STM32 EVAL board CAN2 receive interrupt not working, but CAN2 transmit working

praseen · ‎2016-10-31

Posted on October 31, 2016 at 12:44

Hardware: STM3240G-EVAL (STM32 20-21-45-46 G-EVAL) using STM32F407IGH6UHPAHP microcontroller

IDE: Eclipse IDE for C/C++ Luna Service Release 2 (4.4.2) Build: 20150219-0600

Toolchain: Ac6 STM32 MCU GCC

Using the above hardware and software I am unable to get CAN2 receive interrupt on the STM32 evaluation module mentioned above. However I am able

to transmit without interrupt using CAN2. The CAN1 peripheral is working as expected and I am able to successfully transmit and get receive interrupts.

Below is code I have written for configuring CAN2 for receive interrupt. The CAN2 transmit is working without interrupt using this configuration.

stm32f4xx_it.h - In this file added the lines

void CAN2_RX0_IRQHandler(void);

void CAN2_RX1_IRQHandler(void);

Can.cpp - In this file added the lines

extern ''C'' void CAN2_RX0_IRQHandler(void)

{

canRxIsr(&canHandle);

}

__inline void canRxIsr(CAN_HandleTypeDef* canrxhandle)

{

HAL_CAN_IRQHandler(canrxhandle);

HAL_CAN_Receive_IT(canrxhandle, CAN_FIFO0);

//changed for integration

// Transmit below done to validate the receive that has happened

canHandle.pTxMsg->StdId = 821;

canHandle.pTxMsg->DLC = 8;

canHandle.pTxMsg->Data[0] = 0xAA;

canHandle.pTxMsg->Data[1] = 0xBB;

canHandle.pTxMsg->Data[2] = 0xCC;

canHandle.pTxMsg->Data[3] = 0xDD;

canHandle.pTxMsg->Data[4] = 0xEE;

canHandle.pTxMsg->Data[5] = 0xFF;

canHandle.pTxMsg->Data[6] = 0xAA;

canHandle.pTxMsg->Data[7] = 0xBB;

HAL_CAN_Transmit(&canHandle, 10);

//changed for integration

}

void HAL_CAN_MspInit(CAN_HandleTypeDef* hcan)

{

//changed for CAN2 configuration

GPIO_InitTypeDef GPIO_InitStruct;

/*♯♯-1- Enable peripherals and GPIO Clocks ♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯*/

/* CAN2 Periph clock enable */

CANx1_CLK_ENABLE(); //Both clocks are configured as per data sheet for CAN2 to work

CANx_CLK_ENABLE();

/* Enable GPIO clock ****************************************/

CANx_GPIO_CLK_ENABLE();

/*♯♯-2- Configure peripheral GPIO ♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯*/

/* CAN2 TX GPIO pin configuration */

GPIO_InitStruct.Pin = CANx_TX_PIN;

GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;

GPIO_InitStruct.Speed = GPIO_SPEED_FAST;

GPIO_InitStruct.Pull = GPIO_PULLUP;

GPIO_InitStruct.Alternate = CANx_TX_AF;

HAL_GPIO_Init(CANx_TX_GPIO_PORT, &GPIO_InitStruct);

/* CAN2 RX GPIO pin configuration */

GPIO_InitStruct.Pin = CANx_RX_PIN;

GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;

GPIO_InitStruct.Speed = GPIO_SPEED_FAST;

GPIO_InitStruct.Pull = GPIO_PULLUP;

GPIO_InitStruct.Alternate = CANx_RX_AF;

HAL_GPIO_Init(CANx_TX_GPIO_PORT, &GPIO_InitStruct);

/*♯♯-3- Configure the NVIC ♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯*/

/* NVIC configuration for CAN2 Reception complete interrupt */

HAL_NVIC_SetPriority(CANx_RX_IRQn, 1, 0);

HAL_NVIC_EnableIRQ(CANx_RX_IRQn);

}

/**

* @brief CAN MSP De-Initialization

* This function frees the hardware resources used in this example:

* - Disable the Peripheral's clock

* - Revert GPIO to their default state

* @param hcan: CAN handle pointer

* @retval None

*/

void HAL_CAN_MspDeInit(CAN_HandleTypeDef *hcan)

{

/*♯♯-1- Reset peripherals ♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯*/

CANx_FORCE_RESET();

CANx_RELEASE_RESET();

/*♯♯-2- Disable peripherals and GPIO Clocks ♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯*/

/* De-initialize the CAN2 TX GPIO pin */

HAL_GPIO_DeInit(CANx_TX_GPIO_PORT, CANx_TX_PIN);

/* De-initialize the CAN2 RX GPIO pin */

HAL_GPIO_DeInit(CANx_RX_GPIO_PORT, CANx_RX_PIN);

/*♯♯-4- Disable the NVIC for CAN reception ♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯*/

HAL_NVIC_DisableIRQ(CANx_RX_IRQn);

}

Since the EVK is being used the PORTB PIN 13 is used for CAN2 Tx and PORTB PIN 8 is used for CAN2 Rx

The values of the config macros used above is as below

&sharpdefine CANx CAN2

&sharpdefine CANx_CLK_ENABLE() __HAL_RCC_CAN2_CLK_ENABLE()

&sharpdefine CANx1_CLK_ENABLE() __HAL_RCC_CAN1_CLK_ENABLE()

&sharpdefine CANx_GPIO_CLK_ENABLE() __HAL_RCC_GPIOB_CLK_ENABLE()

&sharpdefine CANx_FORCE_RESET() __HAL_RCC_CAN2_FORCE_RESET()

&sharpdefine CANx_RELEASE_RESET() __HAL_RCC_CAN2_RELEASE_RESET()

/* Definition for CANx Pins */

&sharpdefine CANx_TX_PIN GPIO_PIN_13

&sharpdefine CANx_TX_GPIO_PORT GPIOB

&sharpdefine CANx_TX_AF GPIO_AF9_CAN2

&sharpdefine CANx_RX_PIN GPIO_PIN_5

&sharpdefine CANx_RX_GPIO_PORT GPIOB

&sharpdefine CANx_RX_AF GPIO_AF9_CAN2

/* Definition for CANx's NVIC */

&sharpdefine CANx_RX_IRQn CAN2_RX0_IRQn

&sharpdefine CANx_RX_IRQHandler CAN2_RX0_IRQHandler

I have also made the jumper changes to the JP3, JP10, JP7 and JP9 on the evaluation module for enabling CAN2 in high speed.

Please have a look and let me know what I missed in the configuration, to get CAN2 receive interrupt working.

#receive #can2-configuration

Tesla DeLorean · ‎2016-10-31

Posted on October 31, 2016 at 13:09

Are you using filter settings suitable for CAN2?

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Up vote any posts that you find helpful, it shows what's working..

praseen · ‎2016-10-31

Posted on October 31, 2016 at 15:42

Hi Clive,

This is my filter configuration below, its marked in blue, in the middle of the complete CAN configuration. Please let me know, what change I need to make for CAN2 receive interrupt to work.

CANConfig(void)

{

CAN_FilterConfTypeDef sFilterConfig;

static CanTxMsgTypeDef TxMessage;

static CanRxMsgTypeDef RxMessage;

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

canHandle.Instance = CAN2;

canHandle.pTxMsg = &TxMessage;

canHandle.pRxMsg = &RxMessage;

canHandle.Init.TTCM = DISABLE;

canHandle.Init.ABOM = DISABLE; //DISABLE; praseen

canHandle.Init.AWUM = DISABLE; //DISABLE;

canHandle.Init.NART = DISABLE;

canHandle.Init.RFLM = DISABLE;

canHandle.Init.TXFP = DISABLE;

canHandle.Init.Mode = CAN_MODE_NORMAL;

canHandle.Init.SJW = CAN_SJW_2TQ;

canHandle.Init.BS1 = CAN_BS1_16TQ;

canHandle.Init.BS2 = CAN_BS2_4TQ;

canHandle.Init.Prescaler = 2;

if(HAL_CAN_Init(&canHandle) != HAL_OK)

{

/* Initialization Error */

ErrorHandler();

}

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

sFilterConfig.FilterNumber = 14;

sFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK;

sFilterConfig.FilterScale = CAN_FILTERSCALE_32BIT;

sFilterConfig.FilterIdHigh = 0x0000;

sFilterConfig.FilterIdLow = 0x0000;

sFilterConfig.FilterMaskIdHigh = 0x0000;

sFilterConfig.FilterMaskIdLow = 0x0000;

sFilterConfig.FilterFIFOAssignment = 0;

sFilterConfig.FilterActivation = ENABLE; //ENABLE; changed to test

sFilterConfig.BankNumber = 14;

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

{

/* Filter configuration Error */

ErrorHandler();

}

/*##-3- Configure Transmission process #####################################*/

canHandle.pTxMsg->StdId = 0x00;

canHandle.pTxMsg->ExtId = 0x01;

canHandle.pTxMsg->RTR = CAN_RTR_DATA;

canHandle.pTxMsg->IDE = CAN_ID_STD;

canHandle.pTxMsg->DLC = 0;

/*##-2- Start the Reception process and enable reception interrupt #########*/

if(HAL_CAN_Receive_IT(&canHandle, CAN_FIFO0) != HAL_OK)

{

/* Reception Error */

ErrorHandler();

}

Thanks and Regards,

jpeacock23 · ‎2016-10-31

Posted on November 01, 2016 at 03:09

For dual CAN you have to specify where the filter bank split occurs between CAN1 and CAN2. I don't use HAL, is this done automatically or do you have to explicitly configure it? It may be you are configuring the filter for the wrong interface.

praseen · ‎2016-11-01

Posted on November 01, 2016 at 12:18

As part of the configuration I have specified it. For CAN1 the filter bank is between 0-13 and for CAN2 its between 14-27. So I have chosen filter bank as 14 in the above post.

~Praseen

ST Renegade · ‎2016-11-02

Posted on November 02, 2016 at 08:33

Hello preman.praseen,

Why are you putting so much effort to configure the peripheral manually? For a starter I would recommend to use the STM32CubeMX to configure the CAN2 peripheral and try to make it run. After it's working, try to compare it to your code.

Btw. a silly thing, to receive the first message, you need to call the HAL_CAN_ReceiveIT function already in the main function and after that call this function over and over again in your ISR (but you made this call in your ISR).

Have a nice day,

Renegade