Hello,
In my STM32F407G-DISCO based project I use CAN1 and CAN2 to communicate with two encoders. I read the position of the encoders every 4 ms. I use TIM6 to generate an interrupt every 4 ms. It all works beautifully - it sends the position of each of them via UART2. However, when I want to run timer 7 which will send the position of each of them via UART3 every 1 second, suddenly the program does not read the position via CAN2. It does not enter the HAL_CAN_RxFifo1MsgPendingCallback function at all.
Can anyone help me and tell me where I'm making a mistake?
Below are the timer and CAN functions
static void TIMER6_Init(void)
{
htimer6.Instance = TIM6;
htimer6.Init.Prescaler = 10;
htimer6.Init.Period = 56000-1;
if( HAL_TIM_Base_Init(&htimer6) != HAL_OK )
{
Error_Handler();
}
}
static void TIMER7_Init(void)
{
htimer7.Instance = TIM7;
htimer7.Init.Prescaler = 4999;
htimer7.Init.Period = 20000-1;
if( HAL_TIM_Base_Init(&htimer7) != HAL_OK )
{
Error_Handler();
}
}
void HAL_TIM_Base_MspInit(TIM_HandleTypeDef *htimer)
{
//1. enable the clock for the TIM6 and TIM7 peripheral
__HAL_RCC_TIM6_CLK_ENABLE();
__HAL_RCC_TIM7_CLK_ENABLE();
//2. Enable the IRQ of TIM6 and TIM7
HAL_NVIC_EnableIRQ(TIM6_DAC_IRQn);
HAL_NVIC_EnableIRQ(TIM7_IRQn);
//3. setup the priority for TIM6_DAC_IRQn and TIM7
HAL_NVIC_SetPriority(TIM6_DAC_IRQn,15,0);
HAL_NVIC_SetPriority(TIM7_IRQn,15,0);
}
void HAL_CAN_MspInit(CAN_HandleTypeDef *hcan)
{
GPIO_InitTypeDef GPIO_InitStruct;
GPIO_InitTypeDef GPIO_InitStruct2;
__HAL_RCC_CAN1_CLK_ENABLE();
__HAL_RCC_CAN2_CLK_ENABLE();
/**CAN1 GPIO Configuration
PD0 ------> CAN1_RX
PD1 ------> CAN1_TX
*/
GPIO_InitStruct.Pin = GPIO_PIN_0|GPIO_PIN_1;
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(GPIOD, &GPIO_InitStruct);
//Enable IRQs for CAN
//Setting priority
HAL_NVIC_SetPriority(CAN1_TX_IRQn,15,1);
HAL_NVIC_SetPriority(CAN1_RX0_IRQn,15,1);
HAL_NVIC_SetPriority(CAN1_RX1_IRQn,15,1);
HAL_NVIC_SetPriority(CAN1_SCE_IRQn,15,1);
//Enabling IRQ
HAL_NVIC_EnableIRQ(CAN1_TX_IRQn);
HAL_NVIC_EnableIRQ(CAN1_RX0_IRQn);
HAL_NVIC_EnableIRQ(CAN1_RX1_IRQn);
HAL_NVIC_EnableIRQ(CAN1_SCE_IRQn);
/**CAN2 GPIO Configuration
PB12 ------> CAN2_RX
PB13 ------> CAN2_TX
*/
GPIO_InitStruct2.Pin = GPIO_PIN_12|GPIO_PIN_13;
GPIO_InitStruct2.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct2.Pull = GPIO_NOPULL;
GPIO_InitStruct2.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
GPIO_InitStruct2.Alternate = GPIO_AF9_CAN2;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct2);
//Enable IRQs for CAN
//Setting priority
HAL_NVIC_SetPriority(CAN2_TX_IRQn,15,0);
HAL_NVIC_SetPriority(CAN2_RX0_IRQn,15,0);
HAL_NVIC_SetPriority(CAN2_RX1_IRQn,15,0);
HAL_NVIC_SetPriority(CAN2_SCE_IRQn,15,0);
//Enabling IRQ
HAL_NVIC_EnableIRQ(CAN2_TX_IRQn);
HAL_NVIC_EnableIRQ(CAN2_RX0_IRQn);
HAL_NVIC_EnableIRQ(CAN2_RX1_IRQn);
HAL_NVIC_EnableIRQ(CAN2_SCE_IRQn);
}
