STM32F4xx Rework of HAL CAN driver: examples?

[Stefan Meyre]

Posted on February 01, 2018 at 21:39

Hello!

The HAL CAN driver for the STM32F4 got reworked lately (december 2017). I try to port my code from the old to the new drivers (compatibility break). There is a brief driver description in the update history but it would be also very helpful to get some example code to speed up porting ;-). I did look up the Cube STM32F4 sample codes but it seems all the CAN samples got deleted (not yet developed?).... Also the HAL description is still version 5 and the new API is not yet worked in. Correct, or did I miss anything?

Cheers, Stefan

[Szymon PANECKI]

Posted on February 01, 2018 at 22:03

Hello Stefan,

This is correct that HAL CAN driver has been redesigned with new API.

Please find below a short migration guide:

• Fields of CAN_InitTypeDef structure are renamed: SJW to SyncJumpWidth, BS1 to TimeSeg1, BS2 to TimeSeg2, ABOM to AutoBusOff, AWUM to AutoWakeUp, NART to AutoRetransmission (inversed), RFLM to ReceiveFifoLocked and TXFP to TransmitFifoPriority

• HAL_CAN_Init() is split into both HAL_CAN_Init() and HAL_CAN_Start()
• HAL_CAN_Transmit() is replaced by HAL_CAN_AddTxMessage() to place Tx request, then HAL_CAN_GetTxMailboxesFreeLevel() for polling until completion
• HAL_CAN_Transmit_IT() is replaced by HAL_CAN_ActivateNotification() to enable transmission with interrupt mode, then HAL_CAN_AddTxMessage() to place Tx request
• HAL_CAN_Receive() is replaced by HAL_CAN_GetRxFifoFillLevel() for polling until reception, then HAL_CAN_GetRxMessage() to get Rx message
• HAL_CAN_Receive_IT() is replaced by HAL_CAN_ActivateNotification() to enable reception with interrupt mode, then HAL_CAN_GetRxMessage() in the receive callback to get Rx message
• HAL_CAN_Sleep() is renamed to HAL_CAN_RequestSleep()
• HAL_CAN_TxCpltCallback() is split into HAL_CAN_TxMailbox0CompleteCallback(), HAL_CAN_TxMailbox1CompleteCallback() and HAL_CAN_TxMailbox2CompleteCallback()
• HAL_CAN_RxCpltCallback() is split into HAL_CAN_RxFifo0MsgPendingCallback() and HAL_CAN_RxFifo1MsgPendingCallback()

More complete 'how to use the new driver' is detailed in the driver header section itself.

Regards

Szymon

[Stefan Meyre]

Posted on February 02, 2018 at 07:41

Thank you Szymon! Yes I saw these explanations in the comments to the driver description. And I use it ;-). However I do not have that much experience with the CAN bus and would like to have a look at some sample code to find my way around...

Cheers Stefan

update: examples can be found here: C:\....STM32Cube\Repository\STM32Cube_FW_F4_V1.19.0\Projects\STM32446E_EVAL\Examples\CAN\CAN_Loopback\Src

[Rashmy Parimi]

Posted on March 23, 2018 at 02:03

Hi

I have recently updated to new CAN driver and I found it useful for few things which were not as easy to do with the older version. I however am not entirely clear on the Rx mechanism:

Does Rx always start with RxFifo 0 by default or is there anyway to change this at init or during runtime?

Is it possible to ping pong between RxFifo 0 and RxFifo 1 in runtime?

Thanks

Rashmy

[Levs Levs]

Posted on July 05, 2018 at 19:20

Hello guys,

 will be update this CAN driver also on the STM32F1 firmware package?

Best regards,

Levs

[DTerr]

Not sure about the STM32F1 but I have heard that STM32F0 is due the 17th week of 2019.

[Eich]

Hi !

One additional topic...

Filter configuration also changed a bit, what is the replacement for the "FilterNumber" ? And how can I change the interrupt priority. Could that be still done by HAL_NVIC_SetPriority(CAN2_RX0_IRQn...)?

Regards,

Dirk

[AErns]

Hello Szymon.

I'm struggling to find a very simple and up to date can example, just to see some activity on the Tx pin.

You are talking about a  customers presentation just above, but what do you mean by "Please find it attached"? - I can't see any attachments anywhere.

Regards Allan

[JSzuc]

Hi Szymon!

I try the example on an stm32f103c8t6 and its working fine, but I cant change the filter config to "_IDLIST", Its simply not work anymore in any combination of the mask and id… May be I missed something...

Regards.

J.

[RAlex]

Hi szja681.5541402147734006E12,

I began recently with Microcontroller and STM32 and I stumbled over the same issue.

If you are using a standard-ID ( CAN_TxHeaderTypeDef TxHeader; TxHeader.IDE = CAN_ID_STD;)

and Filterscale 32Bit (sFilterConfig.FilterScale = CAN_FILTERSCALE_32BIT;)

you have to shift FilterIDHigh and FilterMaskIdHigh by 5 Bits to the left.

E.g.

sFilterConfig.FilterIdHigh = 0x0123<<5; 
sFilterConfig.FilterMaskIdHigh = 0x0123<<5;

This is IMO due to the register in the Tx Mailbox.

Here is picture from the STM32F103 Reference Manual .

As you can see the Std-Id is from [31:21].

If you don't shift the Filter ID the comparison will fail.

Because the STD-ID is left justified in the comparing Mailbox.

Here is a pic from the register Organisation.

Mapping is your Mailbox register.I hope this will help someone.

Pictures are taken from the reference manual and are not my property.

Greetings

Rene

[MarcV]

Not sure if anyone is still looking for examples of the new HAL CAN driver like I was just this week. The in my opinion most useful yet simple example can be found here:

https://github.com/timsonater/stm32-CAN-bus-example-HAL-API