how to resolve CAN transmit error in STM32L452RE-P ?

[JLoli]

i am getting error transmit error while using CAN in normal mode so if any work on that please let me know how to resolve

thank you in advanced

[Imen.D]

Hello,

Could you please precise what are exactly the problems you faced?

I suggest you to check the working CAN example inside the STM32CubeL4 to compare the code with your own to identify what is going wrong:

At this path: STM32Cube_FW_L4_V1.13.0\Projects\STM32L476G-EVAL\Examples\CAN\CAN_Networking

Kind Regards,

Imen

[T J]

Do you have a line driver ?

do you have a slave device set to the same bus speed ?

do you have the terminator ?

[JLoli]

hello Mam

yes i can let you know what problem i am facing in a CAN driver while transmitting the data to one node to other node i am facing the transmission error so in that TERR0 flag is setting and not able to transmit data to the bus .

here i am attaching my code please review that and let me know what is the problem in it thank you for support in advanced .

below is my function for the can_polling

HAL_StatusTypeDef CAN_Polling(void)

{

 CAN_FilterTypeDef sFilterConfig;

 /*##-1- Configure the CAN peripheral #*/

 CanHandle.Instance = CAN1;

 CanHandle.Init.TimeTriggeredMode = DISABLE;

 CanHandle.Init.AutoBusOff = ENABLE;

 CanHandle.Init.AutoWakeUp = DISABLE;

 CanHandle.Init.AutoRetransmission = ENABLE;

 CanHandle.Init.ReceiveFifoLocked = DISABLE;

 CanHandle.Init.TransmitFifoPriority = DISABLE;

 CanHandle.Init.Mode = CAN_MODE_NORMAL;

 CanHandle.Init.SyncJumpWidth = CAN_SJW_1TQ;

 CanHandle.Init.TimeSeg1 = CAN_BS1_6TQ;

 CanHandle.Init.TimeSeg2 = CAN_BS2_2TQ;

 CanHandle.Init.Prescaler = 5;

 if(HAL_CAN_Init(&CanHandle) != HAL_OK)

 {

  /* Initialization Error */

  Error_Handler();

 }

 /*##-2- Configure the CAN Filter ##*/

 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(&CanHandle, &sFilterConfig) != HAL_OK)

 {

  /* Filter configuration Error */

  Error_Handler();

 }

 /*##-3- Start the CAN peripheral ##*/

 if (HAL_CAN_Start(&CanHandle) != HAL_OK)

 {

  /* Start Error */

  Error_Handler();

 }

 /*##-4- Start the Transmission process ##*/

 TxHeader.StdId = 0x11;

 TxHeader.RTR = CAN_RTR_DATA;

 TxHeader.IDE = CAN_ID_STD;

 TxHeader.DLC = 2;

 TxHeader.TransmitGlobalTime = DISABLE;

// TxData[8]=(uint8_t *)"afflaffl";

 TxData[0] = '1';

 TxData[1] = '2';

 /* Request transmission */

 if(HAL_CAN_AddTxMessage(&CanHandle, &TxHeader, TxData, &TxMailbox) != HAL_OK)

 {

  /* Transmission request Error */

  Error_Handler();

 }

 /* Wait transmission complete */

 while(HAL_CAN_GetTxMailboxesFreeLevel(&CanHandle) != 3) {}

 /*##-5- Start the Reception process ##*/

 if(HAL_CAN_GetRxFifoFillLevel(&CanHandle, CAN_RX_FIFO0) != 1)

 {

  /* Reception Missing */

  Error_Handler();

 }

 if(HAL_CAN_GetRxMessage(&CanHandle, CAN_RX_FIFO0, &RxHeader, RxData) != HAL_OK)

 {

  /* Reception Error */

  Error_Handler();

 }

 if((RxHeader.StdId != 0x11)           ||

   (RxHeader.RTR != CAN_RTR_DATA)        ||

   (RxHeader.IDE != CAN_ID_STD)         ||

   (RxHeader.DLC != 2)  )            

 //  ((RxData[0]<<8 | RxData[1]) != 0x))

 {

  /* Rx message Error */

  return HAL_ERROR;

 }

 return HAL_OK; /* Test Passed */

}

[JLoli]

sorry but what is line driver ?

and yes i am having a slave device with the same bus speed and also connected the terminator res .

[JLoli]

sorry but what is line driver ?

and yes i am having a slave device with the same bus speed and also connected the terminator res .

[T J]

you have to do initialise before while(1)

then you poll after while(1)

split up your code and repost it here...

If you cant do that, how can we help you ?

[JLoli]

initialization i am doing sir and that response i am able to see in related registers also

if(HAL_CAN_AddTxMessage(&CanHandle, &TxHeader, TxData, &TxMailbox) != HAL_OK) is function also working fine but after that one function named

while(HAL_CAN_GetTxMailboxesFreeLevel(&CanHandle) != 3) {}

i am stucking that is what the problem .

here i am attaching my whole main file kindly find and tell me thanks

#include "main.h"
#include "stm32l4xx_hal.h"
 
 
CAN_HandleTypeDef     CanHandle;
CAN_TxHeaderTypeDef   TxHeader;
CAN_RxHeaderTypeDef   RxHeader;
uint8_t               TxData[8];
uint8_t               RxData[8];
uint32_t              TxMailbox;
 
static HAL_StatusTypeDef CAN_Polling(void);
 
 
/* Private variables ---------------------------------------------------------*/
CAN_HandleTypeDef hcan1;
 
UART_HandleTypeDef huart2;
 
/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
static void MX_GPIO_Init(void);
static void MX_USART2_UART_Init(void);
static void MX_CAN1_Init(void);
 
/* USER CODE BEGIN PFP */
/* Private function prototypes -----------------------------------------------*/
 
/**
  * @brief  The application entry point.
  *
  * @retval None
  */
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_USART2_UART_Init();
  MX_CAN1_Init();
 
  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
	
	while (1){
 		  if(CAN_Polling() == HAL_OK)
  {
  
//   for(int i=0;i<100;i++);
 
	HAL_UART_Transmit(&huart2,(uint8_t *)RxData,2,100);
  }
  /* USER CODE END 3 */
 
}
}
/**
  * @brief System Clock Configuration
  * @retval None
  */
void SystemClock_Config(void)
{
 
  RCC_OscInitTypeDef RCC_OscInitStruct;
  RCC_ClkInitTypeDef RCC_ClkInitStruct;
  RCC_PeriphCLKInitTypeDef PeriphClkInit;
 
    /**Initializes the CPU, AHB and APB busses clocks 
    */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
  RCC_OscInitStruct.HSICalibrationValue = 16;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
  RCC_OscInitStruct.PLL.PLLM = 1;
  RCC_OscInitStruct.PLL.PLLN = 12;
  RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV7;
  RCC_OscInitStruct.PLL.PLLQ = RCC_PLLQ_DIV2;
  RCC_OscInitStruct.PLL.PLLR = RCC_PLLR_DIV4;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    _Error_Handler(__FILE__, __LINE__);
  }
 
    /**Initializes the CPU, AHB and APB busses clocks 
    */
  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV16;
 
  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
  {
    _Error_Handler(__FILE__, __LINE__);
  }
 
  PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_USART2;
  PeriphClkInit.Usart2ClockSelection = RCC_USART2CLKSOURCE_PCLK1;
  if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK)
  {
    _Error_Handler(__FILE__, __LINE__);
  }
 
    /**Configure the main internal regulator output voltage 
    */
  if (HAL_PWREx_ControlVoltageScaling(PWR_REGULATOR_VOLTAGE_SCALE1) != HAL_OK)
  {
    _Error_Handler(__FILE__, __LINE__);
  }
 
    /**Configure the Systick interrupt time 
    */
  HAL_SYSTICK_Config(HAL_RCC_GetHCLKFreq()/1000);
 
    /**Configure the Systick 
    */
  HAL_SYSTICK_CLKSourceConfig(SYSTICK_CLKSOURCE_HCLK);
 
  /* SysTick_IRQn interrupt configuration */
  HAL_NVIC_SetPriority(SysTick_IRQn, 0, 0);
}
 
/* CAN1 init function */
static void MX_CAN1_Init(void)
{
 
  hcan1.Instance = CAN1;
  hcan1.Init.Prescaler = 12;
  hcan1.Init.Mode = CAN_MODE_NORMAL;
  hcan1.Init.SyncJumpWidth = CAN_SJW_1TQ;
  hcan1.Init.TimeSeg1 = CAN_BS1_13TQ;
  hcan1.Init.TimeSeg2 = CAN_BS2_2TQ;
  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(__FILE__, __LINE__);
  }
 
}
 
/* USART2 init function */
static void MX_USART2_UART_Init(void)
{
 
  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_RX;
  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(__FILE__, __LINE__);
  }
 
}
 
/** Configure pins as 
        * Analog 
        * Input 
        * Output
        * EVENT_OUT
        * EXTI
*/
static void MX_GPIO_Init(void)
{
 
  GPIO_InitTypeDef GPIO_InitStruct;
 
  /* GPIO Ports Clock Enable */
  __HAL_RCC_GPIOC_CLK_ENABLE();
  __HAL_RCC_GPIOH_CLK_ENABLE();
  __HAL_RCC_GPIOA_CLK_ENABLE();
  __HAL_RCC_GPIOB_CLK_ENABLE();
 
  /*Configure GPIO pin Output Level */
  HAL_GPIO_WritePin(GPIOA, SMPS_EN_Pin|SMPS_V1_Pin|SMPS_SW_Pin, GPIO_PIN_RESET);
 
  /*Configure GPIO pin Output Level */
  HAL_GPIO_WritePin(LD4_GPIO_Port, LD4_Pin, GPIO_PIN_RESET);
 
  /*Configure GPIO pin : B1_Pin */
  GPIO_InitStruct.Pin = B1_Pin;
  GPIO_InitStruct.Mode = GPIO_MODE_IT_FALLING;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  HAL_GPIO_Init(B1_GPIO_Port, &GPIO_InitStruct);
 
  /*Configure GPIO pins : SMPS_EN_Pin SMPS_V1_Pin SMPS_SW_Pin */
  GPIO_InitStruct.Pin = SMPS_EN_Pin|SMPS_V1_Pin|SMPS_SW_Pin;
  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
  HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
 
  /*Configure GPIO pin : SMPS_PG_Pin */
  GPIO_InitStruct.Pin = SMPS_PG_Pin;
  GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
  GPIO_InitStruct.Pull = GPIO_PULLUP;
  HAL_GPIO_Init(SMPS_PG_GPIO_Port, &GPIO_InitStruct);
 
  /*Configure GPIO pin : LD4_Pin */
  GPIO_InitStruct.Pin = LD4_Pin;
  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
  HAL_GPIO_Init(LD4_GPIO_Port, &GPIO_InitStruct);
 
}
 
/* USER CODE BEGIN 4 */
 
HAL_StatusTypeDef CAN_Polling(void)
{
  CAN_FilterTypeDef  sFilterConfig;
  
  /*##-1- Configure the CAN peripheral #######################################*/
  CanHandle.Instance = CAN1;
    
  CanHandle.Init.TimeTriggeredMode = DISABLE;
  CanHandle.Init.AutoBusOff = ENABLE;
  CanHandle.Init.AutoWakeUp = DISABLE;
  CanHandle.Init.AutoRetransmission = ENABLE;
  CanHandle.Init.ReceiveFifoLocked = DISABLE;
  CanHandle.Init.TransmitFifoPriority = DISABLE;
  CanHandle.Init.Mode = CAN_MODE_NORMAL;
  CanHandle.Init.SyncJumpWidth = CAN_SJW_1TQ;
  CanHandle.Init.TimeSeg1 = CAN_BS1_6TQ;
  CanHandle.Init.TimeSeg2 = CAN_BS2_2TQ;
  CanHandle.Init.Prescaler = 5;
  
  if(HAL_CAN_Init(&CanHandle) != HAL_OK)
  {
    /* Initialization Error */
    Error_Handler();
  }
 
  /*##-2- Configure the CAN Filter ###########################################*/
  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(&CanHandle, &sFilterConfig) != HAL_OK)
  {
    /* Filter configuration Error */
    Error_Handler();
  }
 
  /*##-3- Start the CAN peripheral ###########################################*/
  if (HAL_CAN_Start(&CanHandle) != HAL_OK)
  {
    /* Start Error */
    Error_Handler();
  }
 
  /*##-4- Start the Transmission process #####################################*/
  TxHeader.StdId = 0x11;
  TxHeader.RTR = CAN_RTR_DATA;
  TxHeader.IDE = CAN_ID_STD;
  TxHeader.DLC = 2;
  TxHeader.TransmitGlobalTime = DISABLE;
//	TxData[8]=(uint8_t *)"afflaffl";
  TxData[0] = '1';
  TxData[1] = '2';
  
  /* Request transmission */
  if(HAL_CAN_AddTxMessage(&CanHandle, &TxHeader, TxData, &TxMailbox) != HAL_OK)
  {
    /* Transmission request Error */
    Error_Handler();
  }
  
  /* Wait transmission complete */
  while(HAL_CAN_GetTxMailboxesFreeLevel(&CanHandle) != 3) {}
 
  /*##-5- Start the Reception process ########################################*/
  if(HAL_CAN_GetRxFifoFillLevel(&CanHandle, CAN_RX_FIFO0) != 1)
  {
    /* Reception Missing */
    Error_Handler();
  }
 
  if(HAL_CAN_GetRxMessage(&CanHandle, CAN_RX_FIFO0, &RxHeader, RxData) != HAL_OK)
  {
    /* Reception Error */
    Error_Handler();
  }
 
  if((RxHeader.StdId != 0x11)                     ||
     (RxHeader.RTR != CAN_RTR_DATA)               ||
     (RxHeader.IDE != CAN_ID_STD)                 ||
     (RxHeader.DLC != 2)   )                      
  //   ((RxData[0]<<8 | RxData[1]) != 0x))
  {
    /* Rx message Error */
    return HAL_ERROR;
  }
 
  return HAL_OK; /* Test Passed */
}

[T J]

I don't use those HAL functions...

did you find an example ?

do you have an external dongle? (I used the CanDo unit)

I suggest you set your external Can device to transmit every 1 second, then work on receiving a frame.

Can you do that ?

The examples should work but they can be touchy...

that's why you set an external unit to transmit first.

Did you look on the scope ? do you have a scope ?

[T J]

this section has to be before while(1), not in CanPolling,

  /*##-1- Configure the CAN peripheral #######################################*/
  CanHandle.Instance = CAN1;
    
  CanHandle.Init.TimeTriggeredMode = DISABLE;
  CanHandle.Init.AutoBusOff = ENABLE;
  CanHandle.Init.AutoWakeUp = DISABLE;
  CanHandle.Init.AutoRetransmission = ENABLE;
  CanHandle.Init.ReceiveFifoLocked = DISABLE;
  CanHandle.Init.TransmitFifoPriority = DISABLE;
  CanHandle.Init.Mode = CAN_MODE_NORMAL;
  CanHandle.Init.SyncJumpWidth = CAN_SJW_1TQ;
  CanHandle.Init.TimeSeg1 = CAN_BS1_6TQ;
  CanHandle.Init.TimeSeg2 = CAN_BS2_2TQ;
  CanHandle.Init.Prescaler = 5;
  
  if(HAL_CAN_Init(&CanHandle) != HAL_OK)
  {
    /* Initialization Error */
    Error_Handler();
  }
 
  /*##-2- Configure the CAN Filter ###########################################*/
  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(&CanHandle, &sFilterConfig) != HAL_OK)
  {
    /* Filter configuration Error */
    Error_Handler();
  }
 
  /*##-3- Start the CAN peripheral ###########################################*/
  if (HAL_CAN_Start(&CanHandle) != HAL_OK)
  {
    /* Start Error */
    Error_Handler();
  }

then here this is way tooo fast...

add delay in here

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
	
	while (1){
 		  if(CAN_Polling() == HAL_OK)
  {
  
//   for(int i=0;i<100;i++);
 
	HAL_UART_Transmit(&huart2,(uint8_t *)RxData,2,100);
 
delay here somehow   //delay 1 second  
 
 
 
  }
  /* USER CODE END 3 */