CAN Communication issue with STM32F4

Forum|Forum|1 year ago
March 14, 2024
11 replies
8021 views

/* USER CODE BEGIN Header */
/**
 ******************************************************************************
 * @file can.c
 * @brief This file provides code for the configuration
 * of the CAN instances.
 ******************************************************************************
 * @attention
 *
 * Copyright (c) 2023 STMicroelectronics.
 * All rights reserved.
 *
 * This software is licensed under terms that can be found in the LICENSE file
 * in the root directory of this software component.
 * If no LICENSE file comes with this software, it is provided AS-IS.
 *
 ******************************************************************************
 */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "can.h"
#include "main.h"
 
#include "usart.h"
 
CAN_HandleTypeDef hcan2;
 
static CAN_TxHeaderTypeDef TxHeader;
static CAN_RxHeaderTypeDef RxHeader;
static uint8_t TxData[8];
static uint8_t RxData[8];
static uint32_t TxMailbox;
 
static char Print_buffer[200];
 
#define CAN_BAUD_250K 8 // Prescaler for 250 Kbits per second
#define CAN_BAUD_500K 4 // Prescaler for 500 Kbits per second
 
 
/* CAN2 init function */
void MX_CAN2_Init(void)
{
HAL_StatusTypeDef HAL_error;
CAN_FilterTypeDef sFilterConfig;
 
 /*##-1- Configure the CAN peripheral #######################################*/
hcan2.Instance = CAN2;
hcan2.Init.Prescaler = CAN_BAUD_250K;
hcan2.Init.Mode = CAN_MODE_LOOPBACK; //CAN_MODE_NORMAL;
hcan2.Init.SyncJumpWidth = CAN_SJW_1TQ;
hcan2.Init.TimeSeg1 = CAN_BS1_16TQ;
hcan2.Init.TimeSeg2 = CAN_BS2_8TQ;
hcan2.Init.TimeTriggeredMode = DISABLE;
hcan2.Init.AutoBusOff = DISABLE;
hcan2.Init.AutoWakeUp = ENABLE;
hcan2.Init.AutoRetransmission = ENABLE;
hcan2.Init.ReceiveFifoLocked = DISABLE;
hcan2.Init.TransmitFifoPriority = DISABLE;
 
 HAL_error = HAL_CAN_Init(&hcan2);
 
 if (HAL_error != HAL_OK)
 {
 Error_Handler(HAL_error);
 }
 
 /*##-2- Configure the CAN Filter ###########################################*/
 sFilterConfig.FilterBank = 0;
 sFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK;
 sFilterConfig.FilterScale = CAN_FILTERSCALE_32BIT;
 sFilterConfig.FilterIdHigh = 0x0000;
 sFilterConfig.FilterIdLow = 0x0000;
 sFilterConfig.FilterMaskIdHigh = 0x0000;
 sFilterConfig.FilterMaskIdLow = 0x0000;
 sFilterConfig.FilterFIFOAssignment = CAN_RX_FIFO0;
 sFilterConfig.FilterActivation = ENABLE;
 sFilterConfig.SlaveStartFilterBank = 14;
 
 HAL_error = HAL_CAN_ConfigFilter(&hcan2, &sFilterConfig);
 
 if (HAL_error != HAL_OK)
 {
 Error_Handler(HAL_error);
 }
 
 /*##-3- Start the CAN peripheral ###########################################*/
 HAL_error = HAL_CAN_Start(&hcan2);
 
 if (HAL_error != HAL_OK)
 {
 Error_Handler(HAL_error);
 }
 
 /*##-4- Activate CAN RX notification #######################################*/
 HAL_error = HAL_CAN_ActivateNotification(&hcan2, CAN_IT_RX_FIFO0_MSG_PENDING);
 
 if (HAL_error != HAL_OK)
 {
 Error_Handler(HAL_error);
 }
}
 
void HAL_CAN_MspInit(CAN_HandleTypeDef* canHandle)
{
 
 GPIO_InitTypeDef GPIO_InitStruct = {0};
 if(canHandle->Instance==CAN2)
 {
 /* USER CODE BEGIN CAN2_MspInit 0 */
 
 /* USER CODE END CAN2_MspInit 0 */
 /* CAN2 clock enable */
 // __HAL_RCC_CAN1_CLK_ENABLE();
 __HAL_RCC_CAN2_CLK_ENABLE();
 
 __HAL_RCC_GPIOB_CLK_ENABLE();
 /**CAN2 GPIO Configuration
 PB12 ------> CAN2_RX
 PB13 ------> CAN2_TX
 */
 GPIO_InitStruct.Pin = GPIO_PIN_13;
 GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
 GPIO_InitStruct.Pull = GPIO_NOPULL;
 GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
 GPIO_InitStruct.Alternate = GPIO_AF9_CAN2;
 HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
 
 GPIO_InitStruct.Pin = GPIO_PIN_12;
 GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
 GPIO_InitStruct.Pull = GPIO_PULLUP;
 GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
 GPIO_InitStruct.Alternate = GPIO_AF9_CAN2;
 HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
 
 /* CAN2 interrupt Init */
 HAL_NVIC_SetPriority(CAN2_TX_IRQn, 5, 0);
 HAL_NVIC_EnableIRQ(CAN2_TX_IRQn);
 
 HAL_NVIC_SetPriority(CAN2_RX0_IRQn, 5, 0);
 
 //HAL_NVIC_EnableIRQ(CAN2_RX0_IRQn);
 
 HAL_NVIC_SetPriority(CAN2_RX1_IRQn, 5, 0);
 //HAL_NVIC_EnableIRQ(CAN2_RX1_IRQn);
 
 HAL_NVIC_SetPriority(CAN2_SCE_IRQn, 5, 0);
 HAL_NVIC_EnableIRQ(CAN2_SCE_IRQn);
 /* USER CODE BEGIN CAN2_MspInit 1 */
 
 /* USER CODE END CAN2_MspInit 1 */
 }
}
 
void HAL_CAN_MspDeInit(CAN_HandleTypeDef* canHandle)
{
 
 if(canHandle->Instance==CAN2)
 {
 /* USER CODE BEGIN CAN2_MspDeInit 0 */
 
 /* USER CODE END CAN2_MspDeInit 0 */
 /* Peripheral clock disable */
 __HAL_RCC_CAN1_CLK_DISABLE();
 __HAL_RCC_CAN2_CLK_DISABLE();
 
 /**CAN2 GPIO Configuration
 PB12 ------> CAN2_RX
 PB13 ------> CAN2_TX
 */
 HAL_GPIO_DeInit(GPIOB, GPIO_PIN_12|GPIO_PIN_13);
 
 /* CAN2 interrupt Deinit */
 HAL_NVIC_DisableIRQ(CAN2_TX_IRQn);
 HAL_NVIC_DisableIRQ(CAN2_RX0_IRQn);
 HAL_NVIC_DisableIRQ(CAN2_RX1_IRQn);
 HAL_NVIC_DisableIRQ(CAN2_SCE_IRQn);
 /* USER CODE BEGIN CAN2_MspDeInit 1 */
 
 /* USER CODE END CAN2_MspDeInit 1 */
 }
}
 
 
/**
 * @brief Rx Fifo 0 message pending callback
 * hcan: pointer to a CAN_HandleTypeDef structure that contains
 * the configuration information for the specified CAN.
 * @retval None
 */
void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan)
{
 HAL_GPIO_TogglePin(GPIOB, GPIO_PIN_0);
 
 /* Get RX message */
 if (HAL_CAN_GetRxMessage(hcan, CAN_RX_FIFO0, &RxHeader, RxData) != HAL_OK)
 {
sprintf(Print_buffer, "CAN Read Error!\r\n");
uart_print(Print_buffer);
 }
 else
 {
sprintf(Print_buffer, "StdID: 0x%lX, IDE: 0x%lX , ExtId: 0x%lX, FMI: 0x%lX, RTR: 0x%lX, DLC: 0x%lX, TS: 0x%lX \r\n", RxHeader.StdId, RxHeader.IDE, RxHeader.ExtId,
RxHeader.FilterMatchIndex, RxHeader.RTR, RxHeader.DLC, RxHeader.Timestamp);
uart_print(Print_buffer);
 
sprintf(Print_buffer, "Data: 0x%X,0x%X,0x%X,0x%X,0x%X,0x%X,0x%X,0x%X \r\n", RxData[0], RxData[1], RxData[2], RxData[3],
RxData[4], RxData[5], RxData[6], RxData[7]);
uart_print(Print_buffer);
 
 }
}
 
void ReportCAN_Status(void)
{
HAL_StatusTypeDef HAL_error;
CAN_HandleTypeDef *can_handle = &hcan2;
 
uint32_t interrupts = READ_REG(can_handle->Instance->IER);
 uint32_t msrflags = READ_REG(can_handle->Instance->MSR);
 uint32_t tsrflags = READ_REG(can_handle->Instance->TSR);
 uint32_t rf0rflags = READ_REG(can_handle->Instance->RF0R);
 uint32_t rf1rflags = READ_REG(can_handle->Instance->RF1R);
 uint32_t esrflags = READ_REG(can_handle->Instance->ESR);
 
sprintf(Print_buffer, "Interrupts: 0x%lX, msr flags: 0x%lX , tsr flags: 0x%lX, rf0r flags: 0x%lX, rf1r flags: 0x%lX, esr flags: 0x%lX \r\n",
interrupts, msrflags, tsrflags, rf0rflags, rf1rflags, esrflags);
uart_print(Print_buffer);
 
CLEAR_BIT(can_handle->Instance->MSR, CAN_MSR_WKUI);
 
interrupts = READ_REG(can_handle->Instance->IER);
msrflags = READ_REG(can_handle->Instance->MSR);
tsrflags = READ_REG(can_handle->Instance->TSR);
 rf0rflags = READ_REG(can_handle->Instance->RF0R);
rf1rflags = READ_REG(can_handle->Instance->RF1R);
esrflags = READ_REG(can_handle->Instance->ESR);
 
sprintf(Print_buffer, "Interrupts: 0x%lX,msr flags: 0x%lX,tsr flags: 0x%lX,rf0r flags: 0x%lX,rf1r flags: 0x%lX,esr flags: 0x%lX \r\n",
interrupts, msrflags, tsrflags, rf0rflags, rf1rflags, esrflags);
uart_print(Print_buffer);
 
}
 
void SendCAN_Message(void)
{
HAL_StatusTypeDef HAL_error;
CAN_HandleTypeDef *can_handle = &hcan2;
 
uint32_t interrupts = READ_REG(can_handle->Instance->IER);
 uint32_t msrflags = READ_REG(can_handle->Instance->MSR);
 uint32_t tsrflags = READ_REG(can_handle->Instance->TSR);
 uint32_t rf0rflags = READ_REG(can_handle->Instance->RF0R);
 uint32_t rf1rflags = READ_REG(can_handle->Instance->RF1R);
 uint32_t esrflags = READ_REG(can_handle->Instance->ESR);
 
 TxHeader.StdId = 0;
 TxHeader.ExtId = 0x01FF0060;
 TxHeader.RTR = CAN_RTR_DATA;
 TxHeader.IDE = CAN_ID_EXT;
 TxHeader.DLC = 8;
 TxHeader.TransmitGlobalTime = ENABLE;
 
 TxData[0] = 0x01;
 TxData[1] = 0x12;
 TxData[0] = 0x28;
 TxData[0] = 0x20;
 TxData[0] = 0x16;
 TxData[0] = 0x05;
 TxData[0] = 0x00;
 TxData[0] = 0x02;
 
 HAL_error = HAL_CAN_AddTxMessage(&hcan2, &TxHeader, TxData, &TxMailbox);
 
 if (HAL_error != HAL_OK)
 {
 Error_Handler(HAL_error);
 }
}

When I set the CAN Mode to LOOP BACK the transmission works fine.

Interrupts: 0x2, msr flags: 0xC08 , tsr flags: 0x1C000003, rf0r flags: 0x0, rf1r flags: 0x0, esr flags: 0x0
Interrupts: 0x2,msr flags: 0xC08,tsr flags: 0x1C000003,rf0r flags: 0x0,rf1r flags: 0x0,esr flags: 0x0

When I run the same code in Normal Mode The same transmit message fails.

hcan2.Init.Mode = CAN_MODE_NORMAL;

Interrupts: 0x2, msr flags: 0xC08 , tsr flags: 0x19000008, rf0r flags: 0x0, rf1r flags: 0x0, esr flags: 0xF80057
Interrupts: 0x2,msr flags: 0xC08,tsr flags: 0x19000008,rf0r flags: 0x0,rf1r flags: 0x0,esr flags: 0xF80057

I have to assume that my transceiver must be the problem.

Can2 has another port pin but I think I selected the GPIO ports correctly.

void HAL_CAN_MspInit(CAN_HandleTypeDef* canHandle)
{
GPIO_InitTypeDef GPIO_InitStruct = {0};

if(canHandle->Instance==CAN2)
{
/* USER CODE BEGIN CAN2_MspInit 0 */

/* USER CODE END CAN2_MspInit 0 */
/* CAN2 clock enable */

// __HAL_RCC_CAN1_CLK_ENABLE();

__HAL_RCC_CAN2_CLK_ENABLE();
 
__HAL_RCC_GPIOB_CLK_ENABLE();

/**CAN2 GPIO Configuration
PB12 ------> CAN2_RX

PB13 ------> CAN2_TX

*/

GPIO_InitStruct.Pin = GPIO_PIN_13;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
GPIO_InitStruct.Alternate = GPIO_AF9_CAN2;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
 

GPIO_InitStruct.Pin = GPIO_PIN_12;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_PULLUP;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
GPIO_InitStruct.Alternate = GPIO_AF9_CAN2;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);


/* CAN2 interrupt Init */

HAL_NVIC_SetPriority(CAN2_TX_IRQn, 5, 0);
HAL_NVIC_EnableIRQ(CAN2_TX_IRQn);
HAL_NVIC_SetPriority(CAN2_RX0_IRQn, 5, 0);

//HAL_NVIC_EnableIRQ(CAN2_RX0_IRQn);
HAL_NVIC_SetPriority(CAN2_RX1_IRQn, 5, 0);
//HAL_NVIC_EnableIRQ(CAN2_RX1_IRQn);

HAL_NVIC_SetPriority(CAN2_SCE_IRQn, 5, 0);
HAL_NVIC_EnableIRQ(CAN2_SCE_IRQn);

/* USER CODE BEGIN CAN2_MspInit 1 */

/* USER CODE END CAN2_MspInit 1 */
}

This topic has been closed for replies.

Best answer by mƎALLEm

Hello your the selection of ATA6561 doesn't present an issue.

But since you're not seeing any activity on CAN_Tx pin of STM32, are you sure about the GPIO config? are you sure you selected the correct alternate function that connects CAN_TX to the transceiver?

You need to start at this point ..You need at least to have an activity on CAN_Tx.

Show previous replies

J

JDOGAuthor

Explorer II

We installed the new ATA6561 CAN transceiver and have the 3.3V on the VIO pin and VCC is connected to the 5.0V supply. I am not seeing any activity on the TX or Rx lines when I try to transmit from the Proto PCB or when I send a CAN message to the Proto PCB using my PCAN tool.

M

mƎALLEmAnswer

Technical Moderator

Hello your the selection of ATA6561 doesn't present an issue.

But since you're not seeing any activity on CAN_Tx pin of STM32, are you sure about the GPIO config? are you sure you selected the correct alternate function that connects CAN_TX to the transceiver?

You need to start at this point ..You need at least to have an activity on CAN_Tx.

J

JDOGAuthor

Explorer II

SofLit,

I started looking at the GPIO port pins and it turns out that between Me and the hardware designer we swapped the TX and Rx pins on the schematic. Going back and double checking the pin assignments in the ST32CubeMX tool helped point out the mistake.

Thanks for your help.

Sign up

Login with SSO

Login to the community

Login with SSO

Scanning file for viruses.

This file cannot be downloaded