FAQs
cancel
Turn on suggestions
Auto-suggest helps you quickly narrow down your search results by suggesting possible matches as you type.
Showing results for 
Search instead for 
Did you mean: 

Hi, I'm using an STM32F072VB eval board and having issues receiving a CAN message and transmitting the same message to UART. I'm using IXXAT CAN Analyzer and basing my code on the CAN_Networking example which worked fine. I attached my code, any help?

canucktut
Associate II

‎2020-01-27 11:16 AM

  1. /* Includes ------------------------------------------------------------------*/
  2. #include "main.h"
  3. #include <stdio.h>
  4. #include <malloc.h>
  5. /* Private includes ----------------------------------------------------------*/
  6.  
  7. /* Private variables ---------------------------------------------------------*/
  8. CAN_HandleTypeDef hcan;
  9.  
  10. UART_HandleTypeDef huart2;
  11. UART_HandleTypeDef huart3;
  12. DMA_HandleTypeDef hdma_usart2_tx;
  13.  
  14. void SystemClock_Config(void);
  15.  
  16. static void MX_CAN_Init(void);
  17. static void MX_USART2_UART_Init(void);
  18.  
  19. /* USER CODE BEGIN 0 */
  20. CAN_HandleTypeDef hcan;
  21. CAN_TxHeaderTypeDef TxHeader;
  22. CAN_RxHeaderTypeDef RxHeader;
  23. uint32_t TxMailbox;
  24. uint8_t TxData[32];
  25. uint8_t RxData[32];
  26. uint8_t Data[8] = {0xDE, 0xAD, 0xBE, 0xEF};
  27. uint8_t test[16] = "CAN works\r\n";
  28. uint8_t start[30] = "Starting program\r\n";
  29.  
  30. uint8_t nbinterrupt;
  31.  
  32.  
  33. int main(void)
  34. {
  35. /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  36. HAL_Init();
  37.  
  38. /* Configure the system clock */
  39. SystemClock_Config();
  40.  
  41. /* Initialize all configured peripherals */
  42. MX_GPIO_Init();
  43. MX_DMA_Init();
  44. MX_CAN_Init();
  45. MX_I2C1_Init();
  46. MX_I2C2_Init();
  47. MX_SPI1_Init();
  48. MX_USART2_UART_Init();
  49. MX_USART3_UART_Init();
  50. MX_CRC_Init();
  51.  
  52.  
  53. HAL_UART_Transmit(&huart2, start, sizeof(start), 100); //forward command to day cam
  54.  
  55. nbinterrupt = 0;
  56.  
  57. while (1)
  58. {
  59. /*if (HAL_CAN_AddTxMessage(&hcan, &TxHeader, test, &TxMailbox) == HAL_OK)
  60. {
  61. HAL_Delay(1000);
  62. Error_Handler();
  63. }*/
  64. // if(HAL_CAN_GetRxFifoFillLevel(&hcan, CAN_RX_FIFO0) != 0)
  65. // {
  66. /* if (HAL_CAN_GetRxMessage(&hcan, CAN_RX_FIFO0, &RxHeader, RxData) != HAL_OK)
  67. {
  68. if (RxData[0] == 0xDE &&
  69. RxData[1] == 0xAD &&
  70. RxData[2] == 0xBE &&
  71. RxData[3] == 0xEF)
  72. {
  73. HAL_UART_Transmit(&huart2, RxData, 32, 100); //forward command to day cam
  74. HAL_Delay(1000);
  75. }
  76.  
  77. }
  78. else Error_Handler();
  79.  
  80. // }*/
  81. //Error_Handler();
  82.  
  83. void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan);
  84.  
  85. if (HAL_CAN_AddTxMessage(&hcan, &TxHeader, Data, &TxMailbox) != HAL_OK)
  86. {
  87. /* Transmission request Error */
  88. Error_Handler();
  89. }
  90. else
  91. {
  92. HAL_UART_Transmit(&huart2, Data, 32, 100); //forward command to day cam
  93. HAL_Delay(1000);
  94. }
  95.  
  96.  
  97. }
  98.  
  99. }
  100.  
  101.  
  102. static void MX_CAN_Init(void)
  103. {
  104. CAN_FilterTypeDef sFilterConfig;
  105.  
  106. /*##-1- Configure the CAN peripheral #######################################*/
  107. hcan.Instance = CAN;
  108. hcan.Init.Prescaler = 12;
  109. hcan.Init.Mode = CAN_MODE_LOOPBACK;
  110. hcan.Init.SyncJumpWidth = CAN_SJW_1TQ;
  111. hcan.Init.TimeSeg1 = CAN_BS1_13TQ;
  112. hcan.Init.TimeSeg2 = CAN_BS2_2TQ;
  113. hcan.Init.TimeTriggeredMode = DISABLE;
  114. hcan.Init.AutoBusOff = DISABLE;
  115. hcan.Init.AutoWakeUp = DISABLE;
  116. hcan.Init.AutoRetransmission = DISABLE;
  117. hcan.Init.ReceiveFifoLocked = DISABLE;
  118. hcan.Init.TransmitFifoPriority = ENABLE;
  119.  
  120. if (HAL_CAN_Init(&hcan) != HAL_OK)
  121. {
  122. Error_Handler();
  123. }
  124.  
  125. /*##-2- Configure the CAN Filter ###########################################*/
  126. sFilterConfig.FilterBank = 0;
  127. sFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK;
  128. sFilterConfig.FilterScale = CAN_FILTERSCALE_32BIT;
  129. sFilterConfig.FilterIdHigh = 0xffff;
  130. sFilterConfig.FilterIdLow = 0x0000;
  131. sFilterConfig.FilterMaskIdHigh = 0xffff;
  132. sFilterConfig.FilterMaskIdLow = 0x0000;
  133. sFilterConfig.FilterFIFOAssignment = CAN_RX_FIFO0;
  134. sFilterConfig.FilterActivation = ENABLE;
  135. sFilterConfig.SlaveStartFilterBank = 14;
  136.  
  137.  
  138. if (HAL_CAN_ConfigFilter(&hcan, &sFilterConfig) != HAL_OK)
  139. {
  140. /* Filter configuration Error */
  141. Error_Handler();
  142. }
  143.  
  144. /*##-3- Start the CAN peripheral ###########################################*/
  145. if (HAL_CAN_Start(&hcan) != HAL_OK)
  146. {
  147. /* Start Error */
  148. Error_Handler();
  149. }
  150.  
  151. /*##-4- Activate CAN RX notification #######################################*/
  152. if (HAL_CAN_ActivateNotification(&hcan, CAN_IT_RX_FIFO0_MSG_PENDING) != HAL_OK)
  153. {
  154. /* Notification Error */
  155. Error_Handler();
  156. }
  157.  
  158. /*##-5- Configure Transmission process #####################################*/
  159. TxHeader.StdId = 0x321;
  160. TxHeader.ExtId = 0x01;
  161. TxHeader.RTR = CAN_RTR_DATA;
  162. TxHeader.IDE = CAN_ID_EXT;
  163. TxHeader.DLC = 4;
  164. TxHeader.TransmitGlobalTime = DISABLE;
  165.  
  166.  
  167. /*##-6- Configure Reception process #####################################*/
  168. if(HAL_CAN_GetRxFifoFillLevel(&hcan, CAN_RX_FIFO0) != 0)
  169. {
  170. /* Reception Missing */
  171. Error_Handler();
  172. }
  173.  
  174. }
  175.  
  176.  
  177. static void MX_USART2_UART_Init(void)
  178. {
  179.  
  180. /* USER CODE END USART2_Init 1 */
  181. huart2.Instance = USART2;
  182. huart2.Init.BaudRate = 115200;
  183. huart2.Init.WordLength = UART_WORDLENGTH_8B;
  184. huart2.Init.StopBits = UART_STOPBITS_1;
  185. huart2.Init.Parity = UART_PARITY_NONE;
  186. huart2.Init.Mode = UART_MODE_TX;
  187. huart2.Init.HwFlowCtl = UART_HWCONTROL_NONE;
  188. huart2.Init.OverSampling = UART_OVERSAMPLING_16;
  189. huart2.Init.OneBitSampling = UART_ONE_BIT_SAMPLE_DISABLE;
  190. huart2.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT;
  191. if (HAL_UART_Init(&huart2) != HAL_OK)
  192. {
  193. Error_Handler();
  194. }
  195. /* USER CODE BEGIN USART2_Init 2 */
  196.  
  197. /* USER CODE END USART2_Init 2 */
  198.  
  199. }
  200.  
  201.  
  202. /* USER CODE BEGIN 4 */
  203. void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan)
  204. {
  205. /* Get RX message */
  206. if (HAL_CAN_GetRxMessage(hcan, CAN_RX_FIFO0, &RxHeader, RxData) != HAL_OK)
  207. {
  208. /* Reception Error */
  209. Error_Handler();
  210. }
  211.  
  212. /* Display LEDx */
  213. if ((RxHeader.ExtId == 0x01) && (RxHeader.IDE == CAN_ID_EXT) && (RxHeader.DLC == 4))
  214. {
  215. nbinterrupt++;
  216. HAL_UART_Transmit(&huart2, Data, 32, 100); //forward command to day cam
  217.  
  218. //LED_Display(RxData[0]);
  219. // ubKeyNumber = RxData[0];
  220. }
  221. }

Labels:
0 Kudos
2 REPLIES 2
JoniS
Senior

‎2020-01-28 08:54 PM

Did you enable filter? Atleast "pass all" filter of 0x00 must be enabled.

0 Kudos
canucktut
Associate II

‎2020-01-29 08:16 AM

thx for the reply, yes its enabled, i'm just testing the CAN loopback and transmit to a usart to see that it works, but still has issues. I'll attach the whole main.c file and left out unrelated code.

/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include <stdio.h>
#include <malloc.h>
/* Private includes ----------------------------------------------------------*/
 
/* Private variables ---------------------------------------------------------*/
CAN_HandleTypeDef hcan;
 
UART_HandleTypeDef huart2;
UART_HandleTypeDef huart3;
DMA_HandleTypeDef hdma_usart2_tx;
 
void SystemClock_Config(void);
 
static void MX_CAN_Init(void);
static void MX_USART2_UART_Init(void);
 
/* USER CODE BEGIN 0 */
CAN_HandleTypeDef     hcan;
CAN_TxHeaderTypeDef   TxHeader;
CAN_RxHeaderTypeDef   RxHeader;
uint32_t              TxMailbox;
uint8_t               TxData[32];
uint8_t               RxData[32];
uint8_t               Data[8] = {0xDE, 0xAD, 0xBE, 0xEF};
uint8_t               test[16] = "CAN works\r\n";
uint8_t               start[30] = "Starting program\r\n";
 
uint8_t              nbinterrupt;
 
 
int main(void)
{
  /* 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_DMA_Init();
  MX_CAN_Init();
  MX_I2C1_Init();
  MX_I2C2_Init();
  MX_SPI1_Init();
  MX_USART2_UART_Init();
  MX_USART3_UART_Init();
  MX_CRC_Init();
 
 
  HAL_UART_Transmit(&huart2, start, sizeof(start), 100); //forward command to day cam
 
  nbinterrupt = 0;
 
  while (1)
      {
	       /*if (HAL_CAN_AddTxMessage(&hcan, &TxHeader, test, &TxMailbox) == HAL_OK)
	          {
	            HAL_Delay(1000);
	            Error_Handler();
	          }*/
	 // if(HAL_CAN_GetRxFifoFillLevel(&hcan, CAN_RX_FIFO0) != 0)
	  //  {
	 	  /*	if (HAL_CAN_GetRxMessage(&hcan, CAN_RX_FIFO0, &RxHeader, RxData) != HAL_OK)
	     	{
	 	  		if (RxData[0] == 0xDE &&
	 	  		    RxData[1] == 0xAD &&
				    RxData[2] == 0xBE &&
				    RxData[3] == 0xEF)
	 	  		{
	 	  			HAL_UART_Transmit(&huart2, RxData, 32, 100); //forward command to day cam
	 	  			HAL_Delay(1000);
	 	  	    }
 
	     	}
	 	  	else Error_Handler();
 
	   // }*/
	  //Error_Handler();
 
	  void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan);
 
     if (HAL_CAN_AddTxMessage(&hcan, &TxHeader, Data, &TxMailbox) != HAL_OK)
        {
               /* Transmission request Error */
    	      Error_Handler();
        }
      else
        {
    	      HAL_UART_Transmit(&huart2, Data, 32, 100); //forward command to day cam
              HAL_Delay(1000);
        }
 
 
      }
 
}
 
 
static void MX_CAN_Init(void)
{
	CAN_FilterTypeDef  sFilterConfig;
 
		  /*##-1- Configure the CAN peripheral #######################################*/
		  hcan.Instance = CAN;
		  hcan.Init.Prescaler = 12;
		  hcan.Init.Mode = CAN_MODE_LOOPBACK;
		  hcan.Init.SyncJumpWidth = CAN_SJW_1TQ;
		  hcan.Init.TimeSeg1 = CAN_BS1_13TQ;
		  hcan.Init.TimeSeg2 = CAN_BS2_2TQ;
		  hcan.Init.TimeTriggeredMode = DISABLE;
		  hcan.Init.AutoBusOff = DISABLE;
		  hcan.Init.AutoWakeUp = DISABLE;
		  hcan.Init.AutoRetransmission = DISABLE;
		  hcan.Init.ReceiveFifoLocked = DISABLE;
		  hcan.Init.TransmitFifoPriority = ENABLE;
 
		  if (HAL_CAN_Init(&hcan) != HAL_OK)
		  {
		    Error_Handler();
		  }
 
		  /*##-2- Configure the CAN Filter ###########################################*/
		  sFilterConfig.FilterBank = 0;
		  sFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK;
		  sFilterConfig.FilterScale = CAN_FILTERSCALE_32BIT;
		  sFilterConfig.FilterIdHigh = 0xffff;
		  sFilterConfig.FilterIdLow = 0x0000;
		  sFilterConfig.FilterMaskIdHigh = 0xffff;
		  sFilterConfig.FilterMaskIdLow = 0x0000;
		  sFilterConfig.FilterFIFOAssignment = CAN_RX_FIFO0;
		  sFilterConfig.FilterActivation = ENABLE;
		  sFilterConfig.SlaveStartFilterBank = 14;
 
 
		  if (HAL_CAN_ConfigFilter(&hcan, &sFilterConfig) != HAL_OK)
		    {
		      /* Filter configuration Error */
		      Error_Handler();
		    }
 
		  /*##-3- Start the CAN peripheral ###########################################*/
		  if (HAL_CAN_Start(&hcan) != HAL_OK)
		    {
		      /* Start Error */
		      Error_Handler();
		    }
 
		  /*##-4- Activate CAN RX notification #######################################*/
		  if (HAL_CAN_ActivateNotification(&hcan, CAN_IT_RX_FIFO0_MSG_PENDING) != HAL_OK)
		    {
		      /* Notification Error */
	    	     Error_Handler();
		    }
 
		  /*##-5- Configure Transmission process #####################################*/
		  TxHeader.StdId = 0x321;
		  TxHeader.ExtId = 0x01;
		  TxHeader.RTR = CAN_RTR_DATA;
		  TxHeader.IDE = CAN_ID_EXT;
		  TxHeader.DLC = 4;
		  TxHeader.TransmitGlobalTime = DISABLE;
 
 
		  /*##-6- Configure Reception process #####################################*/
		  if(HAL_CAN_GetRxFifoFillLevel(&hcan, CAN_RX_FIFO0) != 0)
		   {
		     /* Reception Missing */
		     Error_Handler();
		   }
 
}
 
 
static void MX_USART2_UART_Init(void)
{
 
  /* USER CODE END USART2_Init 1 */
  huart2.Instance = USART2;
  huart2.Init.BaudRate = 115200;
  huart2.Init.WordLength = UART_WORDLENGTH_8B;
  huart2.Init.StopBits = UART_STOPBITS_1;
  huart2.Init.Parity = UART_PARITY_NONE;
  huart2.Init.Mode = UART_MODE_TX;
  huart2.Init.HwFlowCtl = UART_HWCONTROL_NONE;
  huart2.Init.OverSampling = UART_OVERSAMPLING_16;
  huart2.Init.OneBitSampling = UART_ONE_BIT_SAMPLE_DISABLE;
  huart2.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT;
  if (HAL_UART_Init(&huart2) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN USART2_Init 2 */
 
  /* USER CODE END USART2_Init 2 */
 
}
 
 
/* USER CODE BEGIN 4 */
void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan)
{
  /* Get RX message */
  if (HAL_CAN_GetRxMessage(hcan, CAN_RX_FIFO0, &RxHeader, RxData) != HAL_OK)
  {
    /* Reception Error */
    Error_Handler();
  }
 
  /* Display LEDx */
  if ((RxHeader.ExtId == 0x01) && (RxHeader.IDE == CAN_ID_EXT) && (RxHeader.DLC == 4))
  {
	  nbinterrupt++;
 	  HAL_UART_Transmit(&huart2, Data, 32, 100); //forward command to day cam
 
      //LED_Display(RxData[0]);
      //  ubKeyNumber = RxData[0];
  }
}

0 Kudos
Top