F1 can hal_can_state always 0x22

[bartocham]

Posted on March 11, 2016 at 21:36The original post was too long to process during our migration. Please click on the attachment to read the original post.

[bartocham]

Posted on March 12, 2016 at 11:21

Ok I found few mistakes that I made.

Now code on main board looks like this:

/**
******************************************************************************
* File Name : main.c
* Description : Main program body
******************************************************************************
*
* COPYRIGHT(c) 2016 STMicroelectronics
*
* Redistribution and use in source and binary forms, with or without modification,
* are permitted provided that the following conditions are met:
* 1. Redistributions of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
* 3. Neither the name of STMicroelectronics nor the names of its contributors
* may be used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS ''AS IS''
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
******************************************************************************
*/
/* Includes ------------------------------------------------------------------*/
#include ''stm32f1xx_hal.h''
/* USER CODE BEGIN Includes */
/* USER CODE END Includes */
/* Private variables ---------------------------------------------------------*/
CAN_HandleTypeDef hcan;
/* USER CODE BEGIN PV */
/* Private variables ---------------------------------------------------------*/
/* USER CODE END PV */
/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
static void MX_GPIO_Init(void);
static void MX_CAN_Init(void);
static void Blinker(uint8_t BlinkID);
/* USER CODE BEGIN PFP */
/* Private function prototypes -----------------------------------------------*/
static void Error_Handler(void);
/* USER CODE END PFP */
/* USER CODE BEGIN 0 */
/* USER CODE END 0 */
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_CAN_Init();
/* USER CODE BEGIN 2 */
hcan.pTxMsg->Data[0] = 0xAD;
hcan.pTxMsg->Data[1] = 0xAD;
/* push button variable */
int PB_State = 0;
/*##-2- Start the Reception process and enable reception interrupt #########*/
if (HAL_CAN_Receive_IT(&hcan, CAN_FIFO0) != HAL_OK)
{
/* Reception Error */
Error_Handler();
}
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
/* USER CODE END WHILE */ 
// HAL_CAN_Transmit(&hcan, 10);
// HAL_Delay(10);
HAL_CAN_Receive(&hcan, CAN_FIFO0,10);
HAL_Delay(10);
/* USER CODE BEGIN 3 */
}
/* USER CODE END 3 */
}
/** System Clock Configuration
*/
void SystemClock_Config(void)
{
RCC_OscInitTypeDef RCC_OscInitStruct;
RCC_ClkInitTypeDef RCC_ClkInitStruct;
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
RCC_OscInitStruct.HSIState = RCC_HSI_ON;
RCC_OscInitStruct.HSICalibrationValue = 16;
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_NONE;
HAL_RCC_OscConfig(&RCC_OscInitStruct);
RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
|RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_HSI;
RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1;
RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_0);
HAL_SYSTICK_Config(HAL_RCC_GetHCLKFreq()/1000);
HAL_SYSTICK_CLKSourceConfig(SYSTICK_CLKSOURCE_HCLK);
/* SysTick_IRQn interrupt configuration */
HAL_NVIC_SetPriority(SysTick_IRQn, 0, 0);
}
/* CAN init function */
void MX_CAN_Init(void)
{
static CanTxMsgTypeDef TxMess;
static CanRxMsgTypeDef RxMess;
CAN_FilterConfTypeDef sFilterConfig;
hcan.pTxMsg = &TxMess;
hcan.pRxMsg = &RxMess;
hcan.Instance = CAN1;
hcan.Init.Prescaler = 2;
hcan.Init.Mode = CAN_MODE_NORMAL;
hcan.Init.SJW = CAN_SJW_1TQ;
hcan.Init.BS1 = CAN_BS1_6TQ;
hcan.Init.BS2 = CAN_BS2_8TQ;
hcan.Init.TTCM = DISABLE;
hcan.Init.ABOM = DISABLE;
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();
}
/*##-2- Configure the CAN Filter ###########################################*/
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 = DISABLE;
sFilterConfig.BankNumber = 14;
if (HAL_CAN_ConfigFilter(&hcan, &sFilterConfig) != HAL_OK)
{
/* Filter configuration Error */
Error_Handler();
}
/** Frame config */
hcan.pTxMsg->StdId = 0x321;
hcan.pTxMsg->ExtId = 0x01;
hcan.pTxMsg->RTR = CAN_RTR_DATA;
hcan.pTxMsg->IDE = CAN_ID_STD;
hcan.pTxMsg->DLC = 2;
}
/** Pinout Configuration
*/
void MX_GPIO_Init(void)
{
GPIO_InitTypeDef GPIO_InitStruct;
/* GPIO Ports Clock Enable */
__GPIOF_CLK_ENABLE();
__GPIOA_CLK_ENABLE();
__GPIOB_CLK_ENABLE();
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOF, LED1_Pin|LED2_Pin, GPIO_PULLUP);
/*Configure GPIO pins : LED1_Pin LED2_Pin */
GPIO_InitStruct.Pin = LED1_Pin|LED2_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Speed = GPIO_SPEED_LOW;
HAL_GPIO_Init(GPIOF, &GPIO_InitStruct);
/*Configure GPIO pin : USER_PB1_Pin */
GPIO_InitStruct.Pin = USER_PB1_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = GPIO_PULLDOWN;
HAL_GPIO_Init(USER_PB1_GPIO_Port, &GPIO_InitStruct);
}
/* USER CODE BEGIN 4 */
/**
* @brief Transmission complete callback in non blocking mode
* @param hcan: pointer to a CAN_HandleTypeDef structure that contains
* the configuration information for the specified CAN.
* @retval None
*/
void HAL_CAN_RxCpltCallback(CAN_HandleTypeDef *hcan)
{
if ((hcan->pRxMsg->StdId == 0x321) && (hcan->pRxMsg->IDE == CAN_ID_STD) && (hcan->pRxMsg->DLC == 2))
{
if(hcan->pRxMsg->Data[0] == 0xAD)
{
Blinker(1);
}
}
/* Receive */
if (HAL_CAN_Receive_IT(hcan, CAN_FIFO0) != HAL_OK)
{
/* Reception Error */
Error_Handler();
}
}
static void Blinker (uint8_t BlinkID)
{
if(BlinkID == 1)
{
HAL_GPIO_TogglePin(GPIOF, LED1_Pin);
}
}
/**
* @brief This function is executed in case of error occurrence.
* @param None
* @retval None
*/
static void Error_Handler(void)
{
while (1)
{
}
}
/* USER CODE END 4 */
#ifdef USE_FULL_ASSERT
/**
* @brief Reports the name of the source file and the source line number
* where the assert_param error has occurred.
* @param file: pointer to the source file name
* @param line: assert_param error line source number
* @retval None
*/
void assert_failed(uint8_t* file, uint32_t line)
{
/* USER CODE BEGIN 6 */
/* User can add his own implementation to report the file name and line number,
ex: printf(''Wrong parameters value: file %s on line %d

'', file, line) */
/* USER CODE END 6 */
}
#endif
/**
* @}
*/ 
/**
* @}
*/ 
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

I've tested it on both normal ( with transmission on second board ) and loopback mode but I got stuck at message pending in HAL CanRx function so I'm not getting any callback... Can you see some bug ?

[bartocham]

Posted on March 13, 2016 at 21:50 Ok I got this working on LoopBack and partially on Normal mode but this is not the problem right now. I simply activated the filters and now it's working fine but... I have to call callback function manualy like this:

/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
/* USER CODE END WHILE */ 
// HAL_CAN_Transmit(&hcan, 10);
// HAL_Delay(10);
if(HAL_CAN_Receive(&hcan, CAN_FIFO0,10) == HAL_OK)
{
HAL_CAN_RxCpltCallback(&hcan);
}
// HAL_CAN_RxCpltCallback(hcan);
HAL_Delay(10);
/* USER CODE BEGIN 3 */
}
/* USER CODE END 3 */
}

Shouldn't be callback called by driver if receive is complete? Or am I understanding it wrong? I'm glad that it's working but to be fully satisfied I have to know why :p