FlexCAN_T4 buffer size increase so I can receive all messages

P

PCMaster2165

Member
Hello everyone, I have a pretty simple example of using the FlexCAN_T4, the only issue is I am missing CAN frames as it only will read 4 at a time and the rest go missing. I'm reading every 4 milliseconds, and receive 4-5 frames each time, it should be around 10-12 in my case. The only way I can achieve reading them all is reading every 1 millisecond which is strange as my buffer is large and this should be very easy.... any help would be truly appreciated thanks!

Here is my code:

C++: 
#ifndef CAN_DISPATCH_H
#define CAN_DISPATCH_H

#include "Structs.h"
#include "Telemetry.h"
#include <FlexCAN_T4.h>
#include "IMU.h"
#include "GPS.h"
#include "Altitude.h"

const byte LIDAR_CAN = 0x03;
const byte RTK_STATUS_CAN = 0x11;
const byte IMU_ANGLE_QUAT_CAN = 0x21;
const byte IMU_ANGULAR_RATE_CAN = 0x32;
const byte IMU_ACCELERATION_CAN = 0x34;
const byte TEMPERATURE_CAN = 0x51;
const byte GPS_POSITION_CAN = 0x71;
const byte ALTITUDE_CAN = 0x72;
const byte GPS_VELOCITY_CAN = 0x76;
const byte GPS_STATUS_CAN = 0x79;

class TELEMETRY;
class IMU;
class GPS;
class ALTITUDE;

class CANDISPATCH {
public:
  CANDISPATCH(DRONE_SETTINGS drone_settings, TELEMETRY* telemetry);
  void start();
  void getCANData(IMU* imu, IMU_DATA* imu_data, SAFETY_DATA* safety_data, GPS* gps, GPS_DATA* gps_data, ALTITUDE* altitude, ALTITUDE_DATA* altitude_data);
private:
  DRONE_SETTINGS drone_settings;
  TELEMETRY* telemetry;
  FlexCAN_T4<CAN1, RX_SIZE_256, TX_SIZE_16> can_interface; //RX can go to 512 or 1024 if needed
};

#endif

C++: 
#include "CANDispatch.h"

//***PUBLIC***

CANDISPATCH::CANDISPATCH(DRONE_SETTINGS drone_settings, TELEMETRY* telemetry) {
  this->drone_settings = drone_settings;
  this->telemetry = telemetry;
}

void CANDISPATCH::start() {
  can_interface.begin();
  can_interface.setBaudRate(1000000);
}


void CANDISPATCH::getCANData(IMU* imu, IMU_DATA* imu_data, SAFETY_DATA* safety_data, GPS* gps, GPS_DATA* gps_data, ALTITUDE* altitude, ALTITUDE_DATA* altitude_data) {
  CAN_message_t can_data;
  while (can_interface.read(can_data)) {
    switch (can_data.id) {
      case IMU_ANGLE_QUAT_CAN:
      case IMU_ANGULAR_RATE_CAN:
      case IMU_ACCELERATION_CAN:
        imu->getIMUDataFromCAN(imu_data, safety_data, can_data);
        break;
      case TEMPERATURE_CAN:
        //TODO call Temperature Library
        break;
      case GPS_POSITION_CAN:
      case GPS_VELOCITY_CAN:
      case GPS_STATUS_CAN:
      case RTK_STATUS_CAN:
        gps->getGPSDataFromCAN(gps_data, safety_data, can_data);
        break;
      case ALTITUDE_CAN:
      case LIDAR_CAN:
        altitude->getAltitudeDataFromCAN(altitude_data, imu_data, safety_data, can_data);
        break;
    }
  }
}

//***PRIVATE***
 
I ended up solving my problem, for some reason it only would fill up the first 4 mailboxes (even if I specified 64 of them!) so I got it to work by stuffing them into mail boxes manually:

C++: 
#ifndef CAN_DISPATCH_H
#define CAN_DISPATCH_H

#include "Structs.h"
#include "Telemetry.h"
#include <FlexCAN_T4.h>
#include "IMU.h"
#include "GPS.h"
#include "Altitude.h"

const byte LIDAR_CAN = 0x03;
const byte RTK_STATUS_CAN = 0x11;
const byte IMU_ANGLE_QUAT_CAN = 0x21;
const byte IMU_ANGULAR_RATE_CAN = 0x32;
const byte IMU_ACCELERATION_CAN = 0x34;
const byte TEMPERATURE_CAN = 0x51;
const byte GPS_POSITION_CAN = 0x71;
const byte ALTITUDE_CAN = 0x72;
const byte GPS_VELOCITY_CAN = 0x76;
const byte GPS_STATUS_CAN = 0x79;

class TELEMETRY;
class IMU;
class GPS;
class ALTITUDE;

class CANDISPATCH {
public:
  CANDISPATCH(DRONE_SETTINGS drone_settings, TELEMETRY* telemetry);
  void start();
  void getCANData(IMU* imu, IMU_DATA* imu_data, SAFETY_DATA* safety_data, GPS* gps, GPS_DATA* gps_data, ALTITUDE* altitude, ALTITUDE_DATA* altitude_data);
private:
  DRONE_SETTINGS drone_settings;
  TELEMETRY* telemetry;
  FlexCAN_T4<CAN1, RX_SIZE_256, TX_SIZE_16> can_interface; //RX can go to 512 or 1024 if needed
};

#endif

Code: 
#include "CANDispatch.h"

//***PUBLIC***

CANDISPATCH::CANDISPATCH(DRONE_SETTINGS drone_settings, TELEMETRY* telemetry) {
  this->drone_settings = drone_settings;
  this->telemetry = telemetry;
}

void CANDISPATCH::start() {
  can_interface.begin();
  can_interface.setBaudRate(1000000);
  can_interface.setMaxMB(16);
  can_interface.setMB(MB0, RX, STD);
  can_interface.setMB(MB1, RX, STD);
  can_interface.setMB(MB2, RX, STD);
  can_interface.setMB(MB3, RX, STD);
  can_interface.setMB(MB4, RX, STD);
  can_interface.setMB(MB5, RX, STD);
  can_interface.setMB(MB6, RX, STD);
  can_interface.setMB(MB7, RX, STD);
  can_interface.setMB(MB8, RX, STD);
  can_interface.setMB(MB9, RX, STD);
  can_interface.setMBFilter(MB0, LIDAR_CAN);
  can_interface.setMBFilter(MB1, RTK_STATUS_CAN);
  can_interface.setMBFilter(MB2, IMU_ANGLE_QUAT_CAN);
  can_interface.setMBFilter(MB3, IMU_ANGULAR_RATE_CAN);
  can_interface.setMBFilter(MB4, IMU_ACCELERATION_CAN);
  can_interface.setMBFilter(MB5, TEMPERATURE_CAN);
  can_interface.setMBFilter(MB6, GPS_POSITION_CAN);
  can_interface.setMBFilter(MB7, ALTITUDE_CAN);
  can_interface.setMBFilter(MB8, GPS_VELOCITY_CAN);
  can_interface.setMBFilter(MB9, GPS_STATUS_CAN);
}


void CANDISPATCH::getCANData(IMU* imu, IMU_DATA* imu_data, SAFETY_DATA* safety_data, GPS* gps, GPS_DATA* gps_data, ALTITUDE* altitude, ALTITUDE_DATA* altitude_data) {
  CAN_message_t can_data;
  while (can_interface.readMB(can_data)) {
    switch (can_data.id) {
      case IMU_ANGLE_QUAT_CAN:
      case IMU_ANGULAR_RATE_CAN:
      case IMU_ACCELERATION_CAN:
        imu->getIMUDataFromCAN(imu_data, safety_data, can_data);
        break;
      case TEMPERATURE_CAN:
        //TODO call Temperature Library
        break;
      case GPS_POSITION_CAN:
      case GPS_VELOCITY_CAN:
      case GPS_STATUS_CAN:
      case RTK_STATUS_CAN:
        gps->getGPSDataFromCAN(gps_data, safety_data, can_data);
        break;
      case ALTITUDE_CAN:
      case LIDAR_CAN:
        altitude->getAltitudeDataFromCAN(altitude_data, imu_data, safety_data, can_data);
        break;
    }
  }
}

//***PRIVATE***
 
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