CAN Communication issue with STM32F4

JDOG · ‎2024-03-14

/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file    can.c
  * @brief   This file provides code for the configuration
  *          of the CAN instances.
  ******************************************************************************
  * @attention
  *
  * Copyright (c) 2023 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 "can.h"
#include "main.h"
 
#include "usart.h"
 
CAN_HandleTypeDef hcan2;
 
static CAN_TxHeaderTypeDef   TxHeader;
static CAN_RxHeaderTypeDef   RxHeader;
static uint8_t               TxData[8];
static uint8_t               RxData[8];
static uint32_t              TxMailbox;
 
static char           Print_buffer[200];
 
#define CAN_BAUD_250K 8 // Prescaler for 250 Kbits per second
#define CAN_BAUD_500K 4 // Prescaler for 500 Kbits per second
 
 
/* CAN2 init function */
void MX_CAN2_Init(void)
{
HAL_StatusTypeDef HAL_error;
CAN_FilterTypeDef  sFilterConfig;
 
  /*##-1- Configure the CAN peripheral #######################################*/
hcan2.Instance = CAN2;
hcan2.Init.Prescaler = CAN_BAUD_250K;
hcan2.Init.Mode = CAN_MODE_LOOPBACK; //CAN_MODE_NORMAL;
hcan2.Init.SyncJumpWidth = CAN_SJW_1TQ;
hcan2.Init.TimeSeg1 = CAN_BS1_16TQ;
hcan2.Init.TimeSeg2 = CAN_BS2_8TQ;
hcan2.Init.TimeTriggeredMode = DISABLE;
hcan2.Init.AutoBusOff = DISABLE;
hcan2.Init.AutoWakeUp = ENABLE;
hcan2.Init.AutoRetransmission = ENABLE;
hcan2.Init.ReceiveFifoLocked = DISABLE;
hcan2.Init.TransmitFifoPriority = DISABLE;
 
  HAL_error = HAL_CAN_Init(&hcan2);
 
  if (HAL_error != HAL_OK)
  {
    Error_Handler(HAL_error);
  }
 
  /*##-2- Configure the CAN Filter ###########################################*/
  sFilterConfig.FilterBank = 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 = CAN_RX_FIFO0;
  sFilterConfig.FilterActivation = ENABLE;
  sFilterConfig.SlaveStartFilterBank = 14;
 
  HAL_error = HAL_CAN_ConfigFilter(&hcan2, &sFilterConfig);
 
  if (HAL_error != HAL_OK)
  {
    Error_Handler(HAL_error);
  }
 
  /*##-3- Start the CAN peripheral ###########################################*/
  HAL_error = HAL_CAN_Start(&hcan2);
 
  if (HAL_error != HAL_OK)
  {
  Error_Handler(HAL_error);
  }
 
  /*##-4- Activate CAN RX notification #######################################*/
  HAL_error = HAL_CAN_ActivateNotification(&hcan2, CAN_IT_RX_FIFO0_MSG_PENDING);
 
  if (HAL_error != HAL_OK)
  {
  Error_Handler(HAL_error);
  }
}
 
void HAL_CAN_MspInit(CAN_HandleTypeDef* canHandle)
{
 
  GPIO_InitTypeDef GPIO_InitStruct = {0};
  if(canHandle->Instance==CAN2)
  {
  /* USER CODE BEGIN CAN2_MspInit 0 */
 
  /* USER CODE END CAN2_MspInit 0 */
    /* CAN2 clock enable */
   // __HAL_RCC_CAN1_CLK_ENABLE();
    __HAL_RCC_CAN2_CLK_ENABLE();
 
    __HAL_RCC_GPIOB_CLK_ENABLE();
    /**CAN2 GPIO Configuration
    PB12     ------> CAN2_RX
    PB13     ------> CAN2_TX
    */
    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);
 
    GPIO_InitStruct.Pin = GPIO_PIN_12;
    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
    GPIO_InitStruct.Pull = GPIO_PULLUP;
    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
    GPIO_InitStruct.Alternate = GPIO_AF9_CAN2;
    HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
 
    /* CAN2 interrupt Init */
    HAL_NVIC_SetPriority(CAN2_TX_IRQn, 5, 0);
    HAL_NVIC_EnableIRQ(CAN2_TX_IRQn);
 
    HAL_NVIC_SetPriority(CAN2_RX0_IRQn, 5, 0);
 
    //HAL_NVIC_EnableIRQ(CAN2_RX0_IRQn);
 
    HAL_NVIC_SetPriority(CAN2_RX1_IRQn, 5, 0);
    //HAL_NVIC_EnableIRQ(CAN2_RX1_IRQn);
 
    HAL_NVIC_SetPriority(CAN2_SCE_IRQn, 5, 0);
    HAL_NVIC_EnableIRQ(CAN2_SCE_IRQn);
  /* USER CODE BEGIN CAN2_MspInit 1 */
 
  /* USER CODE END CAN2_MspInit 1 */
  }
}
 
void HAL_CAN_MspDeInit(CAN_HandleTypeDef* canHandle)
{
 
  if(canHandle->Instance==CAN2)
  {
  /* USER CODE BEGIN CAN2_MspDeInit 0 */
 
  /* USER CODE END CAN2_MspDeInit 0 */
    /* Peripheral clock disable */
    __HAL_RCC_CAN1_CLK_DISABLE();
    __HAL_RCC_CAN2_CLK_DISABLE();
 
    /**CAN2 GPIO Configuration
    PB12     ------> CAN2_RX
    PB13     ------> CAN2_TX
    */
    HAL_GPIO_DeInit(GPIOB, GPIO_PIN_12|GPIO_PIN_13);
 
    /* CAN2 interrupt Deinit */
    HAL_NVIC_DisableIRQ(CAN2_TX_IRQn);
    HAL_NVIC_DisableIRQ(CAN2_RX0_IRQn);
    HAL_NVIC_DisableIRQ(CAN2_RX1_IRQn);
    HAL_NVIC_DisableIRQ(CAN2_SCE_IRQn);
  /* USER CODE BEGIN CAN2_MspDeInit 1 */
 
  /* USER CODE END CAN2_MspDeInit 1 */
  }
}
 
 
/**
  * @brief  Rx Fifo 0 message pending callback
  *   hcan: pointer to a CAN_HandleTypeDef structure that contains
  *         the configuration information for the specified CAN.
  * @retval None
  */
void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan)
{
  HAL_GPIO_TogglePin(GPIOB, GPIO_PIN_0);
 
  /* Get RX message */
  if (HAL_CAN_GetRxMessage(hcan, CAN_RX_FIFO0, &RxHeader, RxData) != HAL_OK)
  {
sprintf(Print_buffer, "CAN Read Error!\r\n");
uart_print(Print_buffer);
  }
  else
  {
sprintf(Print_buffer, "StdID: 0x%lX, IDE: 0x%lX , ExtId: 0x%lX, FMI: 0x%lX, RTR: 0x%lX, DLC: 0x%lX, TS: 0x%lX \r\n", RxHeader.StdId, RxHeader.IDE, RxHeader.ExtId,
RxHeader.FilterMatchIndex, RxHeader.RTR, RxHeader.DLC, RxHeader.Timestamp);
uart_print(Print_buffer);
 
sprintf(Print_buffer, "Data: 0x%X,0x%X,0x%X,0x%X,0x%X,0x%X,0x%X,0x%X \r\n", RxData[0], RxData[1], RxData[2], RxData[3],
RxData[4], RxData[5], RxData[6], RxData[7]);
uart_print(Print_buffer);
 
  }
}
 
void ReportCAN_Status(void)
{
HAL_StatusTypeDef HAL_error;
CAN_HandleTypeDef *can_handle = &hcan2;
 
uint32_t interrupts = READ_REG(can_handle->Instance->IER);
  uint32_t msrflags = READ_REG(can_handle->Instance->MSR);
  uint32_t tsrflags = READ_REG(can_handle->Instance->TSR);
  uint32_t rf0rflags = READ_REG(can_handle->Instance->RF0R);
  uint32_t rf1rflags = READ_REG(can_handle->Instance->RF1R);
  uint32_t esrflags = READ_REG(can_handle->Instance->ESR);
 
sprintf(Print_buffer, "Interrupts: 0x%lX, msr flags: 0x%lX , tsr flags: 0x%lX, rf0r flags: 0x%lX, rf1r flags: 0x%lX, esr flags: 0x%lX \r\n",
interrupts, msrflags, tsrflags, rf0rflags, rf1rflags, esrflags);
uart_print(Print_buffer);
 
CLEAR_BIT(can_handle->Instance->MSR, CAN_MSR_WKUI);
 
interrupts = READ_REG(can_handle->Instance->IER);
msrflags = READ_REG(can_handle->Instance->MSR);
tsrflags = READ_REG(can_handle->Instance->TSR);
    rf0rflags = READ_REG(can_handle->Instance->RF0R);
rf1rflags = READ_REG(can_handle->Instance->RF1R);
esrflags = READ_REG(can_handle->Instance->ESR);
 
sprintf(Print_buffer, "Interrupts: 0x%lX,msr flags: 0x%lX,tsr flags: 0x%lX,rf0r flags: 0x%lX,rf1r flags: 0x%lX,esr flags: 0x%lX \r\n",
interrupts, msrflags, tsrflags, rf0rflags, rf1rflags, esrflags);
uart_print(Print_buffer);
 
}
 
void SendCAN_Message(void)
{
HAL_StatusTypeDef HAL_error;
CAN_HandleTypeDef *can_handle = &hcan2;
 
uint32_t interrupts = READ_REG(can_handle->Instance->IER);
  uint32_t msrflags = READ_REG(can_handle->Instance->MSR);
  uint32_t tsrflags = READ_REG(can_handle->Instance->TSR);
  uint32_t rf0rflags = READ_REG(can_handle->Instance->RF0R);
  uint32_t rf1rflags = READ_REG(can_handle->Instance->RF1R);
  uint32_t esrflags = READ_REG(can_handle->Instance->ESR);
 
  TxHeader.StdId = 0;
  TxHeader.ExtId = 0x01FF0060;
  TxHeader.RTR = CAN_RTR_DATA;
  TxHeader.IDE = CAN_ID_EXT;
  TxHeader.DLC = 8;
  TxHeader.TransmitGlobalTime = ENABLE;
 
  TxData[0] = 0x01;
  TxData[1] = 0x12;
  TxData[0] = 0x28;
  TxData[0] = 0x20;
  TxData[0] = 0x16;
  TxData[0] = 0x05;
  TxData[0] = 0x00;
  TxData[0] = 0x02;
 
  HAL_error = HAL_CAN_AddTxMessage(&hcan2, &TxHeader, TxData, &TxMailbox);
 
  if (HAL_error != HAL_OK)
  {
  Error_Handler(HAL_error);
  }
}

When I set the CAN Mode to LOOP BACK the transmission works fine.

Interrupts: 0x2, msr flags: 0xC08 , tsr flags: 0x1C000003, rf0r flags: 0x0, rf1r flags: 0x0, esr flags: 0x0
Interrupts: 0x2,msr flags: 0xC08,tsr flags: 0x1C000003,rf0r flags: 0x0,rf1r flags: 0x0,esr flags: 0x0

When I run the same code in Normal Mode The same transmit message fails.

hcan2.Init.Mode = CAN_MODE_NORMAL;

Interrupts: 0x2, msr flags: 0xC08 , tsr flags: 0x19000008, rf0r flags: 0x0, rf1r flags: 0x0, esr flags: 0xF80057
Interrupts: 0x2,msr flags: 0xC08,tsr flags: 0x19000008,rf0r flags: 0x0,rf1r flags: 0x0,esr flags: 0xF80057

I have to assume that my transceiver must be the problem.

Can2 has another port pin but I think I selected the GPIO ports correctly.

void HAL_CAN_MspInit(CAN_HandleTypeDef* canHandle)
{
GPIO_InitTypeDef GPIO_InitStruct = {0};

if(canHandle->Instance==CAN2)
{
/* USER CODE BEGIN CAN2_MspInit 0 */

/* USER CODE END CAN2_MspInit 0 */
/* CAN2 clock enable */

// __HAL_RCC_CAN1_CLK_ENABLE();

__HAL_RCC_CAN2_CLK_ENABLE();
 
__HAL_RCC_GPIOB_CLK_ENABLE();

/**CAN2 GPIO Configuration
PB12 ------> CAN2_RX

PB13 ------> CAN2_TX

*/

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);
 

GPIO_InitStruct.Pin = GPIO_PIN_12;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_PULLUP;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
GPIO_InitStruct.Alternate = GPIO_AF9_CAN2;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);


/* CAN2 interrupt Init */

HAL_NVIC_SetPriority(CAN2_TX_IRQn, 5, 0);
HAL_NVIC_EnableIRQ(CAN2_TX_IRQn);
HAL_NVIC_SetPriority(CAN2_RX0_IRQn, 5, 0);

//HAL_NVIC_EnableIRQ(CAN2_RX0_IRQn);
HAL_NVIC_SetPriority(CAN2_RX1_IRQn, 5, 0);
//HAL_NVIC_EnableIRQ(CAN2_RX1_IRQn);

HAL_NVIC_SetPriority(CAN2_SCE_IRQn, 5, 0);
HAL_NVIC_EnableIRQ(CAN2_SCE_IRQn);

/* USER CODE BEGIN CAN2_MspInit 1 */

/* USER CODE END CAN2_MspInit 1 */
}

SofLit · ‎2024-03-27

Hello your the selection of ATA6561 doesn't present an issue.

But since you're not seeing any activity on CAN_Tx pin of STM32, are you sure about the GPIO config? are you sure you selected the correct alternate function that connects CAN_TX to the transceiver?

You need to start at this point ..You need at least to have an activity on CAN_Tx.

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View solution in original post

Karl Yamashita · ‎2024-03-14

You haven't mentioned what you're trying to send a CAN message to? If you haven't connect your CAN wires to any other CAN bus, then you'll get transmit error.

SofLit · ‎2024-03-14

Hello,

Three things to check:

Is there a second node connected on the other side of the bus? As the sender needs an acknowledgement from at least one node on the bus.
If yes, are you using HSE or HSI as system clock source?
Did you set the same bitrate at both sides (the two nodes)?

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JDOG · ‎2024-03-14

I have a Pcan Dongle hooked up and it is configured to 250Kbits per second and I have verified that it is working with hardware that is transmitting messages.

The bit rate is set at both places at 250 Kbits per second

Yes I am using the HSE as clock source.

The 1 ms clock tick is being generated from a PLL clock so I know the clocks are working off of the 8 Mhz clock

When I send the transmit message I get the CAN error on channel 6 Blue Trace.

Karl Yamashita · ‎2024-03-14

upload your ioc file

SofLit · ‎2024-03-15

Check also your connections and wiring by doing continuity tests.

What about the termination resistors? Is there a termination resistor inside the PCAN? I don't seen one on the schematics above! You need only two termination resistors of 120ohm on each side of the bus .

Could you please also provide a diagram of your connections including the perceivers and the termination resistors to have a clear view of your HW?

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JDOG · ‎2024-03-15

I Attached the *.ioc file as requested.

SofLit · ‎2024-03-15

I have a Pcan Dongle hooked up and it is configured to 250Kbits per second and I have verified

You said you configured your PCAN at 250kb/s but from your ioc file the bitrate is set at 500kb/s!

Could you please double check? (changing the Prescaler (for time Quantom) to 8 instead of 4)

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Karl Yamashita · ‎2024-03-15

Based off your ABP1 clock, you'll need these settings for 250kbs

JDOG · ‎2024-03-15

The 120 ohm terminator at the CANH and CANL side of the Transceiver is attached with soldering the wires to the (greeen and yellow wires).

There is a terminator in the PCan dongle as well.