Question
[STM32F105R8T6] CAN2 transmit working but receive isn't
I am trying to get dual 500kbps CAN working on the STM32F105R8T6. I am using CubeMX with HAL V1.6.1. CAN1 receive works and CAN2 transmit works but I cannot seem to get the CAN2 Rx interrupt to trigger.
I have probed the Rx pin on the transceiver (MCP2562) and the frames are present but still no interrupt.
Here is the setup code for both modules:
/* CAN1 init function */
void MX_CAN1_Init(void)
{
hcan1.Instance = CAN1;
hcan1.Init.Prescaler = 1;
hcan1.Init.Mode = CAN_MODE_NORMAL;
hcan1.Init.SJW = CAN_SJW_1TQ;
hcan1.Init.BS1 = CAN_BS1_13TQ;
hcan1.Init.BS2 = CAN_BS2_2TQ;
hcan1.Init.TTCM = DISABLE;
hcan1.Init.ABOM = DISABLE;
hcan1.Init.AWUM = DISABLE;
hcan1.Init.NART = DISABLE;
hcan1.Init.RFLM = DISABLE;
hcan1.Init.TXFP = DISABLE;
if (HAL_CAN_Init(&hcan1) != HAL_OK)
{
_Error_Handler(__FILE__, __LINE__);
}
// Configure the filter for CAN 1
CAN_FilterConfTypeDef sFilterConfig;
sFilterConfig.FilterNumber = 0;
sFilterConfig.BankNumber = 14;
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_FILTER_FIFO0;
sFilterConfig.FilterActivation = ENABLE;
if (HAL_CAN_ConfigFilter(&hcan1, &sFilterConfig) != HAL_OK)
{
/* Filter configuration Error */
Error_Handler();
}
}
/* CAN2 init function */
void MX_CAN2_Init(void)
{
hcan2.Instance = CAN2;
hcan2.Init.Prescaler = 1;
hcan2.Init.Mode = CAN_MODE_NORMAL;
hcan2.Init.SJW = CAN_SJW_1TQ;
hcan2.Init.BS1 = CAN_BS1_13TQ;
hcan2.Init.BS2 = CAN_BS2_2TQ;
hcan2.Init.TTCM = DISABLE;
hcan2.Init.ABOM = DISABLE;
hcan2.Init.AWUM = DISABLE;
hcan2.Init.NART = DISABLE;
hcan2.Init.RFLM = DISABLE;
hcan2.Init.TXFP = DISABLE;
if (HAL_CAN_Init(&hcan2) != HAL_OK)
{
_Error_Handler(__FILE__, __LINE__);
}
// Configure the filter for CAN 2
CAN_FilterConfTypeDef sFilterConfig;
sFilterConfig.FilterNumber = 14;
sFilterConfig.BankNumber = 14;
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_FILTER_FIFO0;
sFilterConfig.FilterActivation = ENABLE;
if (HAL_CAN_ConfigFilter(&hcan2, &sFilterConfig) != HAL_OK)
{
/* Filter configuration Error */
Error_Handler();
}
}
static uint32_t HAL_RCC_CAN1_CLK_ENABLED=0;
void HAL_CAN_MspInit(CAN_HandleTypeDef* canHandle)
{
GPIO_InitTypeDef GPIO_InitStruct;
if(canHandle->Instance==CAN1)
{
/* USER CODE BEGIN CAN1_MspInit 0 */
static CanTxMsgTypeDef TxMessage;
static CanRxMsgTypeDef RxMessage;
canHandle->pTxMsg = &TxMessage;
canHandle->pRxMsg = &RxMessage;
/* USER CODE END CAN1_MspInit 0 */
/* CAN1 clock enable */
HAL_RCC_CAN1_CLK_ENABLED++;
if(HAL_RCC_CAN1_CLK_ENABLED==1){
__HAL_RCC_CAN1_CLK_ENABLE();
}
/**CAN1 GPIO Configuration
PA11 ------> CAN1_RX
PA12 ------> CAN1_TX
*/
GPIO_InitStruct.Pin = GPIO_PIN_11;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = GPIO_PULLUP;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
GPIO_InitStruct.Pin = GPIO_PIN_12;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/* CAN1 interrupt Init */
HAL_NVIC_SetPriority(CAN1_RX0_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(CAN1_RX0_IRQn);
/* USER CODE BEGIN CAN1_MspInit 1 */
/* USER CODE END CAN1_MspInit 1 */
}
else if(canHandle->Instance==CAN2)
{
/* USER CODE BEGIN CAN2_MspInit 0 */
static CanTxMsgTypeDef TxMessage;
static CanRxMsgTypeDef RxMessage;
canHandle->pTxMsg = &TxMessage;
canHandle->pRxMsg = &RxMessage;
/* USER CODE END CAN2_MspInit 0 */
/* CAN2 clock enable */
__HAL_RCC_CAN2_CLK_ENABLE();
HAL_RCC_CAN1_CLK_ENABLED++;
if(HAL_RCC_CAN1_CLK_ENABLED==1){
__HAL_RCC_CAN1_CLK_ENABLE();
}
/**CAN2 GPIO Configuration
PB5 ------> CAN2_RX
PB6 ------> CAN2_TX
*/
GPIO_InitStruct.Pin = GPIO_PIN_5;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = GPIO_PULLUP;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
GPIO_InitStruct.Pin = GPIO_PIN_6;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
__HAL_AFIO_REMAP_CAN2_ENABLE();
/* CAN2 interrupt Init */
HAL_NVIC_SetPriority(CAN2_RX0_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(CAN2_RX0_IRQn);
/* USER CODE BEGIN CAN2_MspInit 1 */
/* USER CODE END CAN2_MspInit 1 */
}
}During my main function initialisation I call:
if (HAL_CAN_Receive_IT(&hcan1, CAN_FIFO0) != HAL_OK) {
Error_Handler();
}
if (HAL_CAN_Receive_IT(&hcan2, CAN_FIFO0) != HAL_OK) {
Error_Handler();
}My CAN Rx IRQ handlers:
void CAN1_RX0_IRQHandler(void)
{
/* USER CODE BEGIN CAN1_RX0_IRQn 0 */
/* USER CODE END CAN1_RX0_IRQn 0 */
HAL_CAN_IRQHandler(&hcan1);
/* USER CODE BEGIN CAN1_RX0_IRQn 1 */
/* USER CODE END CAN1_RX0_IRQn 1 */
}
/**
* @brief This function handles CAN2 RX0 interrupt.
*/
void CAN2_RX0_IRQHandler(void)
{
/* USER CODE BEGIN CAN2_RX0_IRQn 0 */
/* USER CODE END CAN2_RX0_IRQn 0 */
HAL_CAN_IRQHandler(&hcan2);
/* USER CODE BEGIN CAN2_RX0_IRQn 1 */
/* USER CODE END CAN2_RX0_IRQn 1 */
}And my interrupt callback:
void HAL_CAN_RxCpltCallback(CAN_HandleTypeDef *hcan)
{
//
// Process the incoming message
//
/* Receive */
if(HAL_CAN_Receive_IT(hcan, CAN_FIFO0) != HAL_OK) {
Error_Handler();
}
}The interrupt handler and callback are being entered for CAN1 receive, however this is not happening for CAN2