HAL_CAN_Transmit timeout error

Posted on November 14, 2015 at 11:22

Hello, I'm trying to communicate with a STM32f4x9 EVAL board and a STM32F429-Discovery board via CAN Bus,

I am using MCP2551 transceiver IC for Discovery board, I know that CAN1 is being used by LCD and CAN2 is used by USB OTG. So I de-soldered the C53 (4k7 uf) capacitor of Discovery board (according to a video on

https://www.youtube.com/watch?v=4fYoXGiIdDs

), I have tested everything, wirings, HAL configs for CAN, etc.. But I'm getting timeout when I call the HAL_CAN_Transmit function. I am using pure STMCube examples (STM32F4x9_EVAL\Examples\CAN\CAN_Networking), I re-configured the same example for Discovery board, using CAN2 instead of CAN1. Here is my wiring schematic: I did not touch the Eval example, but here is my code for Discovery board:

bool CANWorker::init_HAL_CAN()
{
// Placed in MCP file:
GPIO_InitTypeDef GPIO_InitStruct;
/*##-1- Enable peripherals and GPIO Clocks #################################*/
/* CAN2 Periph clock enable */
CANx_CLK_ENABLE();
/* Enable GPIO clock ****************************************/
CANx_GPIO_CLK_ENABLE();
/*##-2- Configure peripheral GPIO ##########################################*/ 
/* CAN2 TX GPIO pin configuration */
GPIO_InitStruct.Pin = CANx_TX_PIN;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Speed = GPIO_SPEED_FAST;
GPIO_InitStruct.Pull = GPIO_PULLUP;
GPIO_InitStruct.Alternate = CANx_TX_AF;
HAL_GPIO_Init(CANx_TX_GPIO_PORT, &GPIO_InitStruct);
/* CAN2 RX GPIO pin configuration */
GPIO_InitStruct.Pin = CANx_RX_PIN;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Speed = GPIO_SPEED_FAST;
GPIO_InitStruct.Pull = GPIO_PULLUP;
GPIO_InitStruct.Alternate = CANx_RX_AF;
HAL_GPIO_Init(CANx_TX_GPIO_PORT, &GPIO_InitStruct);
/*##-3- Configure the NVIC #################################################*/
/* NVIC configuration for CAN2 Reception complete interrupt */
HAL_NVIC_SetPriority(CANx_RX_IRQn, 1, 0);
HAL_NVIC_EnableIRQ(CANx_RX_IRQn);
CAN_FilterConfTypeDef sFilterConfig;
static CanTxMsgTypeDef TxMessage;
static CanRxMsgTypeDef RxMessage;
/*##-1- Configure the CAN peripheral #######################################*/
_canHandle.Instance = CAN2;
_canHandle.pTxMsg = &TxMessage;
_canHandle.pRxMsg = &RxMessage;
_canHandle.Init.TTCM = DISABLE;
_canHandle.Init.ABOM = DISABLE;
_canHandle.Init.AWUM = DISABLE;
_canHandle.Init.NART = DISABLE;
_canHandle.Init.RFLM = DISABLE;
_canHandle.Init.TXFP = DISABLE;
_canHandle.Init.Mode = CAN_MODE_NORMAL;
_canHandle.Init.SJW = CAN_SJW_1TQ;
_canHandle.Init.BS1 = CAN_BS1_6TQ;
_canHandle.Init.BS2 = CAN_BS2_8TQ;
_canHandle.Init.Prescaler = 2;
if(HAL_CAN_Init(&_canHandle) != HAL_OK)
{
/* Initialization Error */
Error_Handler();
return false;
}
/*##-2- Configure the CAN Filter ###########################################*/
sFilterConfig.FilterNumber = 14;
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(&_canHandle, &sFilterConfig) != HAL_OK)
{
/* Filter configuration Error */
Error_Handler();
return false;
}
/*##-3- Configure Transmission process #####################################*/
_canHandle.pTxMsg->StdId = 0x321;
_canHandle.pTxMsg->ExtId = 0x01;
_canHandle.pTxMsg->RTR = CAN_RTR_DATA;
_canHandle.pTxMsg->IDE = CAN_ID_STD;
_canHandle.pTxMsg->DLC = 2;
return true;
}

void HAL_CAN_RxCpltCallback(CAN_HandleTypeDef* CanHandle)
{
if ((CanHandle->pRxMsg->StdId == 0x321)&&(CanHandle->pRxMsg->IDE == CAN_ID_STD) && (CanHandle->pRxMsg->DLC == 2))
{
LED_Display(CanHandle->pRxMsg->Data[0]);
ubKeyNumber = CanHandle->pRxMsg->Data[0];
}
/* Receive */
if(HAL_CAN_Receive_IT(CanHandle, CAN_FIFO0) != HAL_OK)
{
/* Reception Error */
//Error_Handler();
}
}

CANWorker::CANWorker ()
{
init_HAL_CAN();
BSP_PB_Init(BUTTON_KEY, BUTTON_MODE_GPIO);
/*##-2- Start the Reception process and enable reception interrupt #########*/
if(HAL_CAN_Receive_IT(&_canHandle, CAN_FIFO0) != HAL_OK)
{
/* Reception Error */
Error_Handler();
}
/* Infinite loop */
while(1)
{
while(BSP_PB_GetState(BUTTON_KEY) == KEY_PRESSED)
{
if(ubKeyNumber == 0x4) 
{
ubKeyNumber = 0x00;
}
else
{
LED_Display(++ubKeyNumber);
/* Set the data to be transmitted */
_canHandle.pTxMsg->Data[0] = ubKeyNumber;
_canHandle.pTxMsg->Data[1] = 0xAD;
/*##-3- Start the Transmission process ###############################*/
if(HAL_CAN_Transmit(&_canHandle, 1000) != HAL_OK)
{
/* Transmition Error */
Error_Handler();
}
HAL_Delay(10);
while(BSP_PB_GetState(BUTTON_KEY) != KEY_NOT_PRESSED)
{
}
}
}
}
}

But the ''HAL_CAN_Transmit'' returns timeout, waiting for TransmitMailbox to be sent (Following codes are from : stm32f4xx_hal_can.c

/* Check End of transmission flag */
while(!(__HAL_CAN_TRANSMIT_STATUS(hcan, transmitmailbox)))
{
/* Check for the Timeout */
if(Timeout != HAL_MAX_DELAY)
{
if((Timeout == 0)||((HAL_GetTick() - tickstart ) > Timeout))
{
hcan->State = HAL_CAN_STATE_TIMEOUT;
/* Process unlocked */
__HAL_UNLOCK(hcan);
return HAL_TIMEOUT;
}
}
}

What am I doing wrong? It's not because I use a MCP2551 and the EVAL board is using HVD230 transceiver instead, right? It seems that the other not does not ACK the sent frame, am I right? What causes this? #transmission #stm32 #stm32f4 #can #can #error #timeout #can-timeout