industrialNETworX

Hello everyone,

I made of the DeviceNet protocol stack on CAN HAL.
However, the CAN packet does lost with frame error in a ratio of one to 10000-100000.
This abnormal packet come about because of the collision of the packet.
It keeps transmitting though it was defeated at the arbitration.
Originally, it is necessary to send the packet again in this case.
But CAN HAL is not sent again in rare cases.
Other CAN device are sent again detecting the frame error.
The result was the same though Single-shot and Send-Confirmation had been used　with CAN HAL V3.

// in CAN interrupt
TLR_RESULT eRslt = TLR_S_OK;;
TLR_UINT32 ulId;
TLR_UINT32 uFill;
SYSTIME_TIMESTAMP_T tCnfTm;


if(ulIrq & MSK_CAN_XPEC2ARM_INTERRUPTS_CON)

{ 

  uFill = 0;

  eRslt = Can_GetConfirmationFillLevel(hDrvCan, &uFill);

  if(eRslt != TLR_S_OK) goto leave;

  while(uFill > 0) 

  {

    eRslt = Can_GetSendConfirmation(hDrvCan, &ulId, &tCnfTm);

    if(eRslt != TLR_S_OK) goto leave;

    if((tCnfTm.ulTimeS == 0)&&(tCnfTm.ulTimeNs == 0))

    {

      if(ulIrq & MSK_CAN_XPEC2ARM_INTERRUPTS_CON_TRANSMISSION_ABORT)

      {

        eRslt = CanIf_SendConf(ptRsc, CAN_IF_TX_ABORT, ulId, &tCnfTm);  // abort (no use)

      }

      else

      {

        eRslt = CanIf_SendConf(ptRsc, CAN_IF_TX_LOST, ulId, &tCnfTm);  // re-try request

      }

    }

    if(eRslt != TLR_S_OK) goto leave;

    --uFill;

  }

}

I am sending it again with a timer now.

However, this causes another problem.

Please teach measures.

Best regards