HardFault (CANopenNodeSTM32, traditional CAN - not FDCAN, FreeRTOS, chip = STM32L452RE)

[Scott_Kaplan]

The author of this how to get CANopenNodeSTM32 working video is very good (The length of the video is 3:31:33; The part that is pertinent to this post 57:05 - 1:18:22).  Unfortunately, this video targets FDCAN (but I don't have this available; my chip just supports plain CAN) and this video also targets bare metal (but I don't have this available; FreeRTOS is what I am using).  I tried to follow all of the author's steps but was unable to.  When I ran I got a HardFault with the CAN node never even coming online.

Executing this line is what causes the Hard fault
canopen_app_init(&canOpenNodeSTM32);

From the instructions in the video, there are numerous steps that are different between FDCAN and CAN and I don't know what the equivalent (plain) CAN steps are which I believe may be the root of the problem.

     Under the "Parameter Settings" tab

• "FDCAN1" and "FDCAN2" are in the video at 1:00:55. Mine doesn't have these.  Mine just has "CAN1"
• "Auto Retransmit" is in the video at 1:01:20.  Mine doesn't have this.  Nor do I see an equivalent setting.
• "Transmit Pause"  is in the video at 1:01:22.  Mine doesn't have this.  Nor do I see an equivalent setting.
• "Frame Format"  is in the video at 1:01:41.  Mine doesn't have this.  Nor do I see an equivalent setting.
• The bit timing settings ("Nominal Prescaler", "Nominal Time S...", "Nominal Time S..") are in the video at 1:04:25.  Mine doesn't have quite the same.  Mine is "Prescaler (for Time Quantum)", "Time Quanta in Bit Segment 1", "Time Quanta in Bit Segment 2".  I set these to 40,12 Times, 4 Times respectively.  The numbers that the presenter set his to are 32,13,2 respectively.  His numbers were based on fields that he has that I don't have and so I am unclear as to whether it is comparing apples to apples or apples to oranges.  I don't know if my numbers are correct.
• "Data Prescaler" is in the video at 1:04:36.  Mine doesn't have this.  Nor do I see an equivalent setting.
• "Data Time Seg1"  is in the video at 1:04:36.  Mine doesn't have this.  Nor do I see an equivalent setting.
• "Data Time Seg2"  is in the video at 1:04:36.  Mine doesn't have this.  Nor do I see an equivalent setting.

     Under "NVIC Settings" tab

• "TIM16, FDCAN1_IT0 and FDCAN2_IT0 Interrupt"  is in the video at 1:05:58.  Mine doesn't have this.
• " TIM17, FDCAN1_IT1 and FDCAN2_IT1 Interrupt" is in the video at 1:05:58.  Mine doesn't have this.
• Mine shows only the following
• "CAN1 TX interrupt"
• "CAN1 RX0 interrupt"
• "CAN1 RX1 interrupt"
• Note:  I attempted to activate TIM16 on each of these to see what would happen and every time it disabled CAN on the pin; both the timer and CAN don't seem to be able to coexist.

    Under Timers

• "TIM14" is in the video at 1:07:05.  Mine doesn't have this.  Nor do I see an equivalent.

Below is all of the 'CAN' related code per the author's recommendation on top of what was generated from the .ioc file.  Note: this is specifically the FreeRTOS implementation not bare metal, since I don't have an option to run bare metal.

Notes:

• Double blank lines below means that I removed unreleated code/comments that was not 'CAN'.  I removed this so anyone looking through will just see the 'CAN' related code.  Maybe it will make it easier to spot an error (or multiple errors) that I made.
• The commented out lines that appear below resulted from me not being able to follow the author's steps - Because I don't have FDCAN; I just have CAN.
  
  

All code that I modified/added below is just in one file - main.c (.../App/main.c)

#include "CO_app_STM32.h"

osThreadId_t canOpenNodeTaskHandle;

const osThreadAttr_t canOpenNodeTask_attributes = {

    .name = "task CAN",

    .stack_size = 192,

    .priority = (osPriority_t) osPriorityHigh,

};

static void MX_CAN1_Init(void);

void startCanOpenNodeTask(void *argument);

MX_CAN1_Init();

canOpenNodeTaskHandle = osThreadNew(startCanOpenNodeTask, NULL, &canOpenNodeTask_attributes);

static void MX_CAN1_Init(void)

{

  hcan1.Instance = CAN1;

  hcan1.Init.Prescaler = 40;

  hcan1.Init.Mode = CAN_MODE_NORMAL;

  hcan1.Init.SyncJumpWidth = CAN_SJW_1TQ;

  hcan1.Init.TimeSeg1 = CAN_BS1_12TQ;

  hcan1.Init.TimeSeg2 = CAN_BS2_4TQ;

  hcan1.Init.TimeTriggeredMode = DISABLE;

  hcan1.Init.AutoBusOff = DISABLE;

  hcan1.Init.AutoWakeUp = DISABLE;

  hcan1.Init.AutoRetransmission = DISABLE;

  hcan1.Init.ReceiveFifoLocked = DISABLE;

  hcan1.Init.TransmitFifoPriority = DISABLE;

  if (HAL_CAN_Init(&hcan1) != HAL_OK)

  {

    Error_Handler();

  }

}

__attribute__((noreturn)) void startCanOpenNodeTask(void *argument)

{

  CANopenNodeSTM32 canOpenNodeSTM32;

  //canOpenNodeSTM32.CANHandle = &hfdcan1;

  canOpenNodeSTM32.CANHandle = &hcan1;

  // canOpenNodeSTM32.HWInitFunction = MX_FDCAN1_Init;

  canOpenNodeSTM32.HWInitFunction = MX_CAN1_Init;

  // canOpenNodeSTM32.timerHandle = &htim17;

  canOpenNodeSTM32.desiredNodeID = 21;

  // canOpenNodeSTM32.baudrate = 125;

  canopen_app_init(&canOpenNodeSTM32); // Hard fault

  // never makes it to here because the line above Hard faults

  for(;;)

  {

    // it makes no difference what is in here yet, because a Hard fault occurs when executing the above line

  }

}