CAN Transmit timeout error

Dennis Röbisch · ‎2017-03-27

Posted on March 27, 2017 at 18:54

Hi everyone, I�m using a STM32F103 with SW4STM32 and CubeMX and I`m struggeling with the CAN Communication. When I`ll try to transmit Data with HAL_CAN_Transmit then I get a timeout error. Like I read here in other threads it could be a bug from the HAL library but I dont`t know how to solve this problem. Or it could be a problem with my code. So I hope someone can help me.

Here is my code. If you need some other parts of it I`ll post it too.

Thanks for your support

int main(void)

{

/* USER CODE BEGIN 1 */

/* USER CODE END 1 */

/* MCU Configuration----------------------------------------------------------*/

/* Reset of all peripherals, Initializes the Flash interface and the Systick. */

HAL_Init();

/* Configure the system clock */

SystemClock_Config();

/* Initialize all configured peripherals */

MX_GPIO_Init();

MX_SPI1_Init();

MX_USART1_UART_Init();

MX_CAN_Init();

/* USER CODE BEGIN 2 */

__HAL_UART_ENABLE_IT(&huart1, UART_IT_RXNE);

/* USER CODE END 2 */

/* Infinite loop */

/* USER CODE BEGIN WHILE */

HAL_GPIO_WritePin(GPIOD, USBEnable_Pin, GPIO_PIN_SET);

HAL_GPIO_WritePin(GPIOD, canRS_Pin, GPIO_PIN_SET);

HAL_UART_Receive_IT(&huart1,&Rx_data, 1);

printf('welcome\r\n');

uint16_t SOC = 5500;

uint16_t BatVoltage = 590;

uint16_t cellVoltageMax = 3900;

uint16_t cellVoltageMin = 3800;

uint8_t tempMax = 50;

uint8_t tempMin = 47;

while (1)

{

printf('Test\r\n');

hcan.pTxMsg->Data[0] = 0b01110000;

hcan.pTxMsg->Data[1] = (uint8_t) (SOC/1000);

hcan.pTxMsg->Data[2] = (uint8_t) ((BatVoltage & 0b111111111111) >> 4);

hcan.pTxMsg->Data[3] = (uint8_t) (((BatVoltage << 12) | ((cellVoltageMax & 0b0001111000000000) >> 1)) >> 8);

hcan.pTxMsg->Data[4] = (uint8_t) (((cellVoltageMax & 0b0000000111110000) >> 1) | ((cellVoltageMin & 0b0001110000000000) >> 10));

hcan.pTxMsg->Data[5] = (uint8_t) (((cellVoltageMin & 0b0000001111110000) >> 2) | (tempMax >> 6));

hcan.pTxMsg->Data[6] = (uint8_t) ((tempMax << 2) | (tempMin >> 6));

hcan.pTxMsg->Data[7] = (uint8_t) (tempMin << 2);

printf('Data[0]: %d\r\n', hcan.pTxMsg->Data[0]);

if (HAL_CAN_Transmit(&hcan, 10) != HAL_OK)

{

/* Transmition Error */

//Error_Handler();

printf('CAN Transmit Error\r\n');

}

printf('%d\r\n', HAL_CAN_GetState(&hcan));

HAL_Delay(1000);

/* USER CODE END WHILE */

/* USER CODE BEGIN 3 */

}

/* USER CODE END 3 */

}

/** System Clock Configuration

*/

void SystemClock_Config(void)

{

RCC_OscInitTypeDef RCC_OscInitStruct;

RCC_ClkInitTypeDef RCC_ClkInitStruct;

/**Initializes the CPU, AHB and APB busses clocks

*/

RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;

RCC_OscInitStruct.HSEState = RCC_HSE_ON;

RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1;

RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;

RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;

RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL9;

if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)

{

Error_Handler();

}

/**Initializes the CPU, AHB and APB busses clocks

*/

RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK

|RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;

RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;

RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;

RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;

RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;

if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)

{

Error_Handler();

}

HAL_RCC_MCOConfig(RCC_MCO, RCC_MCO1SOURCE_PLLCLK, RCC_MCODIV_1);

/**Configure the Systick interrupt time

*/

HAL_SYSTICK_Config(HAL_RCC_GetHCLKFreq()/1000);

/**Configure the Systick

*/

HAL_SYSTICK_CLKSourceConfig(SYSTICK_CLKSOURCE_HCLK);

/* SysTick_IRQn interrupt configuration */

HAL_NVIC_SetPriority(SysTick_IRQn, 0, 0);

}

/* CAN init function */

static void MX_CAN_Init(void)

{

CAN_FilterConfTypeDef sFilterConfig;

static CanTxMsgTypeDef TxMessage;

static CanRxMsgTypeDef RxMessage;

hcan.Instance = CAN1;

hcan.pTxMsg = &TxMessage;

hcan.pRxMsg = &RxMessage;

hcan.Init.Prescaler = 4;

hcan.Init.Mode = CAN_MODE_NORMAL;

hcan.Init.SJW = CAN_SJW_2TQ;

hcan.Init.BS1 = CAN_BS1_12TQ;

hcan.Init.BS2 = CAN_BS2_5TQ;

hcan.Init.TTCM = DISABLE;

hcan.Init.ABOM = ENABLE;

hcan.Init.AWUM = ENABLE;

hcan.Init.NART = DISABLE;

hcan.Init.RFLM = DISABLE;

hcan.Init.TXFP = DISABLE;

if (HAL_CAN_Init(&hcan) != HAL_OK)

{

Error_Handler();

}

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();

}

hcan.pTxMsg->StdId = 0x100;

hcan.pTxMsg->ExtId = 0x0;

hcan.pTxMsg->RTR = CAN_RTR_DATA;

hcan.pTxMsg->IDE = CAN_ID_STD;

hcan.pTxMsg->DLC = 8;

}

#can-timeout #can #stm32f103

T J · ‎2017-03-28

Posted on March 28, 2017 at 13:39

Can is a great unit when it works.

my implementation uses a BxCan.

Do you have a slave connected ?

I use the CAN-DO unit from UK to monitor the line and send specialised packets and send lots of rubbish packets too, it's great for testing.

do you have approx 60ohms line impedance ?

for a short run anything under 200ohms is ok, but best to stay above or on 60ohms.

My code triggers the HAL system at startup, then I just fiddle the buffers after that for higher throughput with lower overhead for the processor.

its late now just south of cyclone Daisy...

Dennis Röbisch · ‎2017-03-29

Posted on March 30, 2017 at 00:53

Hi marsh.nick,

i have connected a PCAN-USB from Peak System to monitor the packets. The only message it shows is 'stuff error' but i dont know how to handle this.

60 Ohms impedance should also exist.

T J · ‎2017-03-29

Posted on March 30, 2017 at 01:05

I use this to initialise my 1km line,

void MX_CAN_Init(void)
{
 hcan.Instance = CAN;
 hcan.Init.Prescaler = 150;
 hcan.Init.Mode = CAN_MODE_NORMAL;
 hcan.Init.SJW = CAN_SJW_1TQ;
 hcan.Init.BS1 = CAN_BS1_13TQ;
 hcan.Init.BS2 = CAN_BS2_2TQ;
 hcan.Init.TTCM = DISABLE;
 hcan.Init.ABOM = ENABLE;
 hcan.Init.AWUM = DISABLE;
 hcan.Init.NART = DISABLE;
 hcan.Init.RFLM = DISABLE;
 hcan.Init.TXFP = DISABLE;
 if (HAL_CAN_Init(&hcan) != HAL_OK)
 {
 Error_Handler();
 }
}�?�?�?�?�?�?�?�?�?�?�?�?�?�?�?�?�?�?�?�?�?

T J · ‎2017-03-29

Posted on March 30, 2017 at 01:01

hi,

I haven't seen a stuff error, are you sure the wires are not swapped around ?

are you sure about the baud rate ?

I started by sending data from the Can-Do unit, and making my receiver work.

then I worked on the transmitter,

do you have a CRO ? (Oscilloscope)

T J · ‎2017-03-29

Posted on March 30, 2017 at 01:06

hcan.Init.AWUM = ENABLE; // in my code this is disabled

Dennis Röbisch · ‎2017-03-31

Posted on March 31, 2017 at 17:09

hi,

indeed the wires were swapped around so the stuff error is gone.

I tried with your initialisation but still no effort. I noticed that it fills one transmit mailbox at every iteration but it doesn`t empty the used one. So at the 4th Iteration he cant take a mailbox anymore.

The CAN Receive function i havent written not yet. Could it be possible that I also need the receive function to get transmit work ?

At the oscilloscope i saw only a little peak when it gets power and then nothing happend.

Maybe my CAN_MspInit could be helpful

void HAL_CAN_MspInit(CAN_HandleTypeDef* hcan)

{

GPIO_InitTypeDef GPIO_InitStruct;

if(hcan->Instance==CAN1)

{

/* USER CODE BEGIN CAN1_MspInit 0 */

/* USER CODE END CAN1_MspInit 0 */

/* Peripheral clock enable */

__HAL_RCC_CAN1_CLK_ENABLE();

/**CAN GPIO Configuration

PD0 ------> CAN_RX

PD1 ------> CAN_TX

*/

GPIO_InitStruct.Pin = GPIO_PIN_0;

GPIO_InitStruct.Mode = GPIO_MODE_INPUT;

GPIO_InitStruct.Pull = GPIO_NOPULL;

HAL_GPIO_Init(GPIOD, &GPIO_InitStruct);

GPIO_InitStruct.Pin = GPIO_PIN_1;

GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;

GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;

HAL_GPIO_Init(GPIOD, &GPIO_InitStruct);

__HAL_AFIO_REMAP_CAN1_3();

/* Peripheral interrupt init */

HAL_NVIC_SetPriority(USB_HP_CAN1_TX_IRQn, 0, 0);

HAL_NVIC_EnableIRQ(USB_HP_CAN1_TX_IRQn);

HAL_NVIC_SetPriority(USB_LP_CAN1_RX0_IRQn, 0, 0);

HAL_NVIC_EnableIRQ(USB_LP_CAN1_RX0_IRQn);

HAL_NVIC_SetPriority(CAN1_RX1_IRQn, 0, 0);

HAL_NVIC_EnableIRQ(CAN1_RX1_IRQn);

/* USER CODE BEGIN CAN1_MspInit 1 */

/* USER CODE END CAN1_MspInit 1 */

}

Dennis Röbisch · ‎2017-04-07

Posted on April 07, 2017 at 12:02

Anyone else with some hints for me ?

T J · ‎2017-04-07

Posted on April 08, 2017 at 00:12

CanBX Init from Cube MX (running @ 20KHz )

void MX_CAN_Init(void)
{
 hcan.Instance = CAN;
 hcan.Init.Prescaler = 150;
 hcan.Init.Mode = CAN_MODE_NORMAL;
 hcan.Init.SJW = CAN_SJW_1TQ;
 hcan.Init.BS1 = CAN_BS1_13TQ;
 hcan.Init.BS2 = CAN_BS2_2TQ;
 hcan.Init.TTCM = DISABLE;
 hcan.Init.ABOM = ENABLE;
 hcan.Init.AWUM = DISABLE;
 hcan.Init.NART = DISABLE;
 hcan.Init.RFLM = DISABLE;
 hcan.Init.TXFP = DISABLE;
 if (HAL_CAN_Init(&hcan) != HAL_OK)
 {
 Error_Handler();
 }
}�?�?�?�?�?�?�?�?�?�?�?�?�?�?�?�?�?�?�?�?�?

Init CanBX in Foreground (before while(1) )

void initCairoCan (void) {
CAN_Config();
 __HAL_CAN_ENABLE_IT (&hcan, CAN_IT_FMP1);
 __HAL_CAN_ENABLE_IT (&hcan, CAN_IT_FMP0);

}
void CAN_Config() {
 CAN_FilterConfTypeDef sFilterConfig;
 static CanTxMsgTypeDef TxMessage;
 static CanRxMsgTypeDef RxMessage;
//##-1- Configure the CAN peripheral #######################################
// hcan.Instance = CANx;
 hcan.pTxMsg = &TxMessage;
 hcan.pRxMsg = &RxMessage;
hcan.pTxMsg->RTR = CAN_RTR_DATA; //can be CAN_RTR_DATA or CAN_RTR_REMOTE
hcan.pTxMsg->DLC = 8; 
hcan.pTxMsg->StdId = 0x101;
hcan.pTxMsg->ExtId = 0x102;
hcan.pRxMsg->DLC = 8; 
hcan.pRxMsg->StdId = 0x101;
hcan.pRxMsg->ExtId = 0x102;
hcan.pRxMsg->RTR = CAN_RTR_DATA; //can be CAN_RTR_DATA or CAN_RTR_REMOTE
 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 = 0x400 << 5; //11-bit ID in top bits
 sFilterConfig.FilterIdLow = 0x0000;
 sFilterConfig.FilterMaskIdHigh= 0x600 << 5;// resolves as 0x0400 - 0x05FF
 sFilterConfig.FilterMaskIdLow= 0x0000;
 sFilterConfig.FilterFIFOAssignment= 0;
 sFilterConfig.FilterActivation= ENABLE;
 sFilterConfig.BankNumber = 0;
 if (HAL_CAN_ConfigFilter(&hcan, &sFilterConfig) != HAL_OK)
 {
 // Filter configuration Error 
 Error_Handler();
sprintf(console::string,'Can Filter configuration Error

');
console::io.puts(console::string);
 }

//##-2- Configure the 2nd CAN Filter ###########################################
 sFilterConfig.FilterNumber = 1;
 sFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK;
 sFilterConfig.FilterScale = CAN_FILTERSCALE_32BIT;
 sFilterConfig.FilterIdHigh = 0x600 << 5; //11-bit ID in top bits// command channel
 sFilterConfig.FilterIdLow = 0x0000;
 sFilterConfig.FilterMaskIdHigh= 0x700 << 5;// resolves as 0x0600 - 0x06FF
 sFilterConfig.FilterMaskIdLow= 0x0000;
 sFilterConfig.FilterFIFOAssignment= 1;
 sFilterConfig.FilterActivation= ENABLE;
 sFilterConfig.BankNumber = 1;
 if (HAL_CAN_ConfigFilter(&hcan, &sFilterConfig) != HAL_OK)
 {
 // Filter configuration Error 
 Error_Handler();
sprintf(console::string, 'Can Filter configuration Error

');
console::io.puts(console::string);
 }
}�?�?�?�?�?�?�?�?�?�?�?�?�?�?�?�?�?�?�?�?�?�?�?�?�?�?�?�?�?�?�?�?�?�?�?�?�?�?�?�?�?�?�?�?�?�?�?�?�?�?�?�?�?�?�?�?�?�?�?�?�?�?�?�?�?�?�?�?�?�?�?�?�?�?�?�?�?�?�?

the transmitter;

void checkCanTxMsgs(void) {// this is a non-ordered packet transmitter.
//int canMsgCounter =0;
if (!canTxMsgTableEMPTY)
if ((canTxMsgOUT != canTxMsgIN) || canTxMsgTableFULL ) // a non - ordered packet transmitter has an 8 byte payload
if ((CAN->TSR & CAN_TSR_TME0) == CAN_TSR_TME0) // (1) 
{
CAN->sTxMailBox[0].TDTR = canTxMsgLength[canTxMsgOUT];// (2) length
CAN->sTxMailBox[0].TDLR = canTxMsgBottomWord[canTxMsgOUT]; // (3) 4bytes
CAN->sTxMailBox[0].TDHR = canTxMsgTopWord[canTxMsgOUT]; // (3) 4bytes
CAN->sTxMailBox[0].TIR = ((uint32_t)canTxMsgID [canTxMsgOUT] << 21 | CAN_TI0R_TXRQ); // (4)// send it now if the line is idle
// destroy old data to be sure we only transmit fresh data
// not needed
canTxMsgLength[canTxMsgOUT] = 0;
canTxMsgBottomWord[canTxMsgOUT] = 0; 
canTxMsgTopWord[canTxMsgOUT]= 0; 
canTxMsgID [canTxMsgOUT]= 0;

++canTxMsgOUT &=0x3F;// 64 buffer elements
canTxMsgTableFULL = false;
canTxMsgOverrun = false;
}
if ((canTxMsgOUT != canTxMsgIN) || canTxMsgTableFULL) // a non - ordered packet transmitter has an 8 byte payload
if ((CAN->TSR & CAN_TSR_TME1) == CAN_TSR_TME1) // (1) 
{
CAN->sTxMailBox[1].TDTR = canTxMsgLength[canTxMsgOUT];// (2) length
CAN->sTxMailBox[1].TDLR = canTxMsgBottomWord[canTxMsgOUT]; // (3) 4bytes
CAN->sTxMailBox[1].TDHR = canTxMsgTopWord[canTxMsgOUT]; // (3) 4bytes
CAN->sTxMailBox[1].TIR = ((uint32_t) canTxMsgID [canTxMsgOUT] << 21 | CAN_TI1R_TXRQ); // (4)// send it now if the line is idle
// destroy old data to be sure we only transmit fresh data
// not needed
canTxMsgLength[canTxMsgOUT] = 0;
canTxMsgBottomWord[canTxMsgOUT] = 0; 
canTxMsgTopWord[canTxMsgOUT]= 0; 
canTxMsgID [canTxMsgOUT]= 0;

++canTxMsgOUT &=0x3F;// 64 buffer elements
canTxMsgOverrun = false;
canTxMsgTableFULL = false;
}
if ((canTxMsgOUT != canTxMsgIN) || canTxMsgTableFULL) // a non - ordered packet transmitter has an 8 byte payload
if ((CAN->TSR & CAN_TSR_TME2) == CAN_TSR_TME2) // (1) 
{
CAN->sTxMailBox[2].TDTR = canTxMsgLength[canTxMsgOUT];// (2) length
CAN->sTxMailBox[2].TDLR = canTxMsgBottomWord[canTxMsgOUT]; // (3) 4bytes
CAN->sTxMailBox[2].TDHR = canTxMsgTopWord[canTxMsgOUT]; // (3) 4bytes
CAN->sTxMailBox[2].TIR = ((uint32_t) canTxMsgID[canTxMsgOUT] << 21 | CAN_TI2R_TXRQ); // (4)// send it now if the line is idle
// destroy old data to be sure we only transmit fresh data
// not needed
canTxMsgLength[canTxMsgOUT] = 0;
canTxMsgBottomWord[canTxMsgOUT] = 0; 
canTxMsgTopWord[canTxMsgOUT]= 0; 
canTxMsgID [canTxMsgOUT]= 0;

++canTxMsgOUT &=0x3F;// 64 buffer elements
canTxMsgOverrun = false;
canTxMsgTableFULL = false;
}
if (canTxMsgOUT == canTxMsgIN)canTxMsgTableEMPTY = true;
}�?�?�?�?�?�?�?�?�?�?�?�?�?�?�?�?�?�?�?�?�?�?�?�?�?�?�?�?�?�?�?�?�?�?�?�?�?�?�?�?�?�?�?�?�?�?�?�?�?�?�?�?�?�?�?�?�?�?�?�?�?�?�?�?�?�?�?

this was not easy to work out, but it works very well.

I used the CanDo unit from UK to transmit at the frequency I needed, then worked on the receiver first.

Then this transmitter code above was relatively easy.

T J · ‎2017-04-07

Posted on April 08, 2017 at 00:18

I have replied with my code that works, but it is currently being moderated...

:(