Associate II
August 20, 2023
Question
CAN Messages not sending
- August 20, 2023
- 1 reply
- 807 views
Hi, I am using the following:
cubeIDE 1.13.1/STM32F072C8U6/baud = 250K - I attached a picture of my clock diagram & param setup.
Hi, I am using the following:
cubeIDE 1.13.1/STM32F072C8U6/baud = 250K - I attached a picture of my clock diagram & param setup.
I do not see messages sending on the CAN bus. They worked fine in my previous IDE. I have a feeling it has to due with the time quanta but not 100% sure. I tried adjusting to quanta 10/5 after reading the following with no luck:
http://www.bittiming.can-wiki.info/
Init:
static void MX_CAN_Init(void)
{
/* USER CODE BEGIN CAN_Init 0 */
/* USER CODE END CAN_Init 0 */
/* USER CODE BEGIN CAN_Init 1 */
/* USER CODE END CAN_Init 1 */
hcan.Instance = CAN;
hcan.Init.Prescaler = 32;
hcan.Init.Mode = CAN_MODE_NORMAL;
hcan.Init.SyncJumpWidth = CAN_SJW_1TQ;
hcan.Init.TimeSeg1 = CAN_BS1_1TQ;
hcan.Init.TimeSeg2 = CAN_BS2_1TQ;
hcan.Init.TimeTriggeredMode = DISABLE;
hcan.Init.AutoBusOff = DISABLE;
hcan.Init.AutoWakeUp = DISABLE;
hcan.Init.AutoRetransmission = DISABLE;
hcan.Init.ReceiveFifoLocked = DISABLE;
hcan.Init.TransmitFifoPriority = DISABLE;
if (HAL_CAN_Init(&hcan) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN CAN_Init 2 */
// Example: extended ID = 0x18FF51D0 (29 bits) matching with bits [31:3] in the filter register
// For bit position, please refer to document RM0008 (STM32F10x reference manual, page 657)
// FILTER register = 0b1100 0111 1111 1010 1000 1110 1000 0100
sf_typedef.FilterMaskIdHigh = 0xC7FA;
sf_typedef.FilterMaskIdLow = 0x8E84;
sf_typedef.FilterFIFOAssignment = CAN_FILTER_FIFO0;
sf_typedef.FilterBank = 0;
sf_typedef.FilterMode = CAN_FILTERMODE_IDMASK;
sf_typedef.FilterScale = CAN_FILTERSCALE_32BIT;
sf_typedef.FilterMaskIdHigh = 0x07FF; // Setup ID Mask to only look for "FF5x" in the PGN
sf_typedef.FilterMaskIdLow = 0x8004; // Set IDE bit to make sure no standard ID message goes through filter
sf_typedef.FilterActivation = CAN_FILTER_ENABLE;
if (HAL_CAN_ConfigFilter(&hcan, &sf_typedef) != HAL_OK)
Error_Handler();
//Start CAN Peripheral
if (HAL_CAN_Start(&hcan) != HAL_OK)
{
/* Start Error */
Error_Handler();
}
//Start rx ISR operation
if (HAL_CAN_ActivateNotification(&hcan, CAN_IT_RX_FIFO0_MSG_PENDING) != HAL_OK)
{
/* Notification Error */
Error_Handler();
}
TxMessage.DLC = 8;
TxMessage.RTR = CAN_RTR_DATA;
TxMessage.IDE = CAN_ID_EXT;
//priority, PGN, address, id
set_can_id(0x04, 0xFFD1, 0x10, &CAN_id_xlor);
TxMessage.ExtId = CAN_id_xlor; //TODO: check if correct
//send data example
//HAL_CAN_AddTxMessage(&hcan, &TxMessage, const uint8_t aData, uint32_t (uint32_t *)CAN_TX_MAILBOX0);
/* USER CODE END CAN_Init 2 */
}I send data every 40ms as follows:
CAN_send_status2();
Function definition:
void CAN_send_status2(void)
{
uint32_t mb = CAN_TX_MAILBOX0;
//init can id for this device - TODO: add other devices and define how to grab device
//priority, PGN, address, id
set_can_id(0x04, 0xFFD2, 0x10, &CAN_id_xlor);
TxMessage.ExtId = CAN_id_xlor;
TxMessage.RTR = CAN_RTR_DATA;
TxMessage.IDE = CAN_ID_EXT;
TxMessage.DLC = 8;
//TODO: add angle sensor faults? Overvoltage/under voltage warning?
if(pem_flash_mirror[ZERO_ANGLE_OCCURRED_FLASH_INDEX] == ZERO_OCCURRED_KEY)
tData[0] = 0x7F;
else
tData[0] = 0xFF;
tData[1] = 0xFF;
tData[2] = (position_variables.linearized_position >> 8) & 0xFF; //get high byte
tData[3] = position_variables.linearized_position & 0xFF; //get lower byte
tData[4] = 0xFF;
tData[5] = 0xFF;
tData[6] = 0xFF;
tData[7] = 0xFF;
HAL_CAN_AddTxMessage(&hcan, &TxMessage, tData, &mb);
}Any clues?
I am not sure why data would not be send through the bus.
I have not worked on rx routines due to waiting on a transceiver.
Thank you!
