Issue receiving CAN Frames

[Erwan03]

Hello ST community,

 

I am currently programming an ECU system, using f446re nucleo board. Right now i am trying to communicate with BMS using CAN communication.

So far, everything has been set: CAN Initialization and start, sending works properly.

The issue i am facing is that i cannot receive frames from battery, even though i can communicate with laptop for UDS protocole (Reception works properly in that case), but when i try with the battery, the debug mode doesn't stop at the rx interrupt routine.

I have verified the CANFilter configuration to make sure, i didn't see any mistake, nothing has been changed but i only can communicate with UDS frames and not with batteries.

for example: frame ID 0x586 entering fifo0 with such a filter:

 

void CAN_Filter_FIFO0(CAN_HandleTypeDef* hcan)

{

CAN_FilterTypeDef canfilterconfig;



canfilterconfig.FilterActivation = CAN_FILTER_ENABLE;

canfilterconfig.FilterBank = 10;

canfilterconfig.FilterFIFOAssignment = CAN_FILTER_FIFO0;

canfilterconfig.FilterIdHigh = 0x580 << 5; // According to the DBC

canfilterconfig.FilterIdLow = 0x0000;

canfilterconfig.FilterMaskIdHigh = 0xfe0<<5;// Calculation of the mask according to the DBC

canfilterconfig.FilterMaskIdLow = 0x0000;

canfilterconfig.FilterMode = CAN_FILTERMODE_IDMASK;

canfilterconfig.FilterScale = CAN_FILTERSCALE_32BIT;

canfilterconfig.SlaveStartFilterBank = 13;

HAL_CAN_ConfigFilter(hcan, &canfilterconfig);

}

Please let me know if anyone has any idea.

[mƎALLEm]

Hello,

Try first with "passing all messages" filter to be sure it's not a filter config issue:

 

canfilterconfig.FilterIdHigh = 0,
canfilterconfig.FilterIdLow = 0;
canfilterconfig.FilterMaskIdHigh = 0;
canfilterconfig.FilterMaskIdLow = 0;

 

PS: next time please use <\> button to insert your code. Thank you for your understanding.

[Erwan03]

Hello thank you for your quick answer.

 

I did what you said put 0 to cancel the filter. but nothing changed, here is a code of the following files: main.c; CanfilterConfig.c

 

main

void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan)
{
	HAL_CAN_GetRxMessage(&hcan1, CAN_RX_FIFO0, &RxHeader, RxFrame);
	 {
		 switch(RxHeader.StdId)
		 {
			 case 0x586:
				 BatteryChargeCurrent_rcv(RxFrame, &rx_BCC); //Receive frame
				 BatteryChargeCurrent_memHandler(rx_BCC, &h_BCC); //handle memory
				 BCCFlag++;
				 break;
			 case 0x591:
				 BatteryCurrentLimit_rcv(RxFrame, &rx_BCL); //Receive frame
				 BatteryCurrentLimit_memHandler(rx_BCL, h_BCL); //handle memory
				 BCLFlag++;
				 break;
			 case 0x587:
				 BatteryStatusCharge_rcv(RxFrame, &rx_BSC); //Receive frame
				 BatteryStatusCharge_memHandler(rx_BSC, h_BSC); //handle memory
				 BSCFlag++;
				 break;
			 case 0x580:
				 BatteryStatusGeneral_rcv(RxFrame, &rx_BSG); //Receive frame
				 BatteryStatusGeneral_memHandler(rx_BSG, h_BSG); //handle memory
				 BSGFlag++;
				 break;
			 case 0x59f:
				 BatteryVehicleHandling_rcv(RxFrame, &rx_BVH); //Receive frame
				 BatteryVehicleHandling_memHandler(rx_BVH, h_BVH); //handle memory
				 BVHFlag++;
				 break;
			 default:
				 sprintf(msg, "Unknown ID in FIFO 0\r\n");
				 HAL_UART_Transmit(&huart2, (uint8_t*)msg, strlen(msg), HAL_MAX_DELAY);
				 break;
		 }
	 }
}

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 */
 DID_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_DMA_Init();
 MX_USART2_UART_Init();
 MX_CAN1_Init();
 MX_ADC1_Init();
 MX_TIM6_Init();
 /* USER CODE BEGIN 2 */
 CAN_Filter_FIFO0(&hcan1); // Filter config for FIFO0
 CAN_Filter_FIFO1(&hcan1); // Filter config for FIFO1
 HAL_CAN_Start(&hcan1);

 HAL_CAN_ActivateNotification(&hcan1, CAN_IT_RX_FIFO0_MSG_PENDING); // Enable Interrupt at FIFO0 reception
 HAL_CAN_ActivateNotification(&hcan1, CAN_IT_RX_FIFO1_MSG_PENDING); // Enable Interrupt at FIFO1 reception

 HAL_TIM_Base_Start_IT(&htim6); // Start timer for scheduled frame sending
 //HAL_ADC_Start_IT(&hadc1); // Start adc

 /* USER CODE END 2 */

 /* Infinite loop */
 /* USER CODE BEGIN WHILE */
 uint8_t countpres;
 while (1)
 {
 /* USER CODE END WHILE */

 /* USER CODE BEGIN 3 */
//	 if (uADCConversionCpltFlag) {
//	 		uiADCRawValueBuffer = HAL_ADC_GetValue(&hadc1);
//	 		sprintf(msg, "Throttle: %hu \r\n", uiADCRawValueBuffer);
//	 		HAL_UART_Transmit(&huart2, (uint8_t *)msg, strlen(msg), HAL_MAX_DELAY);
//	 	}

	 /*Single channel polling*/
//		HAL_ADC_Start(&hadc1);
//		HAL_ADC_PollForConversion(&hadc1, HAL_MAX_DELAY);
//		uiADCRawValueBuffer = HAL_ADC_GetValue(&hadc1);
//		sprintf(msg, "Throttle: %hu \r\n", uiADCRawValueBuffer);
//		HAL_UART_Transmit(&huart2, (uint8_t *)msg, strlen(msg), HAL_MAX_DELAY);

	 /****************** USABLE CODE ******************/

	 /*SEND UDS RESPONSE*/

	 if(UDSFlag!=0)
	 {
		 UDSFlag = 0;
		 UDS_Response_mgt(RxFrame, VCU_Response, &TxHeader, TxFrame);
		 CAN_Send_Periodic();
	 }

	 if(BCCFlag!=0)
	 {
		 BCCFlag = 0;
		 Discharge_Battery();
		 Discharge_DCDC();
		 sprintf(msg, "BatteryChargeCurrent frame received\r\n");
		 HAL_UART_Transmit(&huart2, (uint8_t*)msg, strlen(msg), HAL_MAX_DELAY);
	 }

	 if(BCLFlag!=0)
	 {
		 BCLFlag = 0;
		 Discharge_Battery();
		 Discharge_DCDC();
		 sprintf(msg, "BatteryCurrentLimit frame received\r\n");
		 HAL_UART_Transmit(&huart2, (uint8_t*)msg, strlen(msg), HAL_MAX_DELAY);
	 }

	 if(BSCFlag!=0)
	 {
		 BSCFlag = 0;
		 Discharge_Battery();
		 Discharge_DCDC();
		 sprintf(msg, "BatteryStatusCharge frame received\r\n");
		 HAL_UART_Transmit(&huart2, (uint8_t*)msg, strlen(msg), HAL_MAX_DELAY);
	 }

	 if(BSGFlag!=0)
	 {
		 BSGFlag = 0;
		 Discharge_Battery();
		 Discharge_DCDC();
		 sprintf(msg, "BatteryStatusGeneral frame received\r\n");
		 HAL_UART_Transmit(&huart2, (uint8_t*)msg, strlen(msg), HAL_MAX_DELAY);
	 }
 }
}

 

CanFilterConfig

#include "CanFilterConfig.h"


void CAN_Filter_FIFO0(CAN_HandleTypeDef* hcan)
{
	 CAN_FilterTypeDef canfilterconfig;

	 canfilterconfig.FilterActivation = CAN_FILTER_ENABLE;
	 canfilterconfig.FilterBank = 10;
	 canfilterconfig.FilterFIFOAssignment = CAN_FILTER_FIFO0;
	 canfilterconfig.FilterIdHigh = 0x580 << 5; // According to the DBC
	 canfilterconfig.FilterIdLow = 0x0000;
	 canfilterconfig.FilterMaskIdHigh = 0xfe0 << 5;// Calculation of the mask according to the DBC
	 canfilterconfig.FilterMaskIdLow = 0x0000;
	 canfilterconfig.FilterMode = CAN_FILTERMODE_IDMASK;
	 canfilterconfig.FilterScale = CAN_FILTERSCALE_32BIT;
	 canfilterconfig.SlaveStartFilterBank = 13;

	 HAL_CAN_ConfigFilter(hcan, &canfilterconfig);
}

 

Thank you again for your time

[mƎALLEm]

Hello,

Better to attach your main.c and your ioc files.

+ keep the filters to 0 for the moment.

[Erwan03]

Alright, found the problem, I was using both fifo0 and fifo1 for receiving whereas i had to use only one for all the frames. Don't know how to use both of them s

void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan)
{
	HAL_CAN_GetRxMessage(&hcan1, CAN_RX_FIFO0, &RxHeader, RxFrame);
	 {
		 switch(RxHeader.StdId)
		 {
		 	 case 0x586:
				 BatteryChargeCurrent_rcv(RxFrame, &rx_BCC); //Receive frame
				 BatteryChargeCurrent_memHandler(rx_BCC, &h_BCC); //handle memory
				 BCCFlag++;
				 break;
		 	case 0x591:
				 BatteryCurrentLimit_rcv(RxFrame, &rx_BCL); //Receive frame
				 BatteryCurrentLimit_memHandler(rx_BCL, h_BCL); //handle memory
				 BCLFlag++;
				 break;
			 case 0x587:
				 BatteryStatusCharge_rcv(RxFrame, &rx_BSC); //Receive frame
				 BatteryStatusCharge_memHandler(rx_BSC, h_BSC); //handle memory
				 BSCFlag++;
				 break;
			 case 0x580:
				 BatteryStatusGeneral_rcv(RxFrame, &rx_BSG); //Receive frame
				 BatteryStatusGeneral_memHandler(rx_BSG, h_BSG); //handle memory
				 BSGFlag++;
				 break;
			 case 0x59f:
				 BatteryVehicleHandling_rcv(RxFrame, &rx_BVH); //Receive frame
				 BatteryVehicleHandling_memHandler(rx_BVH, h_BVH); //handle memory
				 BVHFlag++;
				 break;
		 	 case 0x24:
		 		 EPIC_PMZ_A_rcv(RxFrame, &rx_pmzA); //Receive frame
		 		 EPIC_PMZ_A_memHandler(rx_pmzA, h_PMZ_A); //handle memory
		 		 break;
		 	 case 0x50:
		 		 EPIC_PMZ_C_rcv(RxFrame, &rx_pmzC); //Receive frame
		 		 EPIC_PMZ_C_memHandler(rx_pmzC, h_PMZ_C); //handle memory
		 		 break;
		 	 case 0x5A:
		 		 EPIC_PMZ_E_rcv(RxFrame, &rx_pmzE); //Receive frame
		 		 EPIC_PMZ_E_memHandler(rx_pmzE, h_PMZ_E); //handle memory
		 		 break;
		 	 case 0x5E:
		 		 EPIC_PMZ_G_rcv(RxFrame, &rx_pmzG); //Receive frame
		 		 EPIC_PMZ_G_memHandler(rx_pmzG, h_PMZ_G); //handle memory
		 		 break;
		 	 case 0x60:
		 		 EPIC_PMZ_H_rcv(RxFrame, &rx_pmzH); //Receive frame
		 		 EPIC_PMZ_H_memHandler(rx_pmzH, h_PMZ_H); //handle memory
		 		 break;
		 	 case 0x4e2:
		 		 EPIC_PMZ_I_rcv(RxFrame, &rx_pmzI); //Receive frame
		 		 EPIC_PMZ_I_memHandler(rx_pmzI, &h_PMZ_I); //handle memory
		 		 break;
		 	 case 0x621:
		 		 HMI_DATA1_rcv(RxFrame, &rx_cluster); //Receive frame
		 		 HMI_DATA1_memHandler(rx_cluster, h_HMI); //handle memory
		 		 break;
		 	 case 0x719:
		 		 UDS_DIAG_rcv(RxFrame);
		 		 UDSFlag ++;
		 		 break;
		 	 case 0x700:
		 		 DCDC700_rcv(RxFrame, &rx_dcdc700); //Receive frame
		 		 DCDC700_memHandler(rx_dcdc700, DCDC_700); //handle memory
		 		 break;
		 	 case 0x703:
		 		 DCDC703_rcv(RxFrame, &rx_dcdc703); //Receive frame
		 		 break;
		 	 default:
		 		 sprintf(msg, "Unknown ID in FIFO 1\r\n");
		 		 HAL_UART_Transmit(&huart2, (uint8_t*)msg, strlen(msg), HAL_MAX_DELAY);
		 		 break;
		 }
	 }
}

imultaneously. Then i used only one to receive the frames and it works.

[mƎALLEm]

Hello,

You can use them both simultaneously. According to the code source you shared at the beginning I don't see an issue.

For each FIFO you can set a filter config, so you will receive the matching message on that FIFO.

Maybe you didn't explain or provide more details of what you intended to do...