Question
STM32-L432KC CAN mailboxes are not emptied HAL_CAN_ERROR_PARAM
Trying to send a CAN message every second but after a few tries it returns the HAL_CAN_ERROR_PARAM error. Tried to check if there is an empty mailbox available before sending the next can message but the mailboxes arent emptied. Main.c is below, the can_init is below that.
/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file : main.c
* @brief : Main program body
******************************************************************************
* @attention
*
* Copyright (c) 2024 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 "main.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
/* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */
/* USER CODE END PTD */
/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
#define WITarraySize 10
/* USER CODE END PD */
/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */
/* USER CODE END PM */
/* Private variables ---------------------------------------------------------*/
/* USER CODE BEGIN PV */
uint8_t Senix1;
uint8_t Senix2;
float WITsensor[WITarraySize];
//--------------------------------------------------
//variables to set up the timer and allow a variable interval
uint16_t currentDelay = 0;
uint32_t timeBetweenSamples = 1000;
uint8_t sampleFlag = 0;
//----------------------------------------------------------
uint8_t WITvalues[WITarraySize * 2];
CAN_TxHeaderTypeDef TxHeader;
uint8_t TxData[8] = {0};
uint32_t TxMailbox;
/* USER CODE END PV */
/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN PFP */
/* USER CODE END PFP */
/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
/* USER CODE END 0 */
/**
* @brief The application entry point.
* @retval int
*/
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_CAN1_Init();
MX_TIM1_Init();
MX_TIM16_Init();
MX_USART1_UART_Init();
MX_USART2_UART_Init();
/* USER CODE BEGIN 2 */
CAN_TX_filter_init();
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
//if the flag is high, one sample moment will occur
if(sampleFlag == 1) {
readWIT(WITsensor);
//delay to allow the bus to clear
HAL_Delay(3);
readSenixSensors(&Senix1, &Senix2);
if (HAL_CAN_GetTxMailboxesFreeLevel(&hcan1) != 0) {
sendMessage();
}
sampleFlag = 0;
}
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
}
/* USER CODE END 3 */
}
/**
* @brief System Clock Configuration
* @retval None
*/
void SystemClock_Config(void)
{
RCC_OscInitTypeDef RCC_OscInitStruct = {0};
RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
/** Configure the main internal regulator output voltage
*/
if (HAL_PWREx_ControlVoltageScaling(PWR_REGULATOR_VOLTAGE_SCALE1) != HAL_OK)
{
Error_Handler();
}
/** Configure LSE Drive Capability
*/
HAL_PWR_EnableBkUpAccess();
__HAL_RCC_LSEDRIVE_CONFIG(RCC_LSEDRIVE_LOW);
/** Initializes the RCC Oscillators according to the specified parameters
* in the RCC_OscInitTypeDef structure.
*/
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_LSE|RCC_OSCILLATORTYPE_MSI;
RCC_OscInitStruct.LSEState = RCC_LSE_ON;
RCC_OscInitStruct.MSIState = RCC_MSI_ON;
RCC_OscInitStruct.MSICalibrationValue = 0;
RCC_OscInitStruct.MSIClockRange = RCC_MSIRANGE_6;
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_MSI;
RCC_OscInitStruct.PLL.PLLM = 1;
RCC_OscInitStruct.PLL.PLLN = 16;
RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV7;
RCC_OscInitStruct.PLL.PLLQ = RCC_PLLQ_DIV2;
RCC_OscInitStruct.PLL.PLLR = RCC_PLLR_DIV2;
if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
{
Error_Handler();
}
/** Initializes the CPU, AHB and APB buses 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_DIV1;
RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_1) != HAL_OK)
{
Error_Handler();
}
/** Enable MSI Auto calibration
*/
HAL_RCCEx_EnableMSIPLLMode();
}
/* USER CODE BEGIN 4 */
void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim){
//check if the interrupt is triggered by the correct timer
if (htim == &htim16){
//create a variable delay
if(currentDelay >= timeBetweenSamples) {
sampleFlag = 1;
currentDelay = 0;
}
else {
currentDelay++;
}
}
}
void convertFloatArrayToInt(float floatArray[], uint8_t intArray[], uint8_t size, uint16_t scale){
uint8_t j = 0;
for (uint8_t i = 0; i < size; i++) {
uint16_t scaledValue = floatArray[i] * scale;
intArray[j] = (scaledValue & 0xFF00) >> 8;
intArray[j+1] = scaledValue & 0x00FF;
j += 2;
}
}
void sendPartionalMessage(uint8_t TxData[], uint8_t TxDataArray[], uint8_t id, uint8_t begin) {
TxData[0] = id;
uint8_t j = begin;
for(uint8_t i = 0; i < 7; i++) {
TxData[i] = TxDataArray[j];
j += 1;
}
/* send TxData*/
if (HAL_CAN_AddTxMessage(&hcan1, &TxHeader, (uint8_t*)TxData, &TxMailbox) != HAL_OK)
{
uint32_t error = HAL_CAN_GetError(&hcan1);
Error_Handler ();
}
}
void sendMessage(){
/* convert the values to a type we can send*/
//convertFloatArrayToInt(WITsensor, WITvalues, WITarraySize, 1000);
/* make a array size so it is devidable by 7 and can accomadate all the vales
* WITarraySize * 2 accommodates for all the WIT values
* + 2 accommodates for the Senix sensors
* + 6 makes it devidable by 7*/
uint8_t TxDataArray[WITarraySize * 2 + 2 + 6];
TxDataArray[0] = Senix1;
TxDataArray[1] = Senix2;
for(uint8_t i = 2; i < WITarraySize * 2 + 2; i++) {
TxDataArray[i] = WITvalues[i - 2];
}
/*send all the data in different messages*/
sendPartionalMessage(TxData, TxDataArray, 'A', 0);
// sendPartionalMessage(TxData, TxDataArray, 'B', 7);
// sendPartionalMessage(TxData, TxDataArray, 'C', 14);
// sendPartionalMessage(TxData, TxDataArray, 'D', 21);
}
void CAN_TX_filter_init(void)
{
TxHeader.StdId = 0x222;
TxHeader.ExtId = 0;
TxHeader.IDE = CAN_ID_STD;
TxHeader.RTR = CAN_RTR_DATA;
TxHeader.DLC = 8;
TxHeader.TransmitGlobalTime = DISABLE;
}
/* USER CODE END 4 */
/**
* @brief This function is executed in case of error occurrence.
* @retval None
*/
void Error_Handler(void)
{
/* USER CODE BEGIN Error_Handler_Debug */
/* User can add his own implementation to report the HAL error return state */
__disable_irq();
while (1)
{
}
/* USER CODE END Error_Handler_Debug */
}
#ifdef USE_FULL_ASSERT
/**
* @brief Reports the name of the source file and the source line number
* where the assert_param error has occurred.
* file: pointer to the source file name
* line: assert_param error line source number
* @retval None
*/
void assert_failed(uint8_t *file, uint32_t line)
{
/* USER CODE BEGIN 6 */
/* User can add his own implementation to report the file name and line number,
ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
/* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */
void MX_CAN1_Init(void)
{
/* USER CODE BEGIN CAN1_Init 0 */
/* USER CODE END CAN1_Init 0 */
/* USER CODE BEGIN CAN1_Init 1 */
/* USER CODE END CAN1_Init 1 */
hcan1.Instance = CAN1;
hcan1.Init.Prescaler = 8;
hcan1.Init.Mode = CAN_MODE_NORMAL;
hcan1.Init.SyncJumpWidth = CAN_SJW_1TQ;
hcan1.Init.TimeSeg1 = CAN_BS1_7TQ;
hcan1.Init.TimeSeg2 = CAN_BS2_8TQ;
hcan1.Init.TimeTriggeredMode = DISABLE;
hcan1.Init.AutoBusOff = DISABLE;
hcan1.Init.AutoWakeUp = DISABLE;
hcan1.Init.AutoRetransmission = DISABLE;
hcan1.Init.ReceiveFifoLocked = DISABLE;
hcan1.Init.TransmitFifoPriority = DISABLE;
if (HAL_CAN_Init(&hcan1) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN CAN1_Init 2 */
if (HAL_CAN_Start(&hcan1) != HAL_OK) {
Error_Handler();
}
/* USER CODE END CAN1_Init 2 */
}