Hi, I'm using an STM32F072VB eval board and having issues receiving a CAN message and transmitting the same message to UART. I'm using IXXAT CAN Analyzer and basing my code on the CAN_Networking example which worked fine. I attached my code, any hel

[canucktut]

1. /* Includes ------------------------------------------------------------------*/
2. #include "main.h"
3. #include <stdio.h>
4. #include <malloc.h>
5. /* Private includes ----------------------------------------------------------*/
6.  
7. /* Private variables ---------------------------------------------------------*/
8. CAN_HandleTypeDef hcan;
9.  
10. UART_HandleTypeDef huart2;
11. UART_HandleTypeDef huart3;
12. DMA_HandleTypeDef hdma_usart2_tx;
13.  
14. void SystemClock_Config(void);
15.  
16. static void MX_CAN_Init(void);
17. static void MX_USART2_UART_Init(void);
18.  
19. /* USER CODE BEGIN 0 */
20. CAN_HandleTypeDef hcan;
21. CAN_TxHeaderTypeDef TxHeader;
22. CAN_RxHeaderTypeDef RxHeader;
23. uint32_t TxMailbox;
24. uint8_t TxData[32];
25. uint8_t RxData[32];
26. uint8_t Data[8] = {0xDE, 0xAD, 0xBE, 0xEF};
27. uint8_t test[16] = "CAN works\r\n";
28. uint8_t start[30] = "Starting program\r\n";
29.  
30. uint8_t nbinterrupt;
31.  
32.  
33. int main(void)
34. {
35. /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
36. HAL_Init();
37.  
38. /* Configure the system clock */
39. SystemClock_Config();
40.  
41. /* Initialize all configured peripherals */
42. MX_GPIO_Init();
43. MX_DMA_Init();
44. MX_CAN_Init();
45. MX_I2C1_Init();
46. MX_I2C2_Init();
47. MX_SPI1_Init();
48. MX_USART2_UART_Init();
49. MX_USART3_UART_Init();
50. MX_CRC_Init();
51.  
52.  
53. HAL_UART_Transmit(&huart2, start, sizeof(start), 100); //forward command to day cam
54.  
55. nbinterrupt = 0;
56.  
57. while (1)
58. {
59. /*if (HAL_CAN_AddTxMessage(&hcan, &TxHeader, test, &TxMailbox) == HAL_OK)
60. {
61. HAL_Delay(1000);
62. Error_Handler();
63. }*/
64. // if(HAL_CAN_GetRxFifoFillLevel(&hcan, CAN_RX_FIFO0) != 0)
65. // {
66. /* if (HAL_CAN_GetRxMessage(&hcan, CAN_RX_FIFO0, &RxHeader, RxData) != HAL_OK)
67. {
68. if (RxData[0] == 0xDE &&
69. RxData[1] == 0xAD &&
70. RxData[2] == 0xBE &&
71. RxData[3] == 0xEF)
72. {
73. HAL_UART_Transmit(&huart2, RxData, 32, 100); //forward command to day cam
74. HAL_Delay(1000);
75. }
76.  
77. }
78. else Error_Handler();
79.  
80. // }*/
81. //Error_Handler();
82.  
83. void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan);
84.  
85. if (HAL_CAN_AddTxMessage(&hcan, &TxHeader, Data, &TxMailbox) != HAL_OK)
86. {
87. /* Transmission request Error */
88. Error_Handler();
89. }
90. else
91. {
92. HAL_UART_Transmit(&huart2, Data, 32, 100); //forward command to day cam
93. HAL_Delay(1000);
94. }
95.  
96.  
97. }
98.  
99. }
100.  
101.  
102. static void MX_CAN_Init(void)
103. {
104. CAN_FilterTypeDef sFilterConfig;
105.  
106. /*##-1- Configure the CAN peripheral #######################################*/
107. hcan.Instance = CAN;
108. hcan.Init.Prescaler = 12;
109. hcan.Init.Mode = CAN_MODE_LOOPBACK;
110. hcan.Init.SyncJumpWidth = CAN_SJW_1TQ;
111. hcan.Init.TimeSeg1 = CAN_BS1_13TQ;
112. hcan.Init.TimeSeg2 = CAN_BS2_2TQ;
113. hcan.Init.TimeTriggeredMode = DISABLE;
114. hcan.Init.AutoBusOff = DISABLE;
115. hcan.Init.AutoWakeUp = DISABLE;
116. hcan.Init.AutoRetransmission = DISABLE;
117. hcan.Init.ReceiveFifoLocked = DISABLE;
118. hcan.Init.TransmitFifoPriority = ENABLE;
119.  
120. if (HAL_CAN_Init(&hcan) != HAL_OK)
121. {
122. Error_Handler();
123. }
124.  
125. /*##-2- Configure the CAN Filter ###########################################*/
126. sFilterConfig.FilterBank = 0;
127. sFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK;
128. sFilterConfig.FilterScale = CAN_FILTERSCALE_32BIT;
129. sFilterConfig.FilterIdHigh = 0xffff;
130. sFilterConfig.FilterIdLow = 0x0000;
131. sFilterConfig.FilterMaskIdHigh = 0xffff;
132. sFilterConfig.FilterMaskIdLow = 0x0000;
133. sFilterConfig.FilterFIFOAssignment = CAN_RX_FIFO0;
134. sFilterConfig.FilterActivation = ENABLE;
135. sFilterConfig.SlaveStartFilterBank = 14;
136.  
137.  
138. if (HAL_CAN_ConfigFilter(&hcan, &sFilterConfig) != HAL_OK)
139. {
140. /* Filter configuration Error */
141. Error_Handler();
142. }
143.  
144. /*##-3- Start the CAN peripheral ###########################################*/
145. if (HAL_CAN_Start(&hcan) != HAL_OK)
146. {
147. /* Start Error */
148. Error_Handler();
149. }
150.  
151. /*##-4- Activate CAN RX notification #######################################*/
152. if (HAL_CAN_ActivateNotification(&hcan, CAN_IT_RX_FIFO0_MSG_PENDING) != HAL_OK)
153. {
154. /* Notification Error */
155. Error_Handler();
156. }
157.  
158. /*##-5- Configure Transmission process #####################################*/
159. TxHeader.StdId = 0x321;
160. TxHeader.ExtId = 0x01;
161. TxHeader.RTR = CAN_RTR_DATA;
162. TxHeader.IDE = CAN_ID_EXT;
163. TxHeader.DLC = 4;
164. TxHeader.TransmitGlobalTime = DISABLE;
165.  
166.  
167. /*##-6- Configure Reception process #####################################*/
168. if(HAL_CAN_GetRxFifoFillLevel(&hcan, CAN_RX_FIFO0) != 0)
169. {
170. /* Reception Missing */
171. Error_Handler();
172. }
173.  
174. }
175.  
176.  
177. static void MX_USART2_UART_Init(void)
178. {
179.  
180. /* USER CODE END USART2_Init 1 */
181. huart2.Instance = USART2;
182. huart2.Init.BaudRate = 115200;
183. huart2.Init.WordLength = UART_WORDLENGTH_8B;
184. huart2.Init.StopBits = UART_STOPBITS_1;
185. huart2.Init.Parity = UART_PARITY_NONE;
186. huart2.Init.Mode = UART_MODE_TX;
187. huart2.Init.HwFlowCtl = UART_HWCONTROL_NONE;
188. huart2.Init.OverSampling = UART_OVERSAMPLING_16;
189. huart2.Init.OneBitSampling = UART_ONE_BIT_SAMPLE_DISABLE;
190. huart2.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT;
191. if (HAL_UART_Init(&huart2) != HAL_OK)
192. {
193. Error_Handler();
194. }
195. /* USER CODE BEGIN USART2_Init 2 */
196.  
197. /* USER CODE END USART2_Init 2 */
198.  
199. }
200.  
201.  
202. /* USER CODE BEGIN 4 */
203. void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan)
204. {
205. /* Get RX message */
206. if (HAL_CAN_GetRxMessage(hcan, CAN_RX_FIFO0, &RxHeader, RxData) != HAL_OK)
207. {
208. /* Reception Error */
209. Error_Handler();
210. }
211.  
212. /* Display LEDx */
213. if ((RxHeader.ExtId == 0x01) && (RxHeader.IDE == CAN_ID_EXT) && (RxHeader.DLC == 4))
214. {
215. nbinterrupt++;
216. HAL_UART_Transmit(&huart2, Data, 32, 100); //forward command to day cam
217.  
218. //LED_Display(RxData[0]);
219. // ubKeyNumber = RxData[0];
220. }
221. }

[JoniS]

Did you enable filter? Atleast "pass all" filter of 0x00 must be enabled.

[canucktut]

thx for the reply, yes its enabled, i'm just testing the CAN loopback and transmit to a usart to see that it works, but still has issues. I'll attach the whole main.c file and left out unrelated code.

/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include <stdio.h>
#include <malloc.h>
/* Private includes ----------------------------------------------------------*/
 
/* Private variables ---------------------------------------------------------*/
CAN_HandleTypeDef hcan;
 
UART_HandleTypeDef huart2;
UART_HandleTypeDef huart3;
DMA_HandleTypeDef hdma_usart2_tx;
 
void SystemClock_Config(void);
 
static void MX_CAN_Init(void);
static void MX_USART2_UART_Init(void);
 
/* USER CODE BEGIN 0 */
CAN_HandleTypeDef hcan;
CAN_TxHeaderTypeDef TxHeader;
CAN_RxHeaderTypeDef RxHeader;
uint32_t TxMailbox;
uint8_t TxData[32];
uint8_t RxData[32];
uint8_t Data[8] = {0xDE, 0xAD, 0xBE, 0xEF};
uint8_t test[16] = "CAN works\r\n";
uint8_t start[30] = "Starting program\r\n";
 
uint8_t nbinterrupt;
 
 
int main(void)
{
 /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
 HAL_Init();
 
 /* Configure the system clock */
 SystemClock_Config();
 
 /* Initialize all configured peripherals */
 MX_GPIO_Init();
 MX_DMA_Init();
 MX_CAN_Init();
 MX_I2C1_Init();
 MX_I2C2_Init();
 MX_SPI1_Init();
 MX_USART2_UART_Init();
 MX_USART3_UART_Init();
 MX_CRC_Init();
 
 
 HAL_UART_Transmit(&huart2, start, sizeof(start), 100); //forward command to day cam
 
 nbinterrupt = 0;
 
 while (1)
 {
	 /*if (HAL_CAN_AddTxMessage(&hcan, &TxHeader, test, &TxMailbox) == HAL_OK)
	 {
	 HAL_Delay(1000);
	 Error_Handler();
	 }*/
	 // if(HAL_CAN_GetRxFifoFillLevel(&hcan, CAN_RX_FIFO0) != 0)
	 // {
	 	 /*	if (HAL_CAN_GetRxMessage(&hcan, CAN_RX_FIFO0, &RxHeader, RxData) != HAL_OK)
	 	{
	 	 		if (RxData[0] == 0xDE &&
	 	 		 RxData[1] == 0xAD &&
				 RxData[2] == 0xBE &&
				 RxData[3] == 0xEF)
	 	 		{
	 	 			HAL_UART_Transmit(&huart2, RxData, 32, 100); //forward command to day cam
	 	 			HAL_Delay(1000);
	 	 	 }
 
	 	}
	 	 	else Error_Handler();
 
	 // }*/
	 //Error_Handler();
 
	 void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan);
 
 if (HAL_CAN_AddTxMessage(&hcan, &TxHeader, Data, &TxMailbox) != HAL_OK)
 {
 /* Transmission request Error */
 	 Error_Handler();
 }
 else
 {
 	 HAL_UART_Transmit(&huart2, Data, 32, 100); //forward command to day cam
 HAL_Delay(1000);
 }
 
 
 }
 
}
 
 
static void MX_CAN_Init(void)
{
	CAN_FilterTypeDef sFilterConfig;
 
		 /*##-1- Configure the CAN peripheral #######################################*/
		 hcan.Instance = CAN;
		 hcan.Init.Prescaler = 12;
		 hcan.Init.Mode = CAN_MODE_LOOPBACK;
		 hcan.Init.SyncJumpWidth = CAN_SJW_1TQ;
		 hcan.Init.TimeSeg1 = CAN_BS1_13TQ;
		 hcan.Init.TimeSeg2 = CAN_BS2_2TQ;
		 hcan.Init.TimeTriggeredMode = DISABLE;
		 hcan.Init.AutoBusOff = DISABLE;
		 hcan.Init.AutoWakeUp = DISABLE;
		 hcan.Init.AutoRetransmission = DISABLE;
		 hcan.Init.ReceiveFifoLocked = DISABLE;
		 hcan.Init.TransmitFifoPriority = ENABLE;
 
		 if (HAL_CAN_Init(&hcan) != HAL_OK)
		 {
		 Error_Handler();
		 }
 
		 /*##-2- Configure the CAN Filter ###########################################*/
		 sFilterConfig.FilterBank = 0;
		 sFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK;
		 sFilterConfig.FilterScale = CAN_FILTERSCALE_32BIT;
		 sFilterConfig.FilterIdHigh = 0xffff;
		 sFilterConfig.FilterIdLow = 0x0000;
		 sFilterConfig.FilterMaskIdHigh = 0xffff;
		 sFilterConfig.FilterMaskIdLow = 0x0000;
		 sFilterConfig.FilterFIFOAssignment = CAN_RX_FIFO0;
		 sFilterConfig.FilterActivation = ENABLE;
		 sFilterConfig.SlaveStartFilterBank = 14;
 
 
		 if (HAL_CAN_ConfigFilter(&hcan, &sFilterConfig) != HAL_OK)
		 {
		 /* Filter configuration Error */
		 Error_Handler();
		 }
 
		 /*##-3- Start the CAN peripheral ###########################################*/
		 if (HAL_CAN_Start(&hcan) != HAL_OK)
		 {
		 /* Start Error */
		 Error_Handler();
		 }
 
		 /*##-4- Activate CAN RX notification #######################################*/
		 if (HAL_CAN_ActivateNotification(&hcan, CAN_IT_RX_FIFO0_MSG_PENDING) != HAL_OK)
		 {
		 /* Notification Error */
	 	 Error_Handler();
		 }
 
		 /*##-5- Configure Transmission process #####################################*/
		 TxHeader.StdId = 0x321;
		 TxHeader.ExtId = 0x01;
		 TxHeader.RTR = CAN_RTR_DATA;
		 TxHeader.IDE = CAN_ID_EXT;
		 TxHeader.DLC = 4;
		 TxHeader.TransmitGlobalTime = DISABLE;
 
 
		 /*##-6- Configure Reception process #####################################*/
		 if(HAL_CAN_GetRxFifoFillLevel(&hcan, CAN_RX_FIFO0) != 0)
		 {
		 /* Reception Missing */
		 Error_Handler();
		 }
 
}
 
 
static void MX_USART2_UART_Init(void)
{
 
 /* USER CODE END USART2_Init 1 */
 huart2.Instance = USART2;
 huart2.Init.BaudRate = 115200;
 huart2.Init.WordLength = UART_WORDLENGTH_8B;
 huart2.Init.StopBits = UART_STOPBITS_1;
 huart2.Init.Parity = UART_PARITY_NONE;
 huart2.Init.Mode = UART_MODE_TX;
 huart2.Init.HwFlowCtl = UART_HWCONTROL_NONE;
 huart2.Init.OverSampling = UART_OVERSAMPLING_16;
 huart2.Init.OneBitSampling = UART_ONE_BIT_SAMPLE_DISABLE;
 huart2.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT;
 if (HAL_UART_Init(&huart2) != HAL_OK)
 {
 Error_Handler();
 }
 /* USER CODE BEGIN USART2_Init 2 */
 
 /* USER CODE END USART2_Init 2 */
 
}
 
 
/* USER CODE BEGIN 4 */
void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan)
{
 /* Get RX message */
 if (HAL_CAN_GetRxMessage(hcan, CAN_RX_FIFO0, &RxHeader, RxData) != HAL_OK)
 {
 /* Reception Error */
 Error_Handler();
 }
 
 /* Display LEDx */
 if ((RxHeader.ExtId == 0x01) && (RxHeader.IDE == CAN_ID_EXT) && (RxHeader.DLC == 4))
 {
	 nbinterrupt++;
 	 HAL_UART_Transmit(&huart2, Data, 32, 100); //forward command to day cam
 
 //LED_Display(RxData[0]);
 // ubKeyNumber = RxData[0];
 }
}