Hello
following the CAN lectures I have a real strange problem transmitting can message
I have two can nodes 1) nucleo 446re board and node 2) is my Can Bus Analyser
I even get the same TX errors in loop back mode & Can normal mode ????
why ?? what is wrong with these tx mail boxes
I have set my CAN code to use interrupt mode and every 100ms I transmit the same message over and over again,
but I only ever get two successful transmissions and then generate an error in the HAL_CAN_AddTxMessage
Why is this???? are the TX mail boxes not getting cleared? ready for the next tx message
Why would I get an error with the .. this makes no sense at all ???
// ************************************************************************ // ***** CAN 1 INIT
// ********** HIGH LEVEL CAN1 PHERIPHERAL INITIALISATION SETUP ************ // HIGH LEVEL CAN1 PERIPHERAL CONFIGURATION
// ************************************************************************ // HEADER FILE stm32f4xx_hal_can.c has info
CAN_HandleTypeDef hcan1; // assign handle to CAN1 Peripheral
void MX_CAN1_Init(void)
{
hcan1.Instance = CAN1; // working with CAN1 Peripheral
// Master Clock @ 50Mhz = APB1 Freq = 25Mhz
// Duration of 1 time quanta (1TQ) = PCLK1 / CAN Prescaler
hcan1.Init.Mode = CAN_MODE_NORMAL;//LOOPBACK; // CAN1 OPERATING MODE
// @ 25mhz
// Set CAN1 to 500Mbits Per Second from website calculator (www.bittiming.can-wiki.info)
// important can1 timing setup //
hcan1.Init.Prescaler = 5; // Set Prescaler to 5 for 500Mbits
hcan1.Init.SyncJumpWidth = CAN_SJW_1TQ; // 1 Time Quantum
hcan1.Init.TimeSeg1 = CAN_BS1_8TQ; // SELECT TimeSeg1 = 8TQ (1TQ - 16TQ)
hcan1.Init.TimeSeg2 = CAN_BS2_1TQ; // SELECT TimeSeg2 = 1TQ
hcan1.Init.TimeTriggeredMode = DISABLE; // Transmit Mode Disabled
hcan1.Init.AutoBusOff = DISABLE; // Auto Bus Off Disabled
hcan1.Init.AutoWakeUp = DISABLE; // Auto Wake Up Disabled
hcan1.Init.AutoRetransmission = DISABLE; // Auto Re-Transmit CAN Message On Error
hcan1.Init.ReceiveFifoLocked = DISABLE; // Disabled = new message will Overwrite the 3 messages in the Fifo if messages not read
hcan1.Init.TransmitFifoPriority = DISABLE; // Transmit Fifo Priority
if (HAL_CAN_Init(&hcan1) != HAL_OK)
{
_Error_Handler(__FILE__, __LINE__);
}
}
// ************************************************************************ // ***** LOW LEVEL CAN INIT
// ********** LOW LEVEL CAN PERIPHERAL INITIALISATION SETUP ************** // LOW LEVEL CAN PERIPHERAL CONFIGURATION
// ************************************************************************ // HEADER FILE stm32f4xx_hal_can.c has info
void HAL_CAN_MspInit(CAN_HandleTypeDef* canHandle)
{
GPIO_InitTypeDef GPIO_InitStruct;
if ( canHandle-> Instance == CAN1) // if CAN instance = CAN1 then configure GPIO for CAN 1 Peripherals
{
/* CAN1 clock enable */
__HAL_RCC_CAN1_CLK_ENABLE(); // ENABLE CAN1 CLOCK
/**CAN1 GPIO Configuration
PA11 ------> CAN1_RX
PA12 ------> CAN1_TX
*/
GPIO_InitStruct.Pin = GPIO_PIN_11|GPIO_PIN_12; // Configure GPIO for CAN1 PA11= CAN RX / PA12= CAN TX
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP; // ALTERNATE PUSH PULL MODE
GPIO_InitStruct.Pull = GPIO_NOPULL; // NO PULL UPS
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH; // VERY HIGH FREQ
GPIO_InitStruct.Alternate = GPIO_AF9_CAN1; // ALTERNATE GPIO AF9 CAN1
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct); // Init GPIO
HAL_NVIC_SetPriority( CAN1_TX_IRQn, 10 ,0 );
HAL_NVIC_SetPriority( CAN1_RX0_IRQn, 10 ,0 );
HAL_NVIC_SetPriority( CAN1_RX1_IRQn, 10 ,0 );
HAL_NVIC_SetPriority( CAN1_SCE_IRQn, 10 ,0 );
HAL_NVIC_EnableIRQ( CAN1_TX_IRQn );
HAL_NVIC_EnableIRQ( CAN1_RX0_IRQn);
HAL_NVIC_EnableIRQ( CAN1_RX1_IRQn);
HAL_NVIC_EnableIRQ( CAN1_SCE_IRQn);
}
}
here you can see successful messages sent on the can bus but only 2/3 before the error in the HAL_CAN_AddTxMessage() code ??
here we can see two / three messages getting sent before the error at the HAL_CAN_AddTxMessage code
This is on the CAN RX pin of the Nucleo Board
This is on the CAN TX Pin Of The Nucleo Board
Both in my logic anylyser and CAN Bus Analyser I can see the successful transmission of the two messages
WHY WHY WHY is the ARM triggering an error ???? after only sending 2 messages
It should send the messages for the next year! or until I hit the stop button in my debugger
any help will be appreciated
Thanks in advance, oh this is now getting to me, it should be fun, but its now becoming a pain for the amount of time I am wasting
Oh I also get a CAN ERR interrupt generation and error code of 0x1000
CAN ERROR 0x1000 is
(0x00010000U) /*!< TxMailbox 1 transmit failure due to tranmit error
why does this only transmit 2 messages and then error ???
ON FURTHER TESTING .?????? ... WHAT IS GOING ON, the returned error is HAL_CAN_ERROR_NOT_INITIALIZED
it's already sent two/three messages and now it is saying it's not initialized
are these HAL APIs buggy or flawed ??
this error is both in loopback and normal mode, is it because it is in interrupt mode ?
