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Implement manual bus off recovery #129

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Implement manual bus off recovery #129

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18 changes: 18 additions & 0 deletions CANopenNode_STM32/CO_driver_STM32.c
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Original file line number Diff line number Diff line change
Expand Up @@ -622,6 +622,24 @@ HAL_FDCAN_RxFifo1Callback(FDCAN_HandleTypeDef* hfdcan, uint32_t RxFifo1ITs) {
}
}

/**
* \brief Error status callback
* \param[in] hfdcan: pointer to an FDCAN_HandleTypeDef structure that contains
* the configuration information for the specified FDCAN.
* \param[in] ErrorStatusITs indicates which Error Status interrupts are signaled.
* This parameter can be any combination of @arg FDCAN_Error_Status_Interrupts.
*
* Implements manual FDCAN Bus-Off recovery as described in
* https://community.st.com/stm32-mcus-60/how-to-recover-from-bus-off-state-with-fdcan-on-stm32-mcus-158678.
*/
void
HAL_FDCAN_ErrorStatusCallback(FDCAN_HandleTypeDef* hfdcan, uint32_t ErrorStatusITs) {
if ((ErrorStatusITs & FDCAN_IT_BUS_OFF) != 0) // If Bus-Off error occurred
{
CLEAR_BIT(hfdcan->Instance->CCCR, FDCAN_CCCR_INIT); // Clear INIT bit to recover from Bus-Off
}
}
Comment on lines +636 to +641

@anmelle-slamcore anmelle-slamcore Sep 9, 2026

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Does this suggestion make sense @MaJerle ? This is not what STM32 article recommends

@MaJerle MaJerle Sep 9, 2026

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In practice, I'd rather use that we use the HAL_FDCAN_procotolStatus (or something like that) function to read all the statuses and if we have busoff, we start init.

I use a function like this:

/**
 * \brief           Check for BUS-OFF and reinitialize the init
 * 
 *                  IP will then wait for recessive bits before resuming the operation
 * 
 * \param           hfdcan 
 */
static void
prv_fdcan_bus_off_check_reset(FDCAN_HandleTypeDef* hfdcan) {
    FDCAN_ProtocolStatusTypeDef protocolStatus = {0};

    HAL_FDCAN_GetProtocolStatus(hfdcan, &protocolStatus);
    if (protocolStatus.BusOff) {
        CLEAR_BIT(hfdcan->Instance->CCCR, FDCAN_CCCR_INIT);
    }
}

And I call it on:

  • HAL_FDCAN_ErrorCallback()
  • HAL_FDCAN_ErrorStatusCallback()
  • Each time I try to send the packet

In practice, I'll do some reworking today of the drivers, so if @HamedJafarzadeh can agree to merge this today, it will be good.


/**
* \brief TX buffer has been well transmitted callback
* \param[in] hfdcan: pointer to an FDCAN_HandleTypeDef structure that contains
Expand Down