTime = 4;
 sCcuConfig.WatchdogStartValue = 0x0000;
 if (HAL_FDCAN_ConfigClockCalibration(&hfdcan1, &sCcuConfig) != HAL_OK)
 {
 Error_Handler();
 }
 /* USER CODE BEGIN FDCAN1_Init 2 */

 /* USER CODE END FDCAN1_Init 2 */

}
void can_init(void)
{
	if(can_h == NULL)
		Error_Handler();
	CanRxQueue = xQueueCreateStatic(16,sizeof(can_frame_t),ucQueueStorageArea,&xStaticQueue);
	if (CanRxQueue == NULL)
		Error_Handler();

	sFilter.IdType = FDCAN_STANDARD_ID;
	sFilter.FilterIndex = 0u;
	sFilter.FilterID1 = 0;
	sFilter.FilterID2 = 0x1FFFFFFF;
	sFilter.FilterType = FDCAN_FILTER_RANGE;
	sFilter.FilterConfig = FDCAN_FILTER_TO_RXFIFO0;
	//sFilter.RxBufferIndex = FDCAN_FILTER_TO_RXBUFFER;

	if(HAL_FDCAN_ConfigFilter(can_h,&sFilter)!= HAL_OK){
		Error_Handler();
	}
	if(HAL_FDCAN_Start(can_h) != HAL_OK){
		Error_Handler();
	}

	if(HAL_FDCAN_ActivateNotification(can_h,FDCAN_IT_RX_FIFO0_NEW_MESSAGE,0)!=HAL_OK){
		Error_Handler();
	}

	printf("can initialized \n");
}
void HAL_FDCAN_RxFifoCallback(FDCAN_HandleTypeDef *hfdcan,uint32_t RxFifo0ITs)
{
	printf("can callback \n");
	Error_Handler();
	if((RxFifo0ITs & FDCAN_IT_RX_FIFO0_NEW_MESSAGE) != RESET)
	{
		if(HAL_FDCAN_GetRxMessage(can_h, FDCAN_RX_FIFO0, &RxHeader, RxData) != HAL_OK)
			/* Reception Error */
			Error_Handler();

		rxdata.can_id = RxHeader.Identifier;
		rxdata.can_dlc = RxHeader.DataLength;
		memcpy(rxdata.data , RxData , CAN_MAX_DATA);

		BaseType_t xHigherPriorityTaskWoken = pdFALSE;
		xQueueSendFromISR(CanRxQueue,&rxdata,&xHigherPriorityTaskWoken);

		if(xHigherPriorityTaskWoken)
		{
			portYIELD_FROM_ISR(xHigherPriorityTaskWoken);
		}

		if (HAL_FDCAN_ActivateNotification(hfdcan, FDCAN_IT_RX_FIFO0_NEW_MESSAGE, 0) != HAL_OK)
		 /* Notification Error */
		 Error_Handler();
	}

}

.

 

what i need is the can should work in interrupt mode . and i have to set up multiple esp and receive those messges.

 

edit : currently working with internal loopback mode still not reciving anything , i am not sure if sending is working  but defintely sure that not reciving anything.

[mƎALLEm]

You are using a standard ID filter while ID2 is an extended ID!

Use Mask ID with all filters IDs set to 0 if you want to receive all the CAN messages.

Did you enable the NVIC interrupt line for FDCAN?

Refer also to the following knowledge base articles:

STM32 FDCAN running at 8 Mb/s on NUCLEO boards

How to use FDCAN to create a simple communication with a basic filter

 

[b1aze]

yeah now i tried one of your example with the loop back mode . almost got it working but with one issue. i can read from RX_FIFO0 while in debug mode , because of breakpoints , but if i try to run it in normal i am not getting anything inside my rxbuffer . can is running at 500 kbits . any idea to fix this issue  or whats causing it

MX_GPIO_Init();
 MX_FDCAN2_Init();
 MX_USART3_UART_Init();
 /* USER CODE BEGIN 2 */
 
 /* Configure standard ID reception filter to Rx buffer 0 */
 sFilterConfig.IdType = FDCAN_STANDARD_ID;
 sFilterConfig.FilterIndex = 0;
 sFilterConfig.FilterType = FDCAN_FILTER_MASK;
 sFilterConfig.FilterConfig = FDCAN_FILTER_TO_RXBUFFER;
 sFilterConfig.FilterID1 = 0x000;
 sFilterConfig.FilterID2 = 0x000;
 sFilterConfig.RxBufferIndex = 0;
 if(HAL_FDCAN_ConfigFilter(&CAN_USED, &sFilterConfig) != HAL_OK)
 {
	 Error_Handler();
 }

 /* Configure extended ID reception filter to Rx FIFO 1 */
 sFilterConfig.IdType = FDCAN_EXTENDED_ID;
 sFilterConfig.FilterIndex = 0;
 sFilterConfig.FilterType = FDCAN_FILTER_RANGE_NO_EIDM;
 sFilterConfig.FilterConfig = FDCAN_FILTER_TO_RXFIFO1;
 sFilterConfig.FilterID1 = 0x1111111;
 sFilterConfig.FilterID2 = 0x2222222;
 if(HAL_FDCAN_ConfigFilter(&CAN_USED, &sFilterConfig) != HAL_OK)
 {
	 Error_Handler();
 }
 HAL_FDCAN_GetRxFifoFillLevel(&hfdcan2,FDCAN_RX_FIFO0);
 /* Start the FDCAN module */
 if(HAL_FDCAN_Start(&CAN_USED) != HAL_OK)
 {
	 Error_Handler();
 }
 HAL_FDCAN_ActivateNotification(
 &hfdcan2,
 FDCAN_IT_RX_FIFO0_NEW_MESSAGE,
 0
 );
 /* Configure Tx buffer message */
 TxHeader.Identifier = 0x111;
 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 = 0x52;
 if(HAL_FDCAN_AddMessageToTxBuffer(&CAN_USED, &TxHeader, TxData0, FDCAN_TX_BUFFER0) !=HAL_OK)
 {
	 Error_Handler();
 }

 /* Send Tx buffer message */
 HAL_FDCAN_EnableTxBufferRequest(&CAN_USED, FDCAN_TX_BUFFER0);

 

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


 HAL_FDCAN_GetRxMessage(&hfdcan2,
 FDCAN_RX_FIFO0,
 &RxHeader,
							 RxData);

 // Process data here
 // (toggle LED, set flag, copy buffer, etc.)
 }
}