STM32 CANbus is not sending/receiving message

[JThom.15]

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); 

}

[Parvez Akhtar]

How come there is same answer everywhere and it is still not working. Did any try to use only CAN2. Tried all these filters settings it still doesn't work. I didn't try configuring both CANs at the same time.

Please come up with some working and good answers.