CAN Receive Error
I'm working on STM32F412VET6 micro, & Configured CAN1 for communication & it is initialized as
500Kbps, 75% Sample, ABP1 is @ 24MHz
void CANInit(void)
{#ifdef LPBK_TEST CanTxMsg CanTxMsg; uint32_t uwCounter = 0; uint8_t TransmitMailbox = 0;#endif NVIC_InitTypeDef NVIC_InitStructure;// GPIOD->MODER |= 10; //PD1 & PD0 as Alternate function 0b10
// GPIOD->AFR[0] |= 9;// GPIOD->OTYPER |= 0x0003; //open push-pull configuration// GPIOD->OSPEEDR |= 0x000F; //high speed// GPIOD->PUPDR |= 0x0005; //pull up////// /* CAN configuration ********************************************************/// /* Enable CAN clock */// RCC->APB1ENR |= RCC_APB1ENR_CAN1EN;GPIO_InitTypeDef GPIO_InitStructure;
/* CAN GPIOs configuration **************************************************/
/* Enable GPIO clock */
RCC->AHB1ENR |= RCC_AHB1Periph_GPIOD;/* Configure CAN RX and TX pins */
GPIO_InitStructure.Pin = GPIO_PIN_0; GPIO_InitStructure.Mode = GPIO_MODE_AF_PP; GPIO_InitStructure.Speed = GPIO_SPEED_FREQ_VERY_HIGH;// GPIO_InitStructure.OType = GPIO_OType_PP; GPIO_InitStructure.Pull = GPIO_PULLUP; GPIO_Init(GPIOD, &GPIO_InitStructure);GPIO_InitStructure.Pin = GPIO_PIN_1;
GPIO_InitStructure.Mode = GPIO_MODE_AF_PP; GPIO_InitStructure.Speed = GPIO_SPEED_FREQ_VERY_HIGH; // GPIO_InitStructure.OType = GPIO_OType_PP; GPIO_InitStructure.Pull = GPIO_PULLUP; GPIO_Init(GPIOD, &GPIO_InitStructure);/* Connect CAN pins to AF9 */
GPIO_PinAFConfig(GPIOD, GPIO_PIN_0, GPIO_AF9_CAN1); GPIO_PinAFConfig(GPIOD, GPIO_PIN_1, GPIO_AF9_CAN1);GPIOE->BSRR = CAN_GPIO_Rx; //GPIOE as High for CAN TxRx to be active
/* CAN configuration ********************************************************/
/* Enable CAN clock */ RCC->APB1ENR |= RCC_APB1Periph_CAN1;//Reset CAN1 & release from reset
RCC->APB1RSTR |= RCC_APB1Periph_CAN1; RCC->APB1RSTR &= ~RCC_APB1Periph_CAN1;CAN_InitStructure.CAN_TTCM = DISABLE;
CAN_InitStructure.CAN_ABOM = ENABLE; CAN_InitStructure.CAN_AWUM = DISABLE; CAN_InitStructure.CAN_NART = ENABLE; CAN_InitStructure.CAN_RFLM = DISABLE; CAN_InitStructure.CAN_TXFP = DISABLE;#ifdef LPBK_TEST CAN_InitStructure.CAN_Mode = CAN_Mode_LoopBack; //CAN_Mode_Normal;#else CAN_InitStructure.CAN_Mode = CAN_Mode_Normal;#endif CAN_InitStructure.CAN_SJW = CAN_SJW_2tq;/* CAN Baudrate = 500kBps (CAN clocked at 24 MHz) */
CAN_InitStructure.CAN_BS1 = CAN_BS1_11tq; CAN_InitStructure.CAN_BS2 = CAN_BS2_4tq; CAN_InitStructure.CAN_Prescaler = 3; CAN_Init(CAN1, &CAN_InitStructure); /* CAN filter init */ CAN_FilterInitStructure.CAN_FilterNumber = 0; CAN_FilterInitStructure.CAN_FilterMode = CAN_FILTERMODE_IDMASK; CAN_FilterInitStructure.CAN_FilterScale = CAN_FILTERSCALE_32BIT; CAN_FilterInitStructure.CAN_FilterIdHigh = 0x0000; CAN_FilterInitStructure.CAN_FilterIdLow = 0x0000; CAN_FilterInitStructure.CAN_FilterMaskIdHigh = 0x0000; CAN_FilterInitStructure.CAN_FilterMaskIdLow = 0x0000; CAN_FilterInitStructure.CAN_FilterFIFOAssignment = CAN_Filter_FIFO0; CAN_FilterInitStructure.CAN_FilterActivation = ENABLE;CAN_ITConfig(CAN1, CAN_IT_FMP0, ENABLE);
CAN_ITConfig(CAN1, CAN_IT_FMP1, ENABLE);CAN_FilterInit(&CAN_FilterInitStructure);
/* Transmit Structure preparation */
for(unsigned char i = 0; i < 10; i++) { gsCanTxMsg[i].StdId = 0x050; gsCanTxMsg[i].ExtId = 0x00; gsCanTxMsg[i].RTR = CAN_RTR_DATA; gsCanTxMsg[i].IDE = CAN_ID_STD; gsCanTxMsg[i].DLC = 8; gsCanTxMsg[i].Data[0] = 0x01; gsCanTxMsg[i].Data[1] = 0x02; gsCanTxMsg[i].Data[2] = 0x03; gsCanTxMsg[i].Data[3] = 0x04; gsCanTxMsg[i].Data[4] = 0x05; gsCanTxMsg[i].Data[5] = 0x06; gsCanTxMsg[i].Data[6] = 0x07; gsCanTxMsg[i].Data[7] = 0x08; }#ifdef LPBK_TEST
CanTxMsg.StdId = 0x11; CanTxMsg.RTR = CAN_RTR_DATA; CanTxMsg.IDE = CAN_ID_STD; CanTxMsg.DLC = 2; CanTxMsg.Data[0] = 0xCA; CanTxMsg.Data[1] = 0xFE;TransmitMailbox = CAN_Transmit(CAN1, &CanTxMsg);
uwCounter = 0; while((CAN_TransmitStatus(CAN1, TransmitMailbox) != CANTXOK) && (uwCounter != 0xFFFF)) { uwCounter++; }uwCounter = 0;
while((CAN_MessagePending(CAN1, CAN_FIFO0) < 1) && (uwCounter != 0xFFFF)) { uwCounter++; }/* receive */
gsCanRxMsg.StdId = 0x00; gsCanRxMsg.IDE = CAN_ID_STD; gsCanRxMsg.DLC = 0; gsCanRxMsg.Data[0] = 0x00; gsCanRxMsg.Data[1] = 0x00; CAN_Receive(CAN1, CAN_FIFO0, &gsCanRxMsg);if (gsCanRxMsg.StdId != 0x11)
{ uwCounter++; } uwCounter++;if (gsCanRxMsg.IDE != CAN_ID_STD)
{ uwCounter++; } uwCounter++;#else /* Enable FIFO 0 message pending Interrupt */// CAN_ITConfig(CAN1, CAN_IT_TME, ENABLE);
NVIC_InitStructure.NVIC_IRQChannel = CAN1_RX0_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0x0; NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0x1; NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; NVIC_Init(&NVIC_InitStructure);// NVIC_InitStructure.NVIC_IRQChannel = CAN1_RX1_IRQn;
// NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0x0;// NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0x1;// NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;// NVIC_Init(&NVIC_InitStructure);//// NVIC_InitStructure.NVIC_IRQChannel = CAN1_TX_IRQn;// NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0x0;// NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0x1;// NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;// NVIC_Init(&NVIC_InitStructure);#endif}I'm able to transmit a CAN frame, but when I try sending a CAN frame from CAN analyzer i'm getting receive error
Any idea where am I going wrong.