STM32F373CCT and CAN bus

[serg2]

Posted on July 07, 2016 at 19:24

Hello.

I have CAN bus with three devices USB2CAN Adapter and two Controllers with STM32F373CCT. When only Adapter and one Controller is connected to CAN bus everything is correctly working. But if I have connected second Controller to CAN bus in few minutes receiving message from CAN will be frozen at one of the Controllers. But if I have commented Error_Handler_CAN() in HAL_CAN_RxCpltCallback the transmitting will be continue normally work. PS Unfortunately reinitialisation of the CAN module in Error_Handler_CAN() don't froze receiving. Receiving interrupt handler:

void HAL_CAN_RxCpltCallback(CAN_HandleTypeDef* CanHandle)

{ if((hcan.pRxMsg->StdId == 0x480) && (NewDataFromCAN == 0)) { BUF_Data[0] = hcan.pRxMsg->Data[0]; BUF_Data[1] = hcan.pRxMsg->Data[1]; BUF_Data[2] = hcan.pRxMsg->Data[2]; BUF_Data[3] = hcan.pRxMsg->Data[3]; BUF_Data[4] = hcan.pRxMsg->Data[4]; BUF_Data[5] = hcan.pRxMsg->Data[5]; BUF_Data[6] = hcan.pRxMsg->Data[6]; BUF_Data[7] = hcan.pRxMsg->Data[7];//hcan.pRxMsg->Data[6]; // HAL_CAN_Transmit(&hcan, 100);//100 NewDataFromCAN = 1; } if(Error_Code = HAL_CAN_Receive_IT(&hcan, CAN_FIFO0) != HAL_OK) { /* Reception Error */ Error_Handler_CAN(); } } The function HAL_CAN_Receive_IT is returning error code 0x01 Initialising of the CAN module: ... MX_CAN_Init(); ... CAN_FilterConfTypeDef canFilterConfig; canFilterConfig.FilterNumber = 0; canFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK; canFilterConfig.FilterScale = CAN_FILTERSCALE_32BIT; canFilterConfig.FilterIdHigh = 0x0000; canFilterConfig.FilterIdLow = 0x0000; canFilterConfig.FilterMaskIdHigh = 0x0000 << 5 ; canFilterConfig.FilterMaskIdLow = 0x0000 ; canFilterConfig.FilterFIFOAssignment = 0 ; canFilterConfig.FilterActivation = ENABLE ; canFilterConfig.BankNumber = 1 ; HAL_CAN_ConfigFilter(&hcan, &canFilterConfig); HAL_CAN_Receive_IT(&hcan, CAN_FIFO0); /*##Configure Transmission process #####################################*/ hcan.pTxMsg->StdId = (MB_number == 1) ? 0x400 : 0x401;//0x321; hcan.pTxMsg->ExtId = 0x01; hcan.pTxMsg->RTR = CAN_RTR_DATA; hcan.pTxMsg->IDE = CAN_ID_STD; hcan.pTxMsg->DLC = 8; Error handler for CAN receiving: void Error_Handler_CAN(void) { /* USER CODE BEGIN Error_Handler */ /* User can add his own implementation to report the HAL error return state */ SPI_Data[0] = 0xFF; SPI_Data[1] = 0xFF; HAL_CAN_DeInit(&hcan); while(SPI_Data[0] != 0) { HAL_SPI_Transmit(&hspi2, ((uint8_t*)&SPI_Data[0]),1,1000); HAL_GPIO_WritePin(GPIOB, GPIO_PIN_14, GPIO_PIN_SET); // SPI strob for(My_i=0; My_i< 10 ; My_i++){__NOP();} HAL_GPIO_WritePin(GPIOB, GPIO_PIN_14, GPIO_PIN_RESET); SPI_Data[0] >>= 1; SPI_Data[1] = Error_Code; HAL_Delay(1500); } MX_CAN_Init(); My_CAN_FilterConf(); /* USER CODE END Error_Handler */ } #stm32f373cct-can

[Amel NASRI]

Posted on July 13, 2016 at 15:19

Hirozenko.serge,

I suggest you review the functionHAL_CAN_RxCpltCallback. You have to use ''CanHandle'' there (instead of hcan). Then, the check of HAL_CAN_Receive_IT is wrongly written. Please refer to the exampleSTM32Cube_FW_F3_V1.5.0\Projects\STM32373C_EVAL\Examples\CAN\CAN_Networking. You find there an implementation similar to what you need:

void
HAL_CAN_RxCpltCallback(CAN_HandleTypeDef *CanHandle)
{
if
((CanHandle->pRxMsg->StdId == 0x321) && (CanHandle->pRxMsg->IDE == CAN_ID_STD) && (CanHandle->pRxMsg->DLC == 2))
{
LED_Display(CanHandle->pRxMsg->Data[0]);
ubKeyNumber = CanHandle->pRxMsg->Data[0];
}
/* Receive */
if
(HAL_CAN_Receive_IT(CanHandle, CAN_FIFO0) != HAL_OK)
{
/* Reception Error */
Error_Handler();
}
}

-Mayla-