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JDOG
Associate III
March 14, 2024
Solved

CAN Communication issue with STM32F4

  • March 14, 2024
  • 19 replies
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/* 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.

JDOG_0-1710445814919.png

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

 

 

JDOG_1-1710446081374.png
 
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.

19 replies

Karl Yamashita
Karl Yamashita
Principal
March 14, 2024

You haven't mentioned what you're trying to send a CAN message to? If you haven't connect your CAN wires to any other CAN bus, then you'll get transmit error.

If a reply has proven helpful, click on Accept as Solution so that it'll show at top of the post.CAN Jammer an open source CAN bus hacking toolCANableV3 Open Source
mƎALLEm
mƎALLEm
ST Technical Moderator
March 14, 2024

Hello, 

Three things to check:

  • Is there a second node connected on the other side of the bus? As the sender needs an acknowledgement from at least one node on the bus.
  • If yes, are you using HSE or HSI as system clock source?
  • Did you set the same bitrate at both sides (the two nodes)?
To give better visibility on the answered topics, please click "Best answer" on the reply which solved your issue or answered your question.
J
JDOGAuthor
Associate III
March 14, 2024

JDOG_0-1710456070571.png

 

I have a Pcan Dongle hooked up and it is configured to 250Kbits per second and I have verified that it is working with hardware that is transmitting messages.

The bit rate is set at both places at 250 Kbits per second

Yes I am using the HSE as clock source.

The 1 ms clock tick is being generated from a PLL clock so I know the clocks are working off of the 8 Mhz clock

JDOG_1-1710456476699.png

 

 

When I send the transmit message I  get the CAN error on channel 6 Blue Trace.

mƎALLEm
mƎALLEm
ST Technical Moderator
March 15, 2024

I have a Pcan Dongle hooked up and it is configured to 250Kbits per second and I have verified

You said you configured your PCAN at 250kb/s but from your ioc file the bitrate is set at 500kb/s!

Could you please double check? (changing the Prescaler (for time Quantom) to 8 instead of 4)

To give better visibility on the answered topics, please click "Best answer" on the reply which solved your issue or answered your question.
Karl Yamashita
Karl Yamashita
Principal
March 15, 2024

upload your ioc file

If a reply has proven helpful, click on Accept as Solution so that it'll show at top of the post.CAN Jammer an open source CAN bus hacking toolCANableV3 Open Source
mƎALLEm
mƎALLEm
ST Technical Moderator
March 15, 2024

Check also your connections and wiring by doing continuity tests.

What about the termination resistors? Is there a termination resistor inside the PCAN? I don't seen one on the schematics above! You need only two termination resistors of 120ohm on each side of the bus .

Could you please also provide a diagram of your connections including the perceivers and the termination resistors to have a clear view of your HW?

To give better visibility on the answered topics, please click "Best answer" on the reply which solved your issue or answered your question.
J
JDOGAuthor
Associate III
March 15, 2024

I Attached the *.ioc file as requested.

 

Karl Yamashita
Karl Yamashita
Principal
March 15, 2024

Based off your ABP1 clock, you'll need these settings for 250kbs

 

KarlYamashita_0-1710516012984.png

 

If a reply has proven helpful, click on Accept as Solution so that it'll show at top of the post.CAN Jammer an open source CAN bus hacking toolCANableV3 Open Source
J
JDOGAuthor
Associate III
March 15, 2024

The 120 ohm terminator at the CANH and CANL side of the Transceiver is attached with soldering the wires to the (greeen and yellow wires).

JDOG_0-1710516614539.png

There is a terminator in the PCan dongle as well.

JDOG_1-1710517071373.png

 

    mƎALLEm
    mƎALLEm
    ST Technical Moderator
    March 15, 2024

    Hello,

    Not sure I can see the resistor but ok.

    Now please check your bitrate and see my previous comment:

    "

    I have a Pcan Dongle hooked up and it is configured to 250Kbits per second and I have verified

    You said you configured your PCAN at 250kb/s but from your ioc file the bitrate is set at 500kb/s!

    Could you please double check? (changing the Prescaler (for time Quantom) to 8 instead of 4)"

    To give better visibility on the answered topics, please click "Best answer" on the reply which solved your issue or answered your question.
    J
    JDOGAuthor
    Associate III
    March 15, 2024

    I ordered an eval board for the ATA6560 transceiver and I will connect it to  my NUCLEO-F412ZG board and test the same CAN code that I have in our current PDM target board. The CAN is the last thing I need going to finish the Power Distribution Module (PDM) firmware for the first prototype.

    Karl Yamashita
    Karl Yamashita
    Principal
    March 15, 2024

    The STM32F412 uses CAN 2.0B protocol. Not that it won't work, but you don't need a CAN FD transceiver. Since you're using a Microchip product, use the MCP2551 transceiver. 

    If a reply has proven helpful, click on Accept as Solution so that it'll show at top of the post.CAN Jammer an open source CAN bus hacking toolCANableV3 Open Source
    mƎALLEm
    mƎALLEm
    ST Technical Moderator
    March 15, 2024

    From voltage levels adaptation standpoint MCP2551 is good as VIH min = 2V:

    SofLit_0-1710521255001.png

    But he can use FDCAN transceivers for CAN2.0 frames but he needs to think about the cost!

     

    To give better visibility on the answered topics, please click "Best answer" on the reply which solved your issue or answered your question.
    Tobe
    Tobe
    Senior III
    March 16, 2024

    Please show the analog signal.

     

    mƎALLEm
    mƎALLEm
    ST Technical Moderator
    March 21, 2024

    Hello @JDOG 

    Did you solve the issue?

    If yes, you need to share the solution in order to let other community members to benefit from it.

    Or Click on "Accepted as Solution" on the reply which solved your issue or answered your question.

    Thank you.

    To give better visibility on the answered topics, please click "Best answer" on the reply which solved your issue or answered your question.
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