Problem to receive CAN message with STM32 F767ZI

[Andrea_Pastorello]

Hello,

I'm new about STM32 world. I'have a problem to receive CAN Message with a F767ZI.

I tryed te code bellow, it's run and send the message wit ID 0x0CFFA22D correctly but don,t receive any message.

I don't have idea where is the problem.

Could someone help me?

Thank you in advance

/* USER CODE BEGIN Header */
/**
 ******************************************************************************
 * @file           : main.c
 * @brief          : Main program body
 ******************************************************************************
 * @attention
 *
 * Copyright (c) 2024 STMicroelectronics.
 * All rights reserved.
 *
 * This software is licensed under terms that can be found in the LICENSE file
 * in the root directory of this software component.
 * If no LICENSE file comes with this software, it is provided AS-IS.
 *
 ******************************************************************************
 */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "stdio.h"
/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */

/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/
unsigned long PrevTime=0;
unsigned long SendTime=250;

CAN_HandleTypeDef hcan1;

UART_HandleTypeDef huart3;

/* USER CODE BEGIN PV */
CAN_TxHeaderTypeDef   TxHeader;
uint8_t               TxData[8];
uint32_t              TxMailbox;

CAN_RxHeaderTypeDef RxHeader;
uint8_t RxData[8];
uint8_t datacheck = 0;
/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
static void MX_GPIO_Init(void);
static void MX_USART3_UART_Init(void);
static void MX_CAN1_Init(void);
/* USER CODE BEGIN PFP */
#define PUTCHAR_PROTOTYPE int __io_putchar(int ch)
void HAL_CAN_ErrorCallback(CAN_HandleTypeDef *hcan);
void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan);
/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */

/* USER CODE END 0 */

/**
 * @brief  The application entry point.
 * @retval int
 */
int main(void)
{

	/* USER CODE BEGIN 1 */

	/* USER CODE END 1 */

	/* MCU Configuration--------------------------------------------------------*/

	/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
	HAL_Init();

	/* USER CODE BEGIN Init */
	// Configurazione del filtro CAN
	CAN_FilterTypeDef canfilterconfig;

	canfilterconfig.FilterActivation =CAN_FILTER_ENABLE;//CAN_FILTER_DISABLE
	canfilterconfig.FilterBank = 18;  // quale filtro utilizzare
	canfilterconfig.FilterFIFOAssignment = CAN_FILTER_FIFO0;
	canfilterconfig.FilterIdHigh = 0x0000 << 5;
	canfilterconfig.FilterIdLow = 0;
	canfilterconfig.FilterMaskIdHigh = 0x0000 << 5;
	canfilterconfig.FilterMaskIdLow = 0x0000;
	canfilterconfig.FilterMode = CAN_FILTERMODE_IDMASK;
	canfilterconfig.FilterScale = CAN_FILTERSCALE_32BIT;
	canfilterconfig.SlaveStartFilterBank = 10;  // numero di filtri assegnati a CAN1 (FILTRI TOTALI 28 MCU)

	HAL_CAN_ConfigFilter(&hcan1, &canfilterconfig);
	HAL_CAN_ActivateNotification(&hcan1, CAN_IT_ERROR);
	HAL_CAN_ActivateNotification(&hcan1, CAN_IT_RX_FIFO0_MSG_PENDING);

	/* USER CODE END Init */

	/* Configure the system clock */
	SystemClock_Config();

	/* USER CODE BEGIN SysInit */

	/* USER CODE END SysInit */

	/* Initialize all configured peripherals */
	MX_GPIO_Init();
	MX_USART3_UART_Init();
	MX_CAN1_Init();
	/* USER CODE BEGIN 2 */


	/* USER CODE END 2 */

	/* Infinite loop */
	/* USER CODE BEGIN WHILE */
	while (1)
	{
		if (PrevTime+SendTime<HAL_GetTick())
		{
			// Configurazione dell'intestazione del messaggio
			TxHeader.IDE = CAN_ID_EXT;
			TxHeader.ExtId = 0x0CFFA22D;//ExtId
			TxHeader.RTR = CAN_RTR_DATA;
			TxHeader.DLC = 2;
			HAL_CAN_Start(&hcan1);
			// Dati da inviare
			TxData[0] = 50;
			TxData[1] = 0xAA;
			// Trasmissione del messaggio
			if (HAL_CAN_AddTxMessage(&hcan1, &TxHeader, TxData, &TxMailbox) != HAL_OK)
			{
				Error_Handler();
			}
			// Stampa l'ID ricevuto (usa StdId o ExtId, in base al tuo tipo di CAN ID)
			printf("ID Ricevuto: %ld\n", (long int)RxHeader.StdId);
			// Stampa i dati ricevuti come una sequenza di byte
			printf("Rx Data: ");
			for (int i = 0; i < RxHeader.DLC; i++) { // RxHeader.DLC contiene la lunghezza dei dati
				printf("%02X ", RxData[i]); // Stampa ogni byte come esadecimale
			}
			printf("\n");
			printf("Datacheck: %d\n", datacheck);
			printf("OK\n");
			PrevTime=HAL_GetTick();
		}

		/* USER CODE END WHILE */

		/* USER CODE BEGIN 3 */
	}
	/* USER CODE END 3 */
}

/**
 * @brief System Clock Configuration
 * @retval None
 */
void SystemClock_Config(void)
{
	RCC_OscInitTypeDef RCC_OscInitStruct = {0};
	RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

	/** Configure LSE Drive Capability
	 */
	HAL_PWR_EnableBkUpAccess();

	/** Configure the main internal regulator output voltage
	 */
	__HAL_RCC_PWR_CLK_ENABLE();
	__HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE3);

	/** Initializes the RCC Oscillators according to the specified parameters
	 * in the RCC_OscInitTypeDef structure.
	 */
	RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
	RCC_OscInitStruct.HSEState = RCC_HSE_BYPASS;
	RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
	RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
	RCC_OscInitStruct.PLL.PLLM = 4;
	RCC_OscInitStruct.PLL.PLLN = 96;
	RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
	RCC_OscInitStruct.PLL.PLLQ = 4;
	RCC_OscInitStruct.PLL.PLLR = 2;
	if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
	{
		Error_Handler();
	}

	/** Activate the Over-Drive mode
	 */
	if (HAL_PWREx_EnableOverDrive() != HAL_OK)
	{
		Error_Handler();
	}

	/** Initializes the CPU, AHB and APB buses clocks
	 */
	RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
			|RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
	RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
	RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
	RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
	RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;

	if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_3) != HAL_OK)
	{
		Error_Handler();
	}
}

/**
 * @brief CAN1 Initialization Function
 *  None
 * @retval None
 */
static void MX_CAN1_Init(void)
{

	/* USER CODE BEGIN CAN1_Init 0 */

	/* USER CODE END CAN1_Init 0 */

	/* USER CODE BEGIN CAN1_Init 1 */

	/* USER CODE END CAN1_Init 1 */
	hcan1.Instance = CAN1;
	hcan1.Init.Prescaler = 24;
	hcan1.Init.Mode = CAN_MODE_NORMAL;
	hcan1.Init.SyncJumpWidth = CAN_SJW_1TQ;
	hcan1.Init.TimeSeg1 = CAN_BS1_5TQ;
	hcan1.Init.TimeSeg2 = CAN_BS2_2TQ;
	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();
	}
	/* USER CODE BEGIN CAN1_Init 2 */

	/* USER CODE END CAN1_Init 2 */

}

/**
 * @brief USART3 Initialization Function
 *  None
 * @retval None
 */
static void MX_USART3_UART_Init(void)
{

	/* USER CODE BEGIN USART3_Init 0 */

	/* USER CODE END USART3_Init 0 */

	/* USER CODE BEGIN USART3_Init 1 */

	/* USER CODE END USART3_Init 1 */
	huart3.Instance = USART3;
	huart3.Init.BaudRate = 115200;
	huart3.Init.WordLength = UART_WORDLENGTH_8B;
	huart3.Init.StopBits = UART_STOPBITS_1;
	huart3.Init.Parity = UART_PARITY_NONE;
	huart3.Init.Mode = UART_MODE_TX_RX;
	huart3.Init.HwFlowCtl = UART_HWCONTROL_NONE;
	huart3.Init.OverSampling = UART_OVERSAMPLING_16;
	huart3.Init.OneBitSampling = UART_ONE_BIT_SAMPLE_DISABLE;
	huart3.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT;
	if (HAL_UART_Init(&huart3) != HAL_OK)
	{
		Error_Handler();
	}
	/* USER CODE BEGIN USART3_Init 2 */

	/* USER CODE END USART3_Init 2 */

}

/**
 * @brief GPIO Initialization Function
 *  None
 * @retval None
 */
static void MX_GPIO_Init(void)
{
	GPIO_InitTypeDef GPIO_InitStruct = {0};
	/* USER CODE BEGIN MX_GPIO_Init_1 */
	/* USER CODE END MX_GPIO_Init_1 */

	/* GPIO Ports Clock Enable */
	__HAL_RCC_GPIOC_CLK_ENABLE();
	__HAL_RCC_GPIOH_CLK_ENABLE();
	__HAL_RCC_GPIOA_CLK_ENABLE();
	__HAL_RCC_GPIOB_CLK_ENABLE();
	__HAL_RCC_GPIOD_CLK_ENABLE();
	__HAL_RCC_GPIOG_CLK_ENABLE();

	/*Configure GPIO pin Output Level */
	HAL_GPIO_WritePin(GPIOB, LD1_Pin|LD3_Pin|LD2_Pin, GPIO_PIN_RESET);

	/*Configure GPIO pin Output Level */
	HAL_GPIO_WritePin(USB_PowerSwitchOn_GPIO_Port, USB_PowerSwitchOn_Pin, GPIO_PIN_RESET);

	/*Configure GPIO pin : USER_Btn_Pin */
	GPIO_InitStruct.Pin = USER_Btn_Pin;
	GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING;
	GPIO_InitStruct.Pull = GPIO_NOPULL;
	HAL_GPIO_Init(USER_Btn_GPIO_Port, &GPIO_InitStruct);

	/*Configure GPIO pins : RMII_MDC_Pin RMII_RXD0_Pin RMII_RXD1_Pin */
	GPIO_InitStruct.Pin = RMII_MDC_Pin|RMII_RXD0_Pin|RMII_RXD1_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_AF11_ETH;
	HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);

	/*Configure GPIO pins : RMII_REF_CLK_Pin RMII_MDIO_Pin RMII_CRS_DV_Pin */
	GPIO_InitStruct.Pin = RMII_REF_CLK_Pin|RMII_MDIO_Pin|RMII_CRS_DV_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_AF11_ETH;
	HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);

	/*Configure GPIO pins : LD1_Pin LD3_Pin LD2_Pin */
	GPIO_InitStruct.Pin = LD1_Pin|LD3_Pin|LD2_Pin;
	GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
	GPIO_InitStruct.Pull = GPIO_NOPULL;
	GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
	HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);

	/*Configure GPIO pin : PB13 */
	GPIO_InitStruct.Pin = GPIO_PIN_13;
	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_CAN2;
	HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);

	/*Configure GPIO pin : USB_PowerSwitchOn_Pin */
	GPIO_InitStruct.Pin = USB_PowerSwitchOn_Pin;
	GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
	GPIO_InitStruct.Pull = GPIO_NOPULL;
	GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
	HAL_GPIO_Init(USB_PowerSwitchOn_GPIO_Port, &GPIO_InitStruct);

	/*Configure GPIO pin : USB_OverCurrent_Pin */
	GPIO_InitStruct.Pin = USB_OverCurrent_Pin;
	GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
	GPIO_InitStruct.Pull = GPIO_NOPULL;
	HAL_GPIO_Init(USB_OverCurrent_GPIO_Port, &GPIO_InitStruct);

	/*Configure GPIO pins : RMII_TX_EN_Pin RMII_TXD0_Pin */
	GPIO_InitStruct.Pin = RMII_TX_EN_Pin|RMII_TXD0_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_AF11_ETH;
	HAL_GPIO_Init(GPIOG, &GPIO_InitStruct);

	/* USER CODE BEGIN MX_GPIO_Init_2 */
	/* USER CODE END MX_GPIO_Init_2 */
}

/* USER CODE BEGIN 4 */

PUTCHAR_PROTOTYPE
{
	/* Place your implementation of fputc here */
	/* e.g. write a character to the USART1 and Loop until the end of transmission */
	HAL_UART_Transmit(&huart3, (uint8_t *)&ch, 1, 0xFFFF);

	return ch;
}

void HAL_CAN_ErrorCallback(CAN_HandleTypeDef *hcan) {
	uint32_t error = HAL_CAN_GetError(hcan);

	// Visualizza il tipo di errore sul terminale seriale o debugger
	switch (error) {
	case HAL_CAN_ERROR_NONE:
		printf("Nessun errore CAN\n");
		break;
	case HAL_CAN_ERROR_EWG:
		printf("Errore Warning (EWG): Errore nel contatore\n");
		break;
	case HAL_CAN_ERROR_EPV:
		printf("Errore Passive (EPV): Modalità passiva\n");
		break;
	case HAL_CAN_ERROR_BOF:
		printf("Bus-Off (BOF): Il CAN si è disconnesso dal bus\n");
		break;
	case HAL_CAN_ERROR_STF:
		printf("Errore Stuffing: Errore di formattazione del messaggio\n");
		break;
	case HAL_CAN_ERROR_FOR:
		printf("Errore Formato (FOR): Frame non valido\n");
		break;
	case HAL_CAN_ERROR_ACK:
		printf("Errore Acknowledge (ACK): Nessun ACK ricevuto\n");
		break;
	case HAL_CAN_ERROR_BR:
		printf("Errore Bit Recessivo (BR): Sincronizzazione del bit fallita\n");
		break;
	case HAL_CAN_ERROR_BD:
		printf("Errore Bit Dominante (BD): Sincronizzazione del bit fallita\n");
		break;
	case HAL_CAN_ERROR_CRC:
		printf("Errore CRC: Checksum del messaggio non corrisponde\n");
		break;
	default:
		printf("Errore CAN sconosciuto: 0x%lx\n", error);
		break;
	}
}

void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan)//LETTURA CAN
{
	if (HAL_CAN_GetRxMessage(hcan, CAN_RX_FIFO0, &RxHeader, RxData) != HAL_OK)
	{
		Error_Handler();
		printf("Errore ricezione CAN:\n");
	}
	if (RxHeader.StdId == 0x103) // Controlla se l'ID è 0x103
	{
		datacheck = 1;
	}
}

/* USER CODE END 4 */

/**
 * @brief  This function is executed in case of error occurrence.
 * @retval None
 */
void Error_Handler(void)
{
	/* USER CODE BEGIN Error_Handler_Debug */
	/* User can add his own implementation to report the HAL error return state */
	__disable_irq();
	while (1)
	{
	}
	/* USER CODE END Error_Handler_Debug */
}

#ifdef  USE_FULL_ASSERT
/**
 * @brief  Reports the name of the source file and the source line number
 *         where the assert_param error has occurred.
 *   file: pointer to the source file name
 *   line: assert_param error line source number
 * @retval None
 */
void assert_failed(uint8_t *file, uint32_t line)
{
	/* USER CODE BEGIN 6 */
	/* User can add his own implementation to report the file name and line number,
     ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
	/* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */

[Karl Yamashita]

You have set Operating Mode as Normal. So you would need to be communicating to another CAN node with proper terminating resistors.. 

If you want to send with CAN1 and receive on CAN1, you need to set for Operating Mode to Loopback. 

You are sending Extended ID but in your callback you're setting a flag based off Standard ID, so none of that will work.

See this project https://github.com/karlyamashita/Nucleo-L432KC_CAN_buffer/wiki

It is set for Loopback. It uses a CAN buffer for both Tx/Rx. You can use a serial program to send commands that will send CAN messages, receive the CAN messages and send what it received with different parameters back out to the serial program.

[Andrea_Pastorello]

Yes, I want to comunicate with another CAN node (PCAN in my case). I see the 0x0CFFA22D message transmited by STM32 in the PCAN, but if i send 0x103 message with PCAN the STM32 don't change the datacheck value and dont' print anything in the UART.