FDCAN interrupt not working

Question

Hello, 
I am trying to make FDCAN work but I am not receiving any messages. The TX is working fine but when trying to receive messages the interrupt is not triggered. I am using STM32H7 series with freertos.
I have set the filter, started FDCAN, enabled interrupts, activated notifications,.. Any idea what I have missed?
Even when using external loopback, I can see the messages being sent but the interrupt is not triggering.
 
This is my code:

/* USER CODE BEGIN Header */
/**
 ******************************************************************************
 * @file fdcan.c
 * @brief This file provides code for the configuration
 * of the FDCAN instances.
 ******************************************************************************
 * @attention
 *
 * Copyright (c) 2024 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"
#include "cmsis_os2.h"
#include "fdcan.h"
#include "stm32h7rsxx_it.h"

/* USER CODE BEGIN 0 */

#define TX_TIMEOUT (1000U) /* Transmission timeout in ms */

/* Hardware related, can't be changed */
#define NB_RX_FIFO (3U) /* Number of RX FIFO Elements available */

FDCAN_RxHeaderTypeDef rxHeader;
uint8_t rxData[12U];
static const uint8_t txData0[] = {0x10, 0x32, 0x54, 0x76, 0x98, 0x00, 0x11, 0x22, 0x33, 0x44, 0x55, 0x66};
static const uint8_t txData1[] = {0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55};
static const uint8_t txData2[] = {0xFF, 0x00, 0xFF, 0x00, 0xFF, 0x00, 0xFF, 0x00, 0xFF, 0x00, 0xFF, 0x00};
/* USER CODE END 0 */

FDCAN_HandleTypeDef hfdcan1;

/* FDCAN1 init function */
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_NORMAL;
 hfdcan1.Init.AutoRetransmission = ENABLE;
 hfdcan1.Init.TransmitPause = DISABLE;
 hfdcan1.Init.ProtocolException = DISABLE;
 hfdcan1.Init.NominalPrescaler = 8;
 hfdcan1.Init.NominalSyncJumpWidth = 1;
 hfdcan1.Init.NominalTimeSeg1 = 8;
 hfdcan1.Init.NominalTimeSeg2 = 3;
 hfdcan1.Init.DataPrescaler = 1;
 hfdcan1.Init.DataSyncJumpWidth = 1;
 hfdcan1.Init.DataTimeSeg1 = 1;
 hfdcan1.Init.DataTimeSeg2 = 1;
 hfdcan1.Init.StdFiltersNbr = 0;
 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 */

/* USER CODE END FDCAN1_Init 2 */

}

void HAL_FDCAN_MspInit(FDCAN_HandleTypeDef* fdcanHandle)
{

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

/* USER CODE END FDCAN1_MspInit 0 */

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

/* FDCAN1 clock enable */
 __HAL_RCC_FDCAN_CLK_ENABLE();

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

/* FDCAN1 interrupt Init */
 HAL_NVIC_SetPriority(FDCAN1_IT0_IRQn, 5, 0);
 HAL_NVIC_EnableIRQ(FDCAN1_IT0_IRQn);
 /* USER CODE BEGIN FDCAN1_MspInit 1 */

/* USER CODE END FDCAN1_MspInit 1 */
 }
}

void HAL_FDCAN_MspDeInit(FDCAN_HandleTypeDef* fdcanHandle)
{

if(fdcanHandle->Instance==FDCAN1)
 {
 /* USER CODE BEGIN FDCAN1_MspDeInit 0 */

/* USER CODE END FDCAN1_MspDeInit 0 */
 /* Peripheral clock disable */
 __HAL_RCC_FDCAN_CLK_DISABLE();

/**FDCAN1 GPIO Configuration
 PD1 ------> FDCAN1_TX
 PD0 ------> FDCAN1_RX
 */
 HAL_GPIO_DeInit(GPIOD, GPIO_PIN_1|GPIO_PIN_0);

/* FDCAN1 interrupt Deinit */
 HAL_NVIC_DisableIRQ(FDCAN1_IT0_IRQn);
 /* USER CODE BEGIN FDCAN1_MspDeInit 1 */

/* USER CODE END FDCAN1_MspDeInit 1 */
 }
}

/* USER CODE BEGIN 1 */
void FDCAN_Task(void *argument)
{
 /* USER CODE BEGIN FDCAN_Task */
	 // Activate the notification for new data in FIFO0 for FDCAN1
	 if (HAL_FDCAN_ActivateNotification(&hfdcan1, FDCAN_IT_RX_FIFO0_NEW_MESSAGE, 0) != HAL_OK)
	 {
	 /* Notification Error */
	 Error_Handler();
	 }
	 // Start FDCAN
	 /*##-1 Configure the FDCAN filters ########################################*/

/* Configure standard ID reception filter to Rx FIFO 0. Only accept ID = FilterID1 */
	 FDCAN_FilterTypeDef sFilterConfig;
	 sFilterConfig.IdType = FDCAN_STANDARD_ID;
	 sFilterConfig.FilterIndex = 0U;
	 sFilterConfig.FilterType = FDCAN_FILTER_DUAL;
	 sFilterConfig.FilterConfig = FDCAN_FILTER_TO_RXFIFO0;
	 sFilterConfig.FilterID1 = 0x444;
	 sFilterConfig.FilterID2 = 0x444; /* For acceptance, MessageID and FilterID1 must match exactly */
	 if (HAL_FDCAN_ConfigFilter(&hfdcan1, &sFilterConfig) != HAL_OK)
	 {
	 Error_Handler();
	 }

/* Configure extended ID reception filter to Rx FIFO 1. Only accept ID between FilterID1 and FilterID2. */
	 sFilterConfig.IdType = FDCAN_EXTENDED_ID;
	 sFilterConfig.FilterIndex = 0U;
	 sFilterConfig.FilterType = FDCAN_FILTER_RANGE_NO_EIDM;
	 sFilterConfig.FilterConfig = FDCAN_FILTER_TO_RXFIFO1;
	 sFilterConfig.FilterID1 = 0x1111111;
	 sFilterConfig.FilterID2 = 0x2222222;
	 if (HAL_FDCAN_ConfigFilter(&hfdcan1, &sFilterConfig) != HAL_OK)
	 {
	 Error_Handler();
	 }

/**
	 * Configure global filter:
	 * - Filter all remote frames with STD and EXT ID
	 * - Reject non matching frames with STD ID and EXT ID
	 */
	 if (HAL_FDCAN_ConfigGlobalFilter(&hfdcan1,
	 FDCAN_REJECT, FDCAN_REJECT,
	 FDCAN_FILTER_REMOTE, FDCAN_FILTER_REMOTE) != HAL_OK)
	 {
	 Error_Handler();
	 }

/*##-2 Start FDCAN controller (continuous listening CAN bus) ##############*/

if (HAL_FDCAN_Start(&hfdcan1) != HAL_OK)
	 {
	 Error_Handler();
	 }

// Activate the notification for new data in FIFO0 for FDCAN1
	 if (HAL_FDCAN_ActivateNotification(&hfdcan1, FDCAN_IT_RX_FIFO0_NEW_MESSAGE, 0) != HAL_OK)
	 {
	 /* Notification Error */
	 Error_Handler();
	 }

/* Infinite loop */
 for(;;)
 {
//	 /*##-3 Transmit messages ##################################################*/
//
	 FDCAN_TxHeaderTypeDef txHeader;

/* Add message to Tx FIFO */
	 txHeader.Identifier = 0x444;
	 txHeader.IdType = FDCAN_STANDARD_ID;
	 txHeader.TxFrameType = FDCAN_DATA_FRAME;
	 txHeader.DataLength = FDCAN_DLC_BYTES_12;
	 txHeader.ErrorStateIndicator = FDCAN_ESI_ACTIVE;
	 txHeader.BitRateSwitch = FDCAN_BRS_ON;
	 txHeader.FDFormat = FDCAN_FD_CAN;
	 txHeader.TxEventFifoControl = FDCAN_STORE_TX_EVENTS;
	 txHeader.MessageMarker = 0x52U;
	 if (HAL_FDCAN_AddMessageToTxFifoQ(&hfdcan1, &txHeader, txData0) != HAL_OK)
	 {
	 Error_Handler();
	 }

/* Add second message to Tx FIFO */
	 txHeader.Identifier = 0x1111112;
	 txHeader.IdType = FDCAN_EXTENDED_ID;
	 txHeader.TxFrameType = FDCAN_DATA_FRAME;
	 txHeader.DataLength = FDCAN_DLC_BYTES_12;
	 txHeader.ErrorStateIndicator = FDCAN_ESI_PASSIVE;
	 txHeader.BitRateSwitch = FDCAN_BRS_ON;
	 txHeader.FDFormat = FDCAN_FD_CAN;
	 txHeader.TxEventFifoControl = FDCAN_STORE_TX_EVENTS;
	 txHeader.MessageMarker = 0xCCU;
	 if (HAL_FDCAN_AddMessageToTxFifoQ(&hfdcan1, &txHeader, txData1) != HAL_OK)
	 {
	 Error_Handler();
	 }

/* Add third message to Tx FIFO */
	 txHeader.Identifier = 0x1111113;
	 txHeader.IdType = FDCAN_EXTENDED_ID;
	 txHeader.TxFrameType = FDCAN_DATA_FRAME;
	 txHeader.DataLength = FDCAN_DLC_BYTES_12;
	 txHeader.ErrorStateIndicator = FDCAN_ESI_PASSIVE;
	 txHeader.BitRateSwitch = FDCAN_BRS_OFF;
	 txHeader.FDFormat = FDCAN_FD_CAN;
	 txHeader.TxEventFifoControl = FDCAN_STORE_TX_EVENTS;
	 txHeader.MessageMarker = 0xDDU;
	 if (HAL_FDCAN_AddMessageToTxFifoQ(&hfdcan1, &txHeader, txData2) != HAL_OK)
	 {
	 Error_Handler();
	 }

/* Get tick */
	 uint32_t tickstart = HAL_GetTick();

/* Wait transmission complete */
	 while (HAL_FDCAN_GetTxFifoFreeLevel(&hfdcan1) != NB_RX_FIFO)
	 {
	 /* Timeout handling */
	 if ((HAL_GetTick() - tickstart) > TX_TIMEOUT)
	 {
	 Error_Handler();
	 }
	 }

/*##-4 Receive messages ###################################################*/

/* Check one message is received in Rx FIFO 0 */
	 HAL_FDCAN_GetRxFifoFillLevel(&hfdcan1, FDCAN_RX_FIFO0);

/* Retrieve message from Rx FIFO 0 */
	 HAL_FDCAN_GetRxMessage(&hfdcan1, FDCAN_RX_FIFO0, &rxHeader, rxData);
 osDelay(1);
 }
 /* USER CODE END FDCAN_Task */
}

void HAL_FDCAN_RxFifo0Callback(FDCAN_HandleTypeDef *hfdcan, uint32_t RxFifo0ITs)
{
 if((RxFifo0ITs & FDCAN_IT_RX_FIFO0_NEW_MESSAGE) != RESET)
 {
 /* Retreive Rx messages from RX FIFO0 */
 if (HAL_FDCAN_GetRxMessage(hfdcan, FDCAN_RX_FIFO0, &rxHeader, &rxData) != HAL_OK)
 {
 /* Reception Error */
 Error_Handler();
 }

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

/* USER CODE END 1 */

PPopo.1 · Accepted Answer

Thank you for your help. I have found the issue. I had filter definition but in the .ioc file my Std Filter Nbr was set to 0 since I forgot to set it. It works fine now!

mƎALLEm · Answer

Hello,First, why are you posting this thread in "TouchGFX and GUI" forum? need to be posted in "STM32 MCUs products" forum. --> will be moved then.Second, why are you calling this in the FDCAN_Task(): HAL_FDCAN_GetRxMessage(&hfdcan1, FDCAN_RX_FIFO0, &rxHeader, rxData);and at the same time using FDCAN RX Callback where you are calling the same API HAL_FDCAN_GetRxMessage() ?As you are using RTOS, I suggest first to make your example in baremetal before using an RTOS.Also please read this article: https://community.st.com/t5/stm32-mcus/can-reception-issues-reasons-and-general-troubleshooting/ta-p/689741

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