I am using STM32CubeMX and HAL libs to send and receive CAN messages on an STM32F413ZH. stm32f4xx_hal_can.c tells me to #define USE_HAL_CAN_REGISTER_CALLBACKS = 1 which I have done in both main.h and stm32f4xx_hal_conf.h (if I don't put it in the latter, the function HAL_CAN_RegisterCallback() doesn't get built)
In main.c I have:
...
HAL_Init();
SystemClock_Config();
MX_CAN1_Init();
...
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 = 8;
hcan1.Init.Mode = CAN_MODE_NORMAL;
hcan1.Init.SyncJumpWidth = CAN_SJW_2TQ;
hcan1.Init.TimeSeg1 = CAN_BS1_8TQ;
hcan1.Init.TimeSeg2 = CAN_BS2_3TQ;
hcan1.Init.TimeTriggeredMode = DISABLE;
hcan1.Init.AutoBusOff = DISABLE;
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();
}
/* USER CODE BEGIN CAN1_Init 2 */
for (filterNo = 0; filterNo < CAN1_FILTER_CNT; filterNo++){
sFilterConfig.FilterBank = filterNo;
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();
}
}
if (HAL_CAN_Start (&hcan1) != HAL_OK) {
// start error
Error_Handler();
}
// Register callback funcs
HAL_CAN_RegisterCallback(&hcan1, HAL_CAN_TX_MAILBOX0_COMPLETE_CB_ID, HAL_CAN_TxMailbox0CompleteCallback);
HAL_CAN_RegisterCallback(&hcan1, HAL_CAN_RX_FIFO0_MSG_PENDING_CB_ID, HAL_CAN_RxFIFO0MsgPendingCallback);
HAL_CAN_RegisterCallback(&hcan1, HAL_CAN_RX_FIFO0_FULL_CB_ID, HAL_CAN_RxFifo0FullCallback);
// Activate CAN Interrupts
HAL_CAN_ActivateNotification(&hcan1, CAN_IT_TX_MAILBOX_EMPTY);
HAL_CAN_ActivateNotification(&hcan1, CAN_IT_RX_FIFO0_MSG_PENDING);
HAL_CAN_ActivateNotification(&hcan1, CAN_IT_RX_FIFO0_FULL);
/* USER CODE END CAN1_Init 2 */
}
============
My HAL_CAN_TxMailbox0CompleteCallback function doesn't get called, the default one in stm32f4xx_hal_can.c does. My function is in main.c and the prototype is in main.h.
