How to make use of "Normal Mode" available in bxCAN(STM32L476RG Nucleo Board)?

[RahulR]

I can able to do "Loopback Mode" and I'm getting the desired output signal(CAN_TX). When I opted "Normal Mode" I can not see any output signal at TX pin.

Here I have selected polling method only and not used any of the interrupt(eg:CAN1_RX0,TX Interrupt). My "BIT Timing Parameters" and LoopBack Output are as shown in the image.

For the better understanding I am adding my code along with this post.

What may be reason? Can anyone please help me?

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();

 /* USER CODE BEGIN Init */

 /* USER CODE END Init */

 /* Configure the system clock */

 SystemClock_Config();

 /* USER CODE BEGIN SysInit */

 /* USER CODE END SysInit */

 /* Initialize all configured peripherals */

 MX_GPIO_Init();

 MX_CAN1_Init();

 /* USER CODE BEGIN 2 */

 sFilterConfig.FilterBank = 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 = CAN_RX_FIFO0;

 sFilterConfig.FilterActivation = ENABLE;

 sFilterConfig.SlaveStartFilterBank = 14;

 if((HAL_CAN_ConfigFilter(&hcan1, &sFilterConfig)) != HAL_OK)

 {

 Error_Handler();

 }

 else

 {

 t1=1;

 }

 if(HAL_CAN_Start(&hcan1) != HAL_OK)

 {

 Error_Handler();

 }

 else

 {

 t2=1;

 }

 if((HAL_CAN_ActivateNotification(&hcan1, CAN_IT_RX_FIFO0_MSG_PENDING | CAN_IT_TX_MAILBOX_EMPTY)) != HAL_OK)

 {

Error_Handler();

 }

 else

 {

 t3=1;

 }

 TxMessage.StdId = 0x321;

 TxMessage.ExtId = 0x01;

 TxMessage.RTR  = CAN_RTR_DATA;

 TxMessage.IDE  = CAN_ID_STD;

 TxMessage.DLC  = 8;

 TxMessage.TransmitGlobalTime = DISABLE;

 TxData[0] = 1;

 TxData[1] = 2;

 TxData[2] = 3;

 TxData[3] = 4;

 TxData[4] = 5;

 TxData[5] = 6;

 TxData[6] = 7;

 TxData[7] = 8;

 /* USER CODE END 2 */

 /* Infinite loop */

 /* USER CODE BEGIN WHILE */

 while (1)

 {

  /* USER CODE END WHILE */

  /* USER CODE BEGIN 3 */

 HAL_CAN_AddTxMessage(&hcan1, &TxMessage, TxData, &TxMailbox);

 HAL_Delay(500);

 TxData[7] = TxData[7] + 1;

 t4 = HAL_CAN_GetTxMailboxesFreeLevel(&hcan1);

 t5 = HAL_CAN_GetRxFifoFillLevel(&hcan1, CAN_RX_FIFO0);

 HAL_CAN_GetRxMessage(&hcan1, CAN_RX_FIFO0, &RxMessage, RxData);

 HAL_GPIO_TogglePin(GPIOA, GPIO_PIN_5);

 }

}

 

 

[SofLit · Accepted solution]

Hello,

To be able to use the CAN module in normal mode you have to use a CAN transceiver + termination resistors and connect this node to another node via CAN bus to transceive CAN messages. Please check STM32L476G-EVAL for HW reference.

NUCLEO boards as they are CAN module can be used only in Loopback mode.

STM32