I am trying to send messages from Can1 to Can2 in an stm32f205vet6. HAL_CAN_AddTxMessage is returning HAL_OK but I am not able to receive any messages in CAN2. And I cant see any messages transmitted in a scope.
clock speed = 120Mhz
Can speed = 500 kbps
My code below
CAN1_init
void MX_CAN1_Init(void)
{
/* USER CODE BEGIN CAN1_Init 0 */
/* USER CODE END CAN1_Init 0 */
/* USER CODE BEGIN CAN1_Init 1 */
/* USER CODE END CAN1_Init 1 */
hcan1.Instance = CAN1;
hcan1.Init.Prescaler = 15;
hcan1.Init.Mode = CAN_MODE_NORMAL;
hcan1.Init.SyncJumpWidth = CAN_SJW_1TQ;
hcan1.Init.TimeSeg1 = CAN_BS1_1TQ;
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();
}
/* USER CODE BEGIN CAN1_Init 2 */
/* USER CODE END CAN1_Init 2 */
/* USER CODE BEGIN CAN_Init 2 */
CAN_FilterTypeDef canfilterconfig;
canfilterconfig.FilterActivation = CAN_FILTER_ENABLE;
canfilterconfig.FilterBank = 0; // which filter bank to use from the assigned ones
canfilterconfig.FilterFIFOAssignment = CAN_FILTER_FIFO1;
canfilterconfig.FilterIdHigh = 0;
canfilterconfig.FilterIdLow = 0;
canfilterconfig.FilterMaskIdHigh = 0;
canfilterconfig.FilterMaskIdLow = 0;
canfilterconfig.FilterMode = CAN_FILTERMODE_IDMASK;
canfilterconfig.FilterScale = CAN_FILTERSCALE_32BIT;
canfilterconfig.SlaveStartFilterBank = 0; // doesn't matter in single can controllers
HAL_CAN_ConfigFilter(&hcan1, &canfilterconfig);
/* USER CODE END CAN_Init 2 */
}
CAN2_INIt
void MX_CAN2_Init(void)
{
/* USER CODE BEGIN CAN2_Init 0 */
/* USER CODE END CAN2_Init 0 */
/* USER CODE BEGIN CAN2_Init 1 */
/* USER CODE END CAN2_Init 1 */
hcan2.Instance = CAN2;
hcan2.Init.Prescaler = 15;
hcan2.Init.Mode = CAN_MODE_NORMAL;
hcan2.Init.SyncJumpWidth = CAN_SJW_1TQ;
hcan2.Init.TimeSeg1 = CAN_BS1_1TQ;
hcan2.Init.TimeSeg2 = CAN_BS2_2TQ;
hcan2.Init.TimeTriggeredMode = DISABLE;
hcan2.Init.AutoBusOff = DISABLE;
hcan2.Init.AutoWakeUp = DISABLE;
hcan2.Init.AutoRetransmission = DISABLE;
hcan2.Init.ReceiveFifoLocked = DISABLE;
hcan2.Init.TransmitFifoPriority = DISABLE;
if (HAL_CAN_Init(&hcan2) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN CAN2_Init 2 */
/* USER CODE END CAN2_Init 2 */
/* USER CODE BEGIN CAN1_Init 2 */
/* USER CODE END CAN1_Init 2 */
/* USER CODE BEGIN CAN_Init 2 */
CAN_FilterTypeDef canfilterconfig;
canfilterconfig.FilterActivation = CAN_FILTER_ENABLE;
canfilterconfig.FilterBank = 0; // which filter bank to use from the assigned ones
canfilterconfig.FilterFIFOAssignment = CAN_FILTER_FIFO1;
canfilterconfig.FilterIdHigh = 0;
canfilterconfig.FilterIdLow = 0;
canfilterconfig.FilterMaskIdHigh = 0;
canfilterconfig.FilterMaskIdLow = 0;
canfilterconfig.FilterMode = CAN_FILTERMODE_IDMASK;
canfilterconfig.FilterScale = CAN_FILTERSCALE_32BIT;
canfilterconfig.SlaveStartFilterBank = 0; // doesn't matter in single can controllers
HAL_CAN_ConfigFilter(&hcan2, &canfilterconfig);
/* USER CODE END CAN_Init 2 */
}
CAN_MSPInit
void HAL_CAN_MspInit(CAN_HandleTypeDef* hcan)
{
GPIO_InitTypeDef GPIO_InitStruct = {0};
if(hcan->Instance==CAN1)
{
/* USER CODE BEGIN CAN1_MspInit 0 */
/* USER CODE END CAN1_MspInit 0 */
/* Peripheral clock enable */
HAL_RCC_CAN1_CLK_ENABLED++;
if(HAL_RCC_CAN1_CLK_ENABLED==1){
__HAL_RCC_CAN1_CLK_ENABLE();
}
__HAL_RCC_GPIOB_CLK_ENABLE();
/**CAN1 GPIO Configuration
PB8 ------> CAN1_RX
PB9 ------> CAN1_TX
*/
GPIO_InitStruct.Pin = GPIO_PIN_8|GPIO_PIN_9;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
GPIO_InitStruct.Alternate = GPIO_AF9_CAN1;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
/* USER CODE BEGIN CAN1_MspInit 1 */
HAL_NVIC_SetPriority(CAN1_RX1_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(CAN1_RX1_IRQn);
/* USER CODE END CAN1_MspInit 1 */
}
else if(hcan->Instance==CAN2)
{
/* USER CODE BEGIN CAN2_MspInit 0 */
/* USER CODE END CAN2_MspInit 0 */
/* Peripheral clock enable */
__HAL_RCC_CAN2_CLK_ENABLE();
HAL_RCC_CAN1_CLK_ENABLED++;
if(HAL_RCC_CAN1_CLK_ENABLED==1){
__HAL_RCC_CAN1_CLK_ENABLE();
}
__HAL_RCC_GPIOB_CLK_ENABLE();
/**CAN2 GPIO Configuration
PB12 ------> CAN2_RX
PB13 ------> CAN2_TX
*/
GPIO_InitStruct.Pin = GPIO_PIN_12|GPIO_PIN_13;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
GPIO_InitStruct.Alternate = GPIO_AF9_CAN2;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
/* USER CODE BEGIN CAN2_MspInit 1 */
HAL_NVIC_SetPriority(CAN2_RX1_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(CAN2_RX1_IRQn);
/* USER CODE END CAN2_MspInit 1 */
}
}
Can transmit and Recieve
CAN_TxHeaderTypeDef tx_header;
CAN_RxHeaderTypeDef rx_header;
tx_header.DLC = 2; // data length
tx_header.IDE = CAN_ID_STD;
tx_header.RTR = CAN_RTR_DATA;
tx_header.StdId = 0x103; // ID
can_tx_Data[0] = 2;
can_tx_Data[1] = 8;
// Activate the notification
HAL_CAN_ActivateNotification(&hcan1, CAN_IT_RX_FIFO1_MSG_PENDING);
// Start CAN
if(HAL_CAN_Start(&hcan2)!= HAL_OK)
{
Test[] = "failed to start CAN2"; //Data to send
HAL_UART_Transmit(&test_uart,(uint8_t *)Test,sizeof(Test),10);
}
if(HAL_CAN_Start(&hcan1)!= HAL_OK)
{
Test[] = "failed to start CAN1"; //Data to send
HAL_UART_Transmit(&test_uart,(uint8_t *)Test,sizeof(Test),10);
}
if (HAL_CAN_AddTxMessage(&hcan2, &tx_header, can_tx_Data, &tx_mailbox) == HAL_OK)
{
uint8_t Test[] = "CAN message added\r\n"; //Data to send
HAL_UART_Transmit(&test_uart,Test,sizeof(Test),10);
}
while (HAL_CAN_IsTxMessagePending(&hcan2,tx_mailbox))
{
Test[] = "CAN message pending\r\n"; //Data to send
HAL_UART_Transmit(&test_uart,Test,sizeof(Test),10);
HAL_Delay(1000);
}
Test[] = "CAN message sent successfully"; //Data to send
HAL_UART_Transmit(&test_uart,(uint8_t *)Test,sizeof(Test),10);
extern "C"
void HAL_CAN_RxFifo1MsgPendingCallback(CAN_HandleTypeDef *hcan)
{
HAL_CAN_GetRxMessage(hcan, CAN_RX_FIFO1, &rx_header, can_rx_Data);
Test[] = "received can message"; //Data to send
HAL_UART_Transmit(&test_uart,(uint8_t *)Test,sizeof(Test),10);
}
