STM32f103RB, CAN work in mode_loopback but not in mode_Normal

[daniel239955_stm1]

Posted on April 24, 2015 at 00:52

Hi there...

sorry if question is duplicate but i follow sample in stdperipheral library for creating a can network between two nodes that i designed without success, however this program works in loop back mode but not in normal mode. i can't understand what's wrong and i hope my hardware hasn't problem. this is main function:

int main(void)
{
vTIMER_InitRCC();
vTIMER_InitGeneral();
/* NVIC configuration */
NVIC_Config();
/* Configures LED 1..4 */
MY_EVAL_LEDInit();
/* Configure Push button key */ 
/* CAN configuration */
CAN_Config();
CAN_ITConfig(CANx, CAN_IT_FMP0, ENABLE);
/* turn off all leds*/
MY_EVAL_LEDOff(LED1);
MY_EVAL_LEDOff(LED2);
/* Infinite loop */
while(1)
{
if(KeyNumber == 0x4) 
{
KeyNumber = 0x00;
}
else
{
//LED_Display(KeyNumber);
TxMessage.Data[0] = KeyNumber;
CAN_Transmit(CANx, &TxMessage);
Delay();
} 
}
}

this part for configuring CAN

void CAN_Config(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
/* GPIO clock enable */
RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO, ENABLE);
#ifdef __CAN1_USED__
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIO_CAN1, ENABLE);
#else /*__CAN2_USED__*/
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIO_CAN1, ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIO_CAN2, ENABLE);
#endif /* __CAN1_USED__ */
/* Configure CAN pin: RX */
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_CAN_RX;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
GPIO_Init(GPIO_CAN, &GPIO_InitStructure);
/* Configure CAN pin: TX */
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_CAN_TX;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIO_CAN, &GPIO_InitStructure);
GPIO_PinRemapConfig(GPIO_Remap1_CAN1 , ENABLE);
/* CANx Periph clock enable */
#ifdef __CAN1_USED__
RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE);
#else /*__CAN2_USED__*/
RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE);
RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN2, ENABLE);
#endif /* __CAN1_USED__ */
/* CAN register init */
CAN_DeInit(CANx);
CAN_StructInit(&CAN_InitStructure);
/* CAN cell init */
CAN_InitStructure.CAN_TTCM = DISABLE;
CAN_InitStructure.CAN_ABOM = DISABLE;
CAN_InitStructure.CAN_AWUM = DISABLE;
CAN_InitStructure.CAN_NART = ENABLE;
CAN_InitStructure.CAN_RFLM = DISABLE;
CAN_InitStructure.CAN_TXFP = DISABLE;
CAN_InitStructure.CAN_Mode = CAN_Mode_Normal;
/* CAN Baudrate = 1MBps*/
CAN_InitStructure.CAN_SJW = CAN_SJW_1tq; // changed by VJ, old value = CAN_SJW_1tq;
CAN_InitStructure.CAN_BS1 = CAN_BS1_3tq; // changed by VJ, old value = CAN_BS1_3tq;
CAN_InitStructure.CAN_BS2 = CAN_BS2_5tq; // changed by VJ, old value = CAN_BS2_2tq;
CAN_InitStructure.CAN_Prescaler = 4;
CAN_Init(CANx, &CAN_InitStructure);
/* CAN filter init */
#ifdef __CAN1_USED__
CAN_FilterInitStructure.CAN_FilterNumber = 0;
#else /*__CAN2_USED__*/
CAN_FilterInitStructure.CAN_FilterNumber = 14;
#endif /* __CAN1_USED__ */
CAN_FilterInitStructure.CAN_FilterMode = CAN_FilterMode_IdMask;
CAN_FilterInitStructure.CAN_FilterScale = CAN_FilterScale_32bit;
CAN_FilterInitStructure.CAN_FilterIdHigh = 0x0000;
CAN_FilterInitStructure.CAN_FilterIdLow = 0x0000;
CAN_FilterInitStructure.CAN_FilterMaskIdHigh = 0x0000;
CAN_FilterInitStructure.CAN_FilterMaskIdLow = 0x0000;
CAN_FilterInitStructure.CAN_FilterFIFOAssignment = 0;
CAN_FilterInitStructure.CAN_FilterActivation = ENABLE;
CAN_FilterInit(&CAN_FilterInitStructure);
/* Transmit */
TxMessage.StdId = 0x321;
TxMessage.ExtId = 0x01;
TxMessage.RTR = CAN_RTR_DATA;
TxMessage.IDE = CAN_ID_STD;
TxMessage.DLC = 1;
}
/**
* @brief Configures the NVIC for CAN.
* @param None
* @retval None
*/
void NVIC_Config(void)
{
NVIC_InitTypeDef NVIC_InitStructure;
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_0);
#ifdef __CAN1_USED__
NVIC_InitStructure.NVIC_IRQChannel = USB_LP_CAN1_RX0_IRQn;
#else /*__CAN2_USED__*/
/* CAN2 is not implemented in the device */
#error ''CAN2 is implemented only in Connectivity line devices''
#endif /*__CAN1_USED__*/
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0x0;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0x0;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
/* disable timer interrupts */
NVIC_EnableIRQ(TIM2_IRQn);
}

and finally rx interrupt:

void USB_LP_CAN1_RX0_IRQHandler(void)
{
CanRxMsg RxMessage;
RxMessage.StdId=0x00;
RxMessage.ExtId=0x00;
RxMessage.IDE=0;
RxMessage.DLC=0;
RxMessage.FMI=0;
RxMessage.Data[0]=0x00;
RxMessage.Data[1]=0x00;
CAN_Receive(CAN1, CAN_FIFO0, &RxMessage);
if ((RxMessage.StdId == 0x321)&&(RxMessage.IDE == CAN_ID_STD) && (RxMessage.DLC == 1))
{
LED_Display(RxMessage.Data[0]);
KeyNumber = RxMessage.Data[0];
}
}
void vTIMER_InitRCC(void)
{
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);
}
void vTIMER_InitGeneral(void)
{
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
/* Time Base configuration 1ms based on HCLK 72MHz using HSI */
TIM_TimeBaseStructure.TIM_Prescaler = 7199;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseStructure.TIM_Period = 10;
TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStructure);
TIM_ITConfig(TIM2, TIM_IT_Update, ENABLE); /* Enable the TIM Update Interrupt */
TIM_Cmd(TIM2, ENABLE); /* TIM counter enable */
NVIC_EnableIRQ(TIM2_IRQn); /* Enable TIM2 interrupt */
}

thanks in advance

[Tesla DeLorean]

Posted on April 24, 2015 at 02:57

Well in Normal mode it definitely needs to be talking to another node. A bus with a single node will fail.

[daniel239955_stm1]

Posted on April 24, 2015 at 10:31

thanks for reply, but I have 3 nodes connected on bus ,using attachment datasheet. and i forgot to say i using can_tx and can_rx of GPIOA (PA11 , PA12) i use right remaping function or not?

________________ Attachments : can.png : https://st--c.eu10.content.force.com/sfc/dist/version/download/?oid=00Db0000000YtG6&ids=0680X000006I0sF&d=%2Fa%2F0X0000000beq%2Fjcf1o3oEWq_EsFcf7BfujFhGLKKlRL4.z7.rvZg5BHU&asPdf=false

[daniel239955_stm1]

Posted on April 24, 2015 at 11:53

Ok i found the problem after commenting below line i can send and receive messages on bus :D

//GPIO_PinRemapConfig(GPIO_Remap1_CAN1 , ENABLE);