STM32F407VET CAN BUS interrupt does not trigger

[JBond.1]

Hi, I am trying to communicate on CAN BUS, I have previously succeeded in doing so with STM32F103C8 and STM32F091RC, but I cant make it work on STM32F407VET It does not trigger its interrupt on message receive. What could be the difference on this MCU? Do I need to enable something different?

MCU clock 168Mhz, APB1 42Mhz, CAN BUS speed is 100000bit/s, enabled "CAN1 RX0 interrupts" in NVIC, code:

hcan1.Instance = CAN1;
hcan1.Init.Prescaler = 28;
hcan1.Init.Mode = CAN_MODE_NORMAL;
hcan1.Init.SyncJumpWidth = CAN_SJW_1TQ;
hcan1.Init.TimeSeg1 = CAN_BS1_12TQ;
hcan1.Init.TimeSeg2 = CAN_BS2_2TQ;
hcan1.Init.TimeTriggeredMode = DISABLE;
hcan1.Init.AutoBusOff = ENABLE;
hcan1.Init.AutoWakeUp = DISABLE;
hcan1.Init.AutoRetransmission = DISABLE;
hcan1.Init.ReceiveFifoLocked = DISABLE;
hcan1.Init.TransmitFifoPriority = DISABLE;
if (HAL_CAN_Init(&hcan1) != HAL_OK)
{
	Error_Handler();
}
 
CAN_FilterTypeDef sFilterConfig;
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;
 
if (HAL_CAN_ConfigFilter(hcan1, &sFilterConfig) != HAL_OK)
{
	Error_Handler();
}
 
if (HAL_CAN_Start(hcan1) != HAL_OK)
{
	Error_Handler();
}
 
if (HAL_CAN_ActivateNotification(hcan1, CAN_IT_RX_FIFO0_MSG_PENDING) != HAL_OK)
{
	Error_Handler();
}

I am expecting to get callback on:

void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan)
{
}

But its never executed. I tried to set break point on, but it does not brake there ether:

/**
 * @brief This function handles CAN1 RX0 interrupts.
 */
void CAN1_RX0_IRQHandler(void)
{
 /* USER CODE BEGIN CAN1_RX0_IRQn 0 */
 
 /* USER CODE END CAN1_RX0_IRQn 0 */
 HAL_CAN_IRQHandler(&hcan1);
 /* USER CODE BEGIN CAN1_RX0_IRQn 1 */
 
 /* USER CODE END CAN1_RX0_IRQn 1 */
}

 What could be the problem?

I dont know what to trouble shoot next.

[SKacp.1]

Hello,

Do You have correctly settings hardware (pins) and interrupt for CAN1?

[JBond.1]

Tried swithich RX TX, different pins allso same, tried sending can message, on sending I noticed that other devices wakeup but do not get a message, sending corrupted message? does it use correct APB1 mhz?

[Ozone]

> Tried swithich RX TX, different pins allso same, tried sending can message, on sending I noticed that other devices wakeup but do not get a message, sending corrupted message?

Any (physical) receiver will send an acknowledge bit if a frame is received properly.

It seems this does not happen on your bus, so there is probably something wrong on bus level.

Did you try lower bitrates ?

And did you try loopback mode of your F407 node, which would validate your pin setup ?

You could check if the bus error counters on the F407 and other nodes go up, and use a scope to view the signal.

[SKacp.1]

Hello,

Please send me Your code with hardware initialization of CAN1.

My code:

/**
* @brief CAN MSP Initialization
* This function configures the hardware resources used in this example
* @param hcan: CAN handle pointer
* @retval None
*/
void HAL_CAN_MspInit(CAN_HandleTypeDef* hcan)
{
 GPIO_InitTypeDef GPIO_InitStruct = {0};
 if(hcan->Instance==CAN1)
 {
 /* USER CODE BEGIN CAN1_MspInit 0 */
 
 /* USER CODE END CAN1_MspInit 0 */
 /* Peripheral clock enable */
 __HAL_RCC_CAN1_CLK_ENABLE();
 
 __HAL_RCC_GPIOD_CLK_ENABLE();
 /**CAN1 GPIO Configuration
 PD0 ------> CAN1_RX
 PD1 ------> CAN1_TX
 */
 GPIO_InitStruct.Pin = CAN1_RX_Pin|CAN1_TX_Pin;
 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_CAN1;
 HAL_GPIO_Init(CAN1_GPIO_Port, &GPIO_InitStruct);
 
 /* CAN1 interrupt Init */
 HAL_NVIC_SetPriority(CAN1_RX0_IRQn, 1, 0);
 HAL_NVIC_EnableIRQ(CAN1_RX0_IRQn);
 /* USER CODE BEGIN CAN1_MspInit 1 */
 
 /* USER CODE END CAN1_MspInit 1 */
 }
 
}

[JBond.1]

I have exact same initialization which was generated. Sent you PM with code. Attached it here too.

[SKacp.1]

Hi,

Please see my code for initialization CAN1

void MX_CAN1_Init(void)
{
 
	CAN_FilterTypeDef sFilterConfig;
 
	hcan1.Instance = CAN1;
	hcan1.Init.Prescaler = 16;
	hcan1.Init.Mode = CAN_MODE_NORMAL;
	hcan1.Init.SyncJumpWidth = CAN_SJW_1TQ;
	hcan1.Init.TimeSeg1 = CAN_BS1_13TQ;
	hcan1.Init.TimeSeg2 = CAN_BS2_7TQ;
	hcan1.Init.TimeTriggeredMode = DISABLE;
	hcan1.Init.AutoBusOff = DISABLE;
	hcan1.Init.AutoWakeUp = DISABLE;
	hcan1.Init.AutoRetransmission = ENABLE;
	hcan1.Init.ReceiveFifoLocked = DISABLE;
	hcan1.Init.TransmitFifoPriority = DISABLE;
	if (HAL_CAN_Init(&hcan1) != HAL_OK)
	{
		Error_Handler();
	}
 
 /* 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;
 
	if (HAL_CAN_ConfigFilter(&hcan1, &sFilterConfig) != HAL_OK)
	{
	/* Filter configuration Error */
		Error_Handler();
	}
 
	/* Start the CAN peripheral */
	if (HAL_CAN_Start(&hcan1) != HAL_OK)
	{
	/* Start Error */
		Error_Handler();
	}
 
	/* Activate CAN RX notification */
	if (HAL_CAN_ActivateNotification(&hcan1, CAN_IT_RX_FIFO0_MSG_PENDING) != HAL_OK)
	{
	/* Notification Error */
		Error_Handler();
	}
 
 
}

Please change in Your code:

hcan1.Init.AutoBusOff = DISABLE;

hcan1.Init.AutoRetransmission = ENABLE;

Best Regards,

Slawek