Posted on June 21, 2017 at 16:00Hi,
This is my first time programming a microcontroller, so a lot of things are still new to me and I'd like to have some infos about how to correctly receive a message via CAN.
I've read the HAL Driver documentation of my uC and what I've understood so far is that if I want to receive data in the interrupt mode, I have to use HAL_CAN_Receive_IT() function and HAL_CAN_IRQHandler() under the CAN Interrupt subroutine: everything is clear in theory, but in practice I don't know what to do.
I've initialized the CAN so that only messages from IDs 0x106 and 0x10A can be received:
static void MX_CAN1_Init(void)
{ CAN_FilterConfTypeDef sFilterConfig; static CanRxMsgTypeDef RxMsg; hcan1.pRxMsg=&RxMsg;
hcan1.Instance = CAN1; hcan1.Init.Prescaler = 11; hcan1.Init.Mode = CAN_MODE_NORMAL; hcan1.Init.SJW = CAN_SJW_1TQ; hcan1.Init.BS1 = CAN_BS1_1TQ; hcan1.Init.BS2 = CAN_BS2_1TQ; hcan1.Init.TTCM = DISABLE; hcan1.Init.ABOM = DISABLE; hcan1.Init.AWUM = DISABLE; hcan1.Init.NART = DISABLE; hcan1.Init.RFLM = DISABLE; hcan1.Init.TXFP = DISABLE; sFilterConfig.FilterNumber=0; sFilterConfig.FilterMode=CAN_FILTERMODE_IDMASK; sFilterConfig.FilterScale=CAN_FILTERSCALE_16BIT; sFilterConfig.FilterIdHigh=0x010A; sFilterConfig.FilterIdLow=0x0106; sFilterConfig.FilterMaskIdHigh=0x0000; sFilterConfig.FilterMaskIdLow=0x0000; sFilterConfig.FilterFIFOAssignment=0; sFilterConfig.FilterActivation=ENABLE; sFilterConfig.BankNumber=0; HAL_CAN_ConfigFilter(&hcan1,&sFilterConfig); if (HAL_CAN_Init(&hcan1) != HAL_OK) { Error_Handler(); } if (HAL_CAN_ConfigFilter(&hcan1,&sFilterConfig) != HAL_OK) { Error_Handler(); }}
But I don't know to proceed now. My while(1) section logic is:
while(1) {
if there's a new msg then
save it and use it to do some elaborations
else
do something else
}
Thanks for your help.
#stm32f105r8tx
