Posted on March 30, 2017 at 13:09I'm having a hard time getting my STM32F4 discovery board to communicate with my CAN bus. I've successfully implemented a communication between CAN1 and CAN2 on the same Discovery Board, with a transceiver on each CAN port.
However, when I try to connect it to my CAN bus, I get HAL_TIMEOUT in the function HAL_CAN_Transmit();
I have dspic30f's that communicate flawlessly with my CAN bus, so I matched the STM32F4 Discovery bitrate to the pics, aswell as the relations between SJW, BS1 and BS2.
I'm only trying to transmit a CAN message, for the time being.
I've also tried to read the TX pin with a logic analyser. It detects the message but can't decode it properly.
Any help will be greatly appreciated.
Here's my code:
MX_GPIO_Init();
static
CanTxMsgTypeDef
TxMessage1;
static
CanRxMsgTypeDef
RxMessage1;
/*♯♯-1- Configure the CAN peripheral ♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯*/
CanHandle1.
Instance
= CAN1;
CanHandle1.
pTxMsg
= &TxMessage1;
CanHandle1.
pRxMsg
= &RxMessage1;
CAN_FilterConfTypeDef
sFilterConfig1;
/*♯♯-1- Configure the CAN peripheral ♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯*/
CanHandle1.
Init
.
TTCM
=
DISABLE
;
CanHandle1.
Init
.
ABOM
=
DISABLE
;
CanHandle1.
Init
.
AWUM
=
DISABLE
;
CanHandle1.
Init
.
NART
=
DISABLE
;
CanHandle1.
Init
.
RFLM
=
DISABLE
;
CanHandle1.
Init
.
TXFP
=
DISABLE
;
CanHandle1.
Init
.
Mode
= CAN_MODE_NORMAL;
CanHandle1.
Init
.
SJW
= CAN_SJW_1TQ;
CanHandle1.
Init
.
BS1
= CAN_BS1_2TQ;
CanHandle1.
Init
.
BS2
= CAN_BS2_1TQ;
CanHandle1.
Init
.
Prescaler
= 11;
if
(HAL_CAN_Init(&CanHandle1) !=
HAL_OK
)
{
/* Initialization Error */
Error_Handler();
}
/*♯♯-2- Configure the CAN Filter ♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯*/
sFilterConfig1.
FilterNumber
= 1;
sFilterConfig1.
FilterMode
= CAN_FILTERMODE_IDMASK;
sFilterConfig1.
FilterScale
= CAN_FILTERSCALE_32BIT;
sFilterConfig1.
FilterIdHigh
= 0x0000;
sFilterConfig1.
FilterIdLow
= 0x0000;
sFilterConfig1.
FilterMaskIdHigh
= 0x0000;
sFilterConfig1.
FilterMaskIdLow
= 0x0000;
sFilterConfig1.
FilterFIFOAssignment
= 0;
sFilterConfig1.
FilterActivation
= 1;
sFilterConfig1.
BankNumber
= 0;
if
(HAL_CAN_ConfigFilter(&CanHandle1, &sFilterConfig1) !=
HAL_OK
)
{
Error_Handler();
}
CanHandle1.
pTxMsg
->
StdId
= 0x11;
CanHandle1.
pTxMsg
->
RTR
= CAN_RTR_DATA;
CanHandle1.
pTxMsg
->
IDE
= CAN_ID_STD;
CanHandle1.
pTxMsg
->
DLC
= 2;
CanHandle1.
pTxMsg
->
Data
[0] = 0xCA;
CanHandle1.
pTxMsg
->
Data
[1] = 0xFE;
// Infinite loop
while
(1)
{
if
(HAL_CAN_Transmit(&CanHandle1, 10) !=
HAL_OK
)
{
/* Transmission Error */
Error_Handler();
}
if
(HAL_CAN_GetState(&CanHandle1) !=
HAL_CAN_STATE_READY
)
{
Error_Handler();
}
HAL_Delay(10);
}
}
#stm32f4-discovery #controller-area-network #can
