Posted on March 02, 2017 at 11:56I am programing STm32F103 for Transmitting CAN data. Initialization of can is done by following function with 250kb bit rate
static void MX_CAN_Init(void)
{
/*♯♯-1- Configure the CAN peripheral ♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯*/
hcan.Instance = CAN1;
hcan.pTxMsg = &TxMessage;
hcan.pRxMsg = &RxMessage;
hcan.Init.TTCM = DISABLE;
hcan.Init.ABOM = DISABLE;
hcan.Init.AWUM = DISABLE;
hcan.Init.NART = DISABLE;
hcan.Init.RFLM = DISABLE;
hcan.Init.TXFP = DISABLE;
hcan.Init.Mode = CAN_MODE_NORMAL;
hcan.Init.SJW = CAN_SJW_1TQ;
hcan.Init.BS1 = CAN_BS1_3TQ;
hcan.Init.BS2 = CAN_BS2_4TQ;
hcan.Init.Prescaler = 4;
if (HAL_CAN_Init(&hcan) != HAL_OK)
{
/* Initiliazation Error */
Error_Handler();
}
/*♯♯-2- Configure the CAN Filter ♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯*/
sFilterConfig.FilterNumber = 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 = 0;
sFilterConfig.FilterActivation = ENABLE;
sFilterConfig.BankNumber = 14;
if (HAL_CAN_ConfigFilter(&hcan, &sFilterConfig) != HAL_OK)
{
/* Filter configuration Error */
Error_Handler();
}
/*♯♯-3- Configure Transmission process ♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯*/
TxMessage.StdId = 0x321;
TxMessage.ExtId= 0x01;
TxMessage.RTR = CAN_RTR_DATA;
TxMessage.IDE = CAN_ID_STD;
TxMessage.DLC = 2;
TxMessage.Data[0] = 1;
TxMessage.Data[1] = 2;
hcan.pTxMsg = &TxMessage;
}
and for transmitting data I used following function is main
while (1)
{
int err = HAL_CAN_Transmit(&hcan,10);
if(err != HAL_OK)
{
}
delay();
}
err always get HAL_TIMEOUT then after some time HAL_ERROR. I receiving CAN data on Arduino but their is no data on CAN TX. I try to check signals on Oscilloscope its shows fluctuation on first time execution of HAL_CAN_Transmit(&hcan,10).
#can #can-bus #hal_can_transmit #stm32f103c8t6
