Some of CAN packet have trouble.

[interactics_ST]

Hello. 

I am developing CAN communication protocols using STM32F429.
However there is a problem in sending CAN frame data.

 

Here is a picture which I captured in CAN TX using logic analyzer, and as you can see, the series of data is losted after first data.

I tested this with publishing 100Hz, this problem occurred once a minute.

In normal case, it should be like this.

 

And also I add my code for helping to understanding.

 

 __disable_irq();

	motorCANTxMailBox = HAL_CAN_GetTxMailboxesFreeLevel(&hcan1);
 HAL_CAN_AddTxMessage(&MTRL_CAN, &motorCANTxHeader, &motorCANTxData[0], &motorCANTxMailBox);

 __enable_irq();

 

I disabled the non-automatic retransimission and enabled automatic bus-off feature.

But I wonder why the retransimission did not occur.

 

 

 

[mƎALLEm]

Hello,

You need to provide more details:

• Your HW: which board? Your own HW or ST board?
• If possible schematics
• Bus configuration, used transceivers.. termination resistors etc ..
• What is the system clock source you're using: HSE or HSI?
• Are you seeing some acknowledgement for the send messages?

Thank you.

[interactics_ST]

Thank you for your fast answer.

This is my own board.

Firstly, here is the schematic about CAN

The clock source is HSE and it provide 45Mhz to APB.

I set up the configuration like below.

 

 

Add : 

I disabled the non-automatic retransmission and enabled automatic bus-off feature.
But I wonder why the retransmission did not occur.

and attach another packet loss below

 

[mƎALLEm]

What is connected in the other side of the bus? does it have the same bitrate config 100kb/s?

What is the purpose of R23/C21 and R24/C22? it was the recommendation in DS transceiver?

[mƎALLEm]

Please check my points before.

Also share your two projects: STM32F429 and STM32G0 (at least the ioc files) so I can look at them later.

[interactics_ST]

I can't show all my code because of the confidential. Instead, I show the CAN part of my codes.

 

here is the G0 code which is responsible for receiving the CAN frame.  

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

		HAL_StatusTypeDef ref;

		ref = HAL_FDCAN_GetRxMessage(hfdcan, FDCAN_RX_FIFO0, &RxHeader, RxData);
		if (ref == HAL_OK){

			RxSLCANFrame.can_id = RxHeader.Identifier;
			tester = RxSLCANFrame.can_id;
			if ((RxSLCANFrame.can_id & uint32_t(0x0f)) == NODE_ID){

				RxSLCANFrame.can_id = (RxSLCANFrame.can_id & 0xfffffff0);

				memcpy(RxSLCANFrame.data, RxData, CAN_Frame_len);

				CB_push(&cb_can_frame, &RxSLCANFrame);
				RxCANFrameFlag = true;
			}
		} else {
			Error_Handler();
		}

		ref = HAL_FDCAN_ActivateNotification(hfdcan, FDCAN_IT_RX_FIFO0_NEW_MESSAGE, 0);

		if (ref == HAL_OK){
		} else {
			Error_Handler();
		}
	}
}

 

and here is F4 code which is in charge of transmitting the packets. and changed some name of the variables.

void CANCmd(const uint32_t node_id, const float rad1, const float rad2){
 uint32_t diriect_ID = 0x700 + node_id;
 uint8_t data[8] ={0,};
 
 data_frame64_t position_cmd_data;

 position_cmd_data.data_float_t[0] = rad1;
 position_cmd_data.data_float_t[1] = rad2;

 CANPacketCreate(diriect_ID, position_cmd_data.data8_t);
 CANWrite();
}

void CANPacketCreate(uint32_t id, uint8_t *data){
 CANTxHeader.StdId = id;
 CANTxHeader.RTR = CAN_RTR_DATA;
 CANTxHeader.IDE = CAN_ID_STD;
 CANTxHeader.DLC = 8;

 memset(CANTxData, 0, 8);
 memcpy(CANTxData, data, 8);

 CANTxMailBox = HAL_CAN_GetTxMailboxesFreeLevel(&MTRL_CAN);
}

void motorCANWrite(){
 CANTxMailBox = HAL_CAN_GetTxMailboxesFreeLevel(&MTRL_CAN);
 __disable_irq();
 HAL_CAN_AddTxMessage(&MTRL_CAN, &CANTxHeader, &CANTxData[0], &CANTxMailBox);
 __enable_irq();

}

 

[mƎALLEm]

Sorry I need at least ioc files otherwise I can't help you efficiently.