Posted on March 27, 2017 at 18:54Hi 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
