I want CAN commuication CAN1 to CAN2 in STM32F4 Serinse.

[KimJeBu]

I want CAN commuication CAN1 to CAN2 in STM32F4 Serinse.

I wanted CAN1 to send a message to CAN2, and CAN2 to send the received message to CAN 1.

But I can't solve this problem.

Please check the main.c.

/* USER CODE BEGIN PV */

CAN_FilterTypeDef canFilter1;

CAN_FilterTypeDef canFilter2;

CAN_RxHeaderTypeDef canRxHeader;

CAN_TxHeaderTypeDef canTxHeader;

uint8_t can1Rx0Data[8];

//uint8_t can2Rx0Data[8];

uint32_t TxMailBox;

uint8_t can1Tx0Data[8];

//uint8_t can2Tx0Data[8];

volatile uint8_t can1_rx0_flag = 0;

volatile uint8_t can1_tx0_flag = 0;

volatile uint8_t can2_rx0_flag = 0;

volatile uint8_t can2_tx0_flag = 0;

/* USER CODE END PV */

/* USER CODE BEGIN 0 */

void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan)

{

  /* Get RX message */

  if (hcan->Instance == CAN1)

  {

    /* Get RX message */

    if (HAL_CAN_GetRxMessage(&hcan1, CAN_RX_FIFO0, &canRxHeader, can1Rx0Data) != HAL_OK)

    {

      /* Reception Error */

      Error_Handler();

    }

    can1_rx0_flag = 1;

  }

  if (hcan->Instance == CAN1)

   {

    if (HAL_CAN_AddTxMessage(&hcan1, &canTxHeader, can1Tx0Data, &TxMailBox) != HAL_OK)

    {

      Error_Handler();

    }

    can1_tx0_flag = 1;

   }

 if (hcan->Instance == CAN2)

 {

  if (HAL_CAN_GetRxMessage(&hcan2, CAN_RX_FIFO0, &canRxHeader, can1Rx0Data) != HAL_OK)

  {

    /* Reception Error */

    Error_Handler();

  }

  can2_rx0_flag = 1;

 }

 if (hcan->Instance == CAN2)

 {

  if (HAL_CAN_AddTxMessage(&hcan2, &canTxHeader, can1Tx0Data, &TxMailBox) != HAL_OK)

  {

    Error_Handler();

  }

  can2_tx0_flag = 1;

 }

}

/* USER CODE END 0 */

/* USER CODE BEGIN 2 */

  /* CAN Filter Setting */

  canFilter1.FilterBank = 0;

  canFilter1.FilterMode = CAN_FILTERMODE_IDMASK;

  canFilter1.FilterScale = CAN_FILTERSCALE_32BIT;

  canFilter1.FilterIdHigh = 0x0000;

  canFilter1.FilterIdLow = 0x0000;

  canFilter1.FilterMaskIdHigh = 0x0000;              // 0x00000000 = 모든 ID를 받아들이겠다

  canFilter1.FilterMaskIdLow = 0x0000;              

  canFilter1.FilterFIFOAssignment = CAN_RX_FIFO0;

  canFilter1.FilterActivation = ENABLE;

  canFilter1.SlaveStartFilterBank = 14;    

  if (HAL_CAN_ConfigFilter(&hcan1, &canFilter1) != HAL_OK)

   {

     /* Filter configuration Error */

     Error_Handler();

   }

  canFilter2.FilterBank = 0;

  canFilter2.FilterMode = CAN_FILTERMODE_IDMASK;

  canFilter2.FilterScale = CAN_FILTERSCALE_32BIT;

  canFilter2.FilterIdHigh = 0x0000;

  canFilter2.FilterIdLow = 0x0000;

  canFilter2.FilterMaskIdHigh = 0x0000;              // 0x00000000 = 모든 ID를 받아들이겠다

  canFilter2.FilterMaskIdLow = 0x0000;              

  canFilter2.FilterFIFOAssignment = CAN_RX_FIFO0;

  canFilter2.FilterActivation = ENABLE;

  canFilter2.SlaveStartFilterBank = 20;           // CAN2의 FilterBank시작 위치, CAN2를 사용한다면 FilterBank를 SlaveStartFilterBank보다 크게 설정해야 함.

  if (HAL_CAN_ConfigFilter(&hcan2, &canFilter2) != HAL_OK)

   {

     /* Filter configuration Error */

     Error_Handler();

   }

  /* Configure Transmission process */

  canTxHeader.StdId = 0x321;                 // Standard Identifier, 0 ~ 0x7FF

  canTxHeader.ExtId = 0x01;                  // Extended Identifier, 0 ~ 0x1FFFFFFF

  canTxHeader.RTR = CAN_RTR_DATA;            // 전송하는 메세지의 프레임 타입, DATA or REMOTE

  canTxHeader.IDE = CAN_ID_STD;              // 전송하는 메세지의 식별자 타입, STD or EXT

  canTxHeader.DLC = 8;                       // 송신 프레임 길이, 0 ~ 8 byte

  canTxHeader.TransmitGlobalTime = DISABLE;  // 프레임 전송 시작될 때 timestamp counter 값을 capture.

  /* Set the data to be transmitted */

  can1Tx0Data[0] = 1;

  can1Tx0Data[1] = 2;

  can1Tx0Data[2] = 3;

  can1Tx0Data[3] = 4;

  can1Tx0Data[4] = 5;

  can1Tx0Data[5] = 6;

  can1Tx0Data[6] = 7;

  can1Tx0Data[7] = 8;

  /* USER CODE END 2 */

  /* Infinite loop */

  /* USER CODE BEGIN WHILE */

/* Activate CAN RX notification */

  if (HAL_CAN_ActivateNotification(&hcan1, CAN_IT_RX_FIFO0_MSG_PENDING) != HAL_OK)

  {

    /* Notification Error */

    Error_Handler();

  }

  if (HAL_CAN_ActivateNotification(&hcan2, CAN_IT_RX_FIFO0_MSG_PENDING) != HAL_OK)

  {

    /* Notification Error */

    Error_Handler();

  }

  /* Can Start */

  if (HAL_CAN_Start(&hcan1) != HAL_OK)

  {

    /* Start Error */

    Error_Handler();

  }

  if (HAL_CAN_Start(&hcan2) != HAL_OK)

  {

    /* Start Error */

    Error_Handler();

  }

  /* Start the Transmission process */

   if (HAL_CAN_AddTxMessage(&hcan1, &canTxHeader, can1Tx0Data, &TxMailBox) != HAL_OK)

   {

       Error_Handler();

   }

  while (1)

  {

    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */

  }

[Issamos]

Hello @KimJeBu 

Those postes are discussing similar issues you may find help for your case:

• Post1
• Post2
• Post3

Best regards.

II