Issue receiving CAN Frames

Erwan03 · ‎2024-05-16

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.

Erwan03 · ‎2024-05-21

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.

View solution in original post

mƎALLEm · ‎2024-05-16

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.

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.

Erwan03 · ‎2024-05-16

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 · ‎2024-05-16

Hello,

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

+ keep the filters to 0 for the moment.

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Erwan03 · ‎2024-05-16

ok, here they are.

mƎALLEm · ‎2024-05-16

Hello,

Thanks for the sharing,

Do you confirm you did a test with:

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

and didn't work?

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Erwan03 · ‎2024-05-16

Yes, i confirm that it is not working even with every fields set to 0.

mƎALLEm · ‎2024-05-16

Ok thank you.

Here I'm just pointing this statement:

"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."

So as I understand here, the receiving is working well when you send frames from your laptop (with a CAN bridge I suppose) but you couldn't receive any frame from the battery right?

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.

Erwan03 · ‎2024-05-16

Yes, actuallty i tried to communicate with BMS (directly on battery) but debug mode is not possible in that case so i am using the laptop to simulate the behavior but sending the frames i want, to test my state machine.

Erwan03 · ‎2024-05-16

Anyways i just noticed that the frame is sent continuously from the laptop maybe it is the source of the problem. Gonna fix it, thank you very much for your support!