I am tried to send a simple message over CAN, but I got the broken Frame when transmitting, I capture it on a Logic Analyzer(Pic Below), it seems that it is Transmitting but not Correctly.
Did I did somting wrong or Did I miss Someting?
int main(void)
{
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */
/* MCU Configuration--------------------------------------------------------*/
/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
LL_APB2_GRP1_EnableClock(LL_APB2_GRP1_PERIPH_AFIO);
LL_APB1_GRP1_EnableClock(LL_APB1_GRP1_PERIPH_PWR);
NVIC_SetPriorityGrouping(NVIC_PRIORITYGROUP_4);
/* System interrupt init*/
/* SysTick_IRQn interrupt configuration */
NVIC_SetPriority(SysTick_IRQn, NVIC_EncodePriority(NVIC_GetPriorityGrouping(),15, 0));
/** DISABLE: JTAG-DP Disabled and SW-DP Disabled
*/
LL_GPIO_AF_DisableRemap_SWJ();
/* 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 */
/* USER CODE BEGIN 2 */
/***LED GPIO***/
RCC->APB2ENR |= (1 << IOPBEN);
GPIOB->BRR |= (1 << 8)|(1 << 9);
GPIOB->CRH &= ~((CLEAR_BITS << MODE8)|(CLEAR_BITS << CNF8)|(CLEAR_BITS << MODE9)|(CLEAR_BITS << CNF9));
GPIOB->CRH |= (OUT50M << MODE8)|(GPIO_PP << CNF8)|(OUT50M << MODE9)|(GPIO_PP << CNF9);
//GPIOB->ODR |= (1 << 8)|(1 << 9);
/***LED GPIO***/
/***UART CONSOLE***/
serialInit(9600);
serialPrintln("Init.");
/***UART CONSOLE***/
/*INIT*/
//RCC Config
RCC->APB1ENR |= (1 << CANEN); // Enable CAN clock
RCC->APB2ENR |= (1 << AFIOEN); // Enable AFIO clock
RCC->APB2ENR |= (1 << IOPAEN); // Enable GPIOA clock
serialPrintln("CAN RCC Config.");
//clear A11, A12
GPIOA->CRH &= ~(0xFF000UL); // Configure PA12(0b0000) and PA11(0b0000)
//Config A11, A12
GPIOA->CRH |= (INPUT << MODE11)|(IN_PP_PD << CNF11)|(OUT50M << MODE12)|(AFIO_PP << CNF12);
//PA12 PULL-UP (CAN_TX)
GPIOA->ODR |= (1 << 12)|(1 << 11);
serialPrintln("CAN GPIO Config.");
//CAN init
CAN1->MCR |= (1 << INRQ); //init CAN
serialPrintln("CAN Init.");
while (!( CAN1->MSR & (1 << INAK ) )); //Wait for CAN INIT
serialPrintln("CAN in Init mode.");
GPIOB->ODR |= (1 << 9);
//CAN1->MCR = 0x41UL;
CAN1->MCR &= ~(1 << SLEEP);
CAN1->MCR |= (1 << ABOM);
CAN1->MCR &= ~(1 << DBF);
//CAN Set bitrate
CAN1->BTR = 0x1A000B;
serialPrintln("Set CAN Bitrate.");
CAN1->MCR &= ~(1 << INRQ); //CAN1 to normal mode
// Wait for normal mode
for (uint16_t wait_ack = 0; wait_ack < 1000; wait_ack++) {
if ((CAN1->MSR & 0x1UL) == 0) {
can1 = 1;
break;
}
//LL_mDelay(1000);
}
if (can1) {
serialPrintln("CAN1 initialize ok");
GPIOB->ODR |= (1 << 8);
} else {
serialPrintln("CAN1 initialize fail!!");
}
//CAN Trasmit
CAN1->sTxMailBox[0].TIR &= ~(0x7FF << STID);
serialPrintln("clear Identifier Bits.");
CAN1->sTxMailBox[0].TIR |= (0x148 << STID);
serialPrintln("Set Identifier");
CAN1->sTxMailBox[0].TIR &= ~((1 << IDE)|(1 << RTR));
serialPrintln("Set Standard Identifire, Data Frame");
CAN1->sTxMailBox[0].TDTR &= ~(0x0F << DLC);
serialPrintln("Clear DLC Bits.");
CAN1->sTxMailBox[0].TDTR |= (0x08 << DLC);
serialPrintln("Set DLC.");
CAN1->sTxMailBox[0].TDLR = 0x42;
CAN1->sTxMailBox[0].TDLR = (0x96 << 8);
CAN1->sTxMailBox[0].TDLR = (0x02 << 16);
CAN1->sTxMailBox[0].TDLR = (0x46 << 24);
CAN1->sTxMailBox[0].TDHR = 0x55;
CAN1->sTxMailBox[0].TDHR = (0x43 << 8);
CAN1->sTxMailBox[0].TDHR = (0x4B << 16);
CAN1->sTxMailBox[0].TDHR = (0x2E << 24);
serialPrintln("Load Mailbox0");
CAN1->sTxMailBox[0].TIR |= (1 << TXRQ);
serialPrintln("Mailbox0 Transmit Request");
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
}
/* USER CODE END 3 */
}