CAN communicatino problem discovery f4

Posted on December 09, 2013 at 20:45

Hello 

I have a problem with CAN transmission and reception I have tried to make it connecting the CANRX to the CANTX, but it doesn't work. I have found the same problem when trying to make connection with other board. All initialization are  successfully but transmission end with error code which refer to ''CAN cell did not provide an empty mailbox'' that I didn't understand it reason.

  #define CANx                       CAN1

  #define CAN_CLK                    RCC_APB1Periph_CAN1

  #define CAN_RX_PIN                 GPIO_Pin_0

  #define CAN_TX_PIN                 GPIO_Pin_1

  #define CAN_GPIO_PORT              GPIOD

  #define CAN_GPIO_CLK               RCC_AHB1Periph_GPIOD

  #define CAN_AF_PORT                GPIO_AF_CAN1

  #define CAN_RX_SOURCE              GPIO_PinSource0

  #define CAN_TX_SOURCE              GPIO_PinSource1 

void main ()

{

CAN_Configuration

();

while()

{

CAN_MessageTransmit()

;

}

}

void CAN_Configuration(void)

{  

  CAN_InitTypeDef CAN_InitStructure;

  CAN_FilterInitTypeDef CAN_FilterInitStructure;

  GPIO_InitTypeDef  GPIO_InitStructure;

  

  /* Enable GPIO clock */

  RCC_AHB1PeriphClockCmd(CAN_GPIO_CLK, ENABLE);

  /* Connect CAN pins to AF9 */

  GPIO_PinAFConfig(CAN_GPIO_PORT, CAN_RX_SOURCE, CAN_AF_PORT);

  GPIO_PinAFConfig(CAN_GPIO_PORT, CAN_TX_SOURCE, CAN_AF_PORT); 

  

  /* Configure CAN RX and TX pins */

  GPIO_InitStructure.GPIO_Pin = CAN_RX_PIN | CAN_TX_PIN;

  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;

  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;

  GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;

  GPIO_InitStructure.GPIO_PuPd  = GPIO_PuPd_UP;

  GPIO_Init(CAN_GPIO_PORT, &GPIO_InitStructure);

  

  NVIC_InitTypeDef  NVIC_InitStructure;

  NVIC_InitStructure.NVIC_IRQChannel = CAN1_RX0_IRQn;

  NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0x0;

  NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0x0;

  NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;

  NVIC_Init(&NVIC_InitStructure); 

  

  /* Enable CAN clock */

  RCC_APB1PeriphClockCmd(CAN_CLK, ENABLE);

  

  /* CAN register init */

  CAN_DeInit(CANx);

  /* CAN cell init */

  CAN_InitStructure.CAN_TTCM = DISABLE;

  CAN_InitStructure.CAN_ABOM = DISABLE;

  CAN_InitStructure.CAN_AWUM = DISABLE;

  CAN_InitStructure.CAN_NART = DISABLE;

  CAN_InitStructure.CAN_RFLM = DISABLE;

  CAN_InitStructure.CAN_TXFP = DISABLE;

  CAN_InitStructure.CAN_Mode = CAN_Mode_Normal;

  CAN_InitStructure.CAN_SJW = CAN_SJW_1tq;

    

  /* CAN Baudrate = 1 MBps (CAN clocked at 30 MHz) */

  CAN_InitStructure.CAN_BS1 = CAN_BS1_6tq;

  CAN_InitStructure.CAN_BS2 = CAN_BS2_8tq;

  CAN_InitStructure.CAN_Prescaler = 2;

  CAN_Init(CANx, &CAN_InitStructure);

  /* CAN filter init */

  CAN_FilterInitStructure.CAN_FilterNumber = 0;

  CAN_FilterInitStructure.CAN_FilterMode = CAN_FilterMode_IdMask;

  CAN_FilterInitStructure.CAN_FilterScale = CAN_FilterScale_32bit;

  CAN_FilterInitStructure.CAN_FilterIdHigh = 0x0000;

  CAN_FilterInitStructure.CAN_FilterIdLow = 0x0000;

  CAN_FilterInitStructure.CAN_FilterMaskIdHigh = 0x0000;

  CAN_FilterInitStructure.CAN_FilterMaskIdLow = 0x0000;

  CAN_FilterInitStructure.CAN_FilterFIFOAssignment = 0;

  CAN_FilterInitStructure.CAN_FilterActivation = ENABLE;

  CAN_FilterInit(&CAN_FilterInitStructure);

  

  /* Transmit Structure preparation */

  TxMessage.StdId = 0x321;

  TxMessage.ExtId = 0x01;

  TxMessage.RTR = CAN_RTR_DATA;

  TxMessage.IDE = CAN_ID_STD;

  TxMessage.DLC = 1;

  

  /* Enable FIFO 0 message pending Interrupt */

  CAN_ITConfig(CANx, CAN_IT_FMP0, ENABLE);

}

 void CAN_MessageTransmit(void){

  TxMessage.StdId=0x11;

  TxMessage.RTR=CAN_RTR_DATA;

  TxMessage.IDE=CAN_ID_STD;

  TxMessage.DLC=2;

  TxMessage.Data[0]=0xCA;

  TxMessage.Data[1]=0xFE;

  TransmitMailbox=CAN_Transmit(CAN1, &TxMessage);

        CAN_Error_Code= CAN_GetLastErrorCode (CAN1);

  uint8_t i = 0;

  while((CAN_TransmitStatus(CAN1, TransmitMailbox) != CANTXOK) && (i != 0xFF))

  {

    i++;

  }

  }   

void CAN1_RX0_IRQHandler(void)

{  

   

   if(CAN_GetITStatus(CAN1, CAN_IT_FMP0)!= RESET){ // A message is pending in the FIFO 0

 

   CAN_Receive(CAN1, CAN_FIFO0, &RxMessage);

   CAN_ClearITPendingBit(CAN1,CAN_IT_FMP0); }

}

Thank you in advance for your help.