Question
CAN Bus between STM32F103 and Arduino
I have a few arduino boards communicating through each other on a CAN Bus. Arduino is connected to a MCP2515 CAN Bus Module TJA1050.
All arduino are communicating properly between each other. Here is an example of my reader on arduino:
#include "MIDIUSB.h"
#include <SPI.h>
#include <mcp2515.h>
struct can_frame txMsg, rxMsg;
//struct can_frame rxmsg;
MCP2515 mcp2515(7);
byte chan = 1;
void setup() {
Serial.begin(500000);
Serial.println("myDrum 2 MIDI");
SPI.begin();
mcp2515.reset();
mcp2515.setBitrate(CAN_500KBPS,MCP_8MHZ);
mcp2515.setNormalMode();
}
void loop() {
if (mcp2515.readMessage(&rxMsg) == MCP2515::ERROR_OK) {
switch (rxMsg.data[0])
{
case 144:
noteOn(chan, rxMsg.data[1], rxMsg.data[2]);
break;
case 178:
controlChange(chan, rxMsg.data[1], rxMsg.data[2]);
break;
default:
break;
}
//Serial.print("Received Message: ");
Serial.print(rxMsg.data[0]); Serial.print(" - ");
Serial.print(rxMsg.data[1]); Serial.print(" - ");
Serial.println(rxMsg.data[2]);
}
}
void noteOn(byte channel, byte pitch, byte velocity) {
midiEventPacket_t noteOn = {0x09, 0x90 | channel, pitch, velocity};
MidiUSB.sendMIDI(noteOn);
MidiUSB.flush();
}
void controlChange(byte channel, byte control, byte value) {
midiEventPacket_t event = {0x0B, 0xB0 | channel, control, value};
MidiUSB.sendMIDI(event);
MidiUSB.flush();
}Now I'm trying to add an STM32F103 with a MCP2551 transceiver module but nothing is being received from the STM32F103 on the arduino side. Since the arduino's are talking to each other, I tend to think that the issue is on the STM32F103 side. My code is below. Any thoughts on what I'm missing?
#include "main.h"
ADC_HandleTypeDef hadc1;
ADC_HandleTypeDef hadc2;
CAN_HandleTypeDef hcan;
I2C_HandleTypeDef hi2c1;
UART_HandleTypeDef huart1;
/* USER CODE BEGIN PV */
CAN_RxHeaderTypeDef RxHeader;
CAN_TxHeaderTypeDef TxHeader;
uint32_t TxMailbox;
/* USER CODE END PV */
/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
static void MX_GPIO_Init(void);
static void MX_CAN_Init(void);
static void MX_USART1_UART_Init(void);
static void MX_ADC1_Init(void);
static void MX_ADC2_Init(void);
static void MX_I2C1_Init(void);
/* USER CODE BEGIN PFP */
/* USER CODE END PFP */
/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
/* USER CODE END 0 */
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 */
/* 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_CAN_Init();
MX_USART1_UART_Init();
MX_ADC1_Init();
MX_ADC2_Init();
MX_I2C1_Init();
/* USER CODE BEGIN 2 */
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
uint8_t message[3];
message[0] = 144;
message[1] = 38;
message[2] = 127;
TxHeader.DLC = 3;
TxHeader.StdId = 0x221;
TxHeader.IDE = CAN_ID_STD;
TxHeader.RTR = CAN_RTR_DATA;
if( HAL_CAN_AddTxMessage(&hcan, &TxHeader, &message, &TxMailbox) != HAL_OK)
{
Error_Handler();
}
HAL_Delay(1000);
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
}
/* USER CODE END 3 */
}
void SystemClock_Config(void)
{
RCC_OscInitTypeDef RCC_OscInitStruct = {0};
RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
RCC_PeriphCLKInitTypeDef PeriphClkInit = {0};
/** Initializes the CPU, AHB and APB busses clocks
*/
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
RCC_OscInitStruct.HSEState = RCC_HSE_ON;
RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1;
RCC_OscInitStruct.HSIState = RCC_HSI_ON;
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL9;
if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
{
Error_Handler();
}
/** Initializes the CPU, AHB and APB busses clocks
*/
RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
|RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
{
Error_Handler();
}
PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_ADC;
PeriphClkInit.AdcClockSelection = RCC_ADCPCLK2_DIV6;
if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK)
{
Error_Handler();
}
}
static void MX_CAN_Init(void)
{
/* USER CODE BEGIN CAN_Init 0 */
/* USER CODE END CAN_Init 0 */
/* USER CODE BEGIN CAN_Init 1 */
/* USER CODE END CAN_Init 1 */
hcan.Instance = CAN1;
hcan.Init.Prescaler = 9;
hcan.Init.Mode = CAN_MODE_NORMAL;
hcan.Init.SyncJumpWidth = CAN_SJW_1TQ;
hcan.Init.TimeSeg1 = CAN_BS1_13TQ;
hcan.Init.TimeSeg2 = CAN_BS2_2TQ;
hcan.Init.TimeTriggeredMode = DISABLE;
hcan.Init.AutoBusOff = DISABLE;
hcan.Init.AutoWakeUp = DISABLE;
hcan.Init.AutoRetransmission = DISABLE;
hcan.Init.ReceiveFifoLocked = DISABLE;
hcan.Init.TransmitFifoPriority = DISABLE;
if (HAL_CAN_Init(&hcan) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN CAN_Init 2 */
CAN_FilterTypeDef can_filter_init;
can_filter_init.FilterActivation = CAN_FILTER_ENABLE;
can_filter_init.FilterBank = 0;
can_filter_init.FilterFIFOAssignment = CAN_RX_FIFO0;
can_filter_init.FilterIdHigh = 0x9999;
can_filter_init.FilterIdLow = 0x0000;
can_filter_init.FilterMaskIdHigh = 0x9999;
can_filter_init.FilterMaskIdLow = 0x0000;
can_filter_init.FilterMode = CAN_FILTERMODE_IDMASK;
can_filter_init.FilterScale = CAN_FILTERSCALE_32BIT;
if( HAL_CAN_ConfigFilter(&hcan,&can_filter_init) != HAL_OK)
{
Error_Handler();
}
if( HAL_CAN_Start(&hcan) != HAL_OK)
{
Error_Handler();
}
// if(HAL_CAN_ActivateNotification(&hcan,CAN_IT_TX_MAILBOX_EMPTY|CAN_IT_BUSOFF)!= HAL_OK)
// {
// Error_Handler();
// }
/* USER CODE END CAN_Init 2 */
}
static void MX_GPIO_Init(void)
{
GPIO_InitTypeDef GPIO_InitStruct = {0};
/* GPIO Ports Clock Enable */
__HAL_RCC_GPIOC_CLK_ENABLE();
__HAL_RCC_GPIOD_CLK_ENABLE();
__HAL_RCC_GPIOA_CLK_ENABLE();
__HAL_RCC_GPIOB_CLK_ENABLE();
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(LED_GPIO_Port, LED_Pin, GPIO_PIN_SET);
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(drain1_GPIO_Port, drain1_Pin, GPIO_PIN_RESET);
/*Configure GPIO pin : LED_Pin */
GPIO_InitStruct.Pin = LED_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_MEDIUM;
HAL_GPIO_Init(LED_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pins : pad1_Pin pad2_Pin */
GPIO_InitStruct.Pin = pad1_Pin|pad2_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/*Configure GPIO pins : PA5 trigger1_Pin trigger2_Pin */
GPIO_InitStruct.Pin = GPIO_PIN_5|trigger1_Pin|trigger2_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/*Configure GPIO pin : drain1_Pin */
GPIO_InitStruct.Pin = drain1_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_OD;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
HAL_GPIO_Init(drain1_GPIO_Port, &GPIO_InitStruct);
}