STM32F4X CPU halts after CAN Bus connector unplug

[h2399]

Posted on August 09, 2015 at 14:42

Hi,

I am using CAN bus on STM32F407 using standard peripheral library.

When I unplug CAN bus connector, the CPU halts. After reconnecting CAN bus connector, the CPU is still freezing and needs hardware restart.

I want to microcontroller continues running after the bus disconnected.

I have used debugger and I see the CPU stuck in assert line:

uint8_t

CAN_TransmitStatus

(CAN_TypeDef* CANx, uint8_t TransmitMailbox)

{

uint32_t state = 0;/* Check the parameters */assert_param(

IS_CAN_ALL_PERIPH

(CANx));

assert_param(

IS_CAN_TRANSMITMAILBOX

(TransmitMailbox));

sticks here!!!!

// ===================================================

CAN_InitTypeDef

CAN_InitStructure;

CAN_FilterInitTypeDef

CAN_FilterInitStructure;

NVIC_InitTypeDef NVIC_InitStructure;

CanTxMsg TxMessage;

volatile

uint8_t

StatusCAN =

0

;

volatile

uint16_t

CanBusTxFailureCounter =

0x0000

;

volatile

uint16_t

CanBusTxFailureCounterMax =

0xFFFF

;

void

CAN_Config

(void)

{

GPIO_InitTypeDefGPIO_InitStructure;/* CAN GPIOs configuration **************************************************//* Enable GPIO clock */RCC_AHB1PeriphClockCmd(CAN_GPIO_CLK, ENABLE);/* Connect CAN pins to AF9 */GPIO_PinAFConfig(CAN_GPIO_PORT, CAN_RX_SOURCE, CAN_AF_PORT);GPIO_PinAFConfig(CAN_GPIO_PORT, CAN_TX_SOURCE, CAN_AF_PORT); /* Configure CAN RX and TX pins */GPIO_InitStructure

.GPIO_Pin

= CAN_RX_PIN | CAN_TX_PIN;

GPIO_InitStructure

.GPIO_Mode

= GPIO_Mode_AF;

GPIO_InitStructure

.GPIO_Speed

= GPIO_Speed_50MHz;

GPIO_InitStructure

.GPIO_OType

= GPIO_OType_PP;

GPIO_InitStructure

.GPIO_PuPd

= GPIO_PuPd_UP;GPIO_Init(CAN_GPIO_PORT, &GPIO_InitStructure);/* CAN configuration ********************************************************//* Enable CAN clock */RCC_APB1PeriphClockCmd(CAN_CLK, ENABLE);/* CAN register init */CAN_DeInit(CANx);/* CAN cell init */CAN_InitStructure

.CAN_TTCM

= DISABLE;

CAN_InitStructure

.CAN_ABOM

= DISABLE;

CAN_InitStructure

.CAN_AWUM

= DISABLE;

CAN_InitStructure

.CAN_NART

= DISABLE;

CAN_InitStructure

.CAN_RFLM

= DISABLE;

CAN_InitStructure

.CAN_TXFP

= DISABLE;

CAN_InitStructure

.CAN_Mode

= CAN_Mode_Normal;

CAN_InitStructure

.CAN_SJW

= CAN_SJW_1tq;

/* CAN Baudrate = 500 Kbit/

s

(CAN clocked at 42 MHz) */

// CAN_BitRate = CAN_CLK / (CAN_Prescaler * (CAN_SJW + CAN_BS1 + CAN_BS2)) - 500Kbit/s = 42MHz/(4 * (1 + 12 + 8))CAN_InitStructure

.CAN_BS1

= CAN_BS1_12tq;

CAN_InitStructure

.CAN_BS2

= CAN_BS2_8tq;

CAN_InitStructure

.CAN_Prescaler

= 4;

CAN_Init(CANx, &CAN_InitStructure);/* CAN filter init */CAN_FilterInitStructure

.CAN_FilterNumber

= 0;

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 Structure preparation */

//

TxMessage

.StdId

= 0x300;

TxMessage

.ExtId

= 0x01;

TxMessage

.RTR

= CAN_RTR_DATA;

TxMessage

.IDE

= CAN_ID_STD;

TxMessage

.DLC

= 8;

//

TxMessage

.Data

[0] = 0x00;

/* Enable FIFO 0 message pending Interrupt */CAN_ITConfig(CANx, CAN_IT_FMP0, ENABLE);NVIC_InitStructure

.NVIC_IRQChannel

= CAN1_RX0_IRQn;

NVIC_InitStructure

.NVIC_IRQChannelPreemptionPriority

= 0x0;

NVIC_InitStructure

.NVIC_IRQChannelSubPriority

= 0x1;

NVIC_InitStructure

.NVIC_IRQChannelCmd

= ENABLE;

NVIC_Init(&NVIC_InitStructure);

}

void

CANBusTaskID3FFh

(void){

TxMessage

.StdId

= 0x3FF;

TxMessage

.Data

[0] = 0x00;

TxMessage

.Data

[1] = 0x00;

TxMessage

.Data

[2] = 0x00;

TxMessage

.Data

[3] = 0x00;

TxMessage

.Data

[4] = (((uint16_t)(CC*80)) & 0xFF00) >> 8; //MSB

TxMessage

.Data

[5] = ((uint16_t)(CC*80)) & 0x00FF; //LSB

TxMessage

.Data

[6] = (((uint16_t)(DC*50))& 0xFF00) >> 8; //MSB;

TxMessage

.Data

[7] = ((uint16_t)(DC*50)) & 0x00FF; //LSB;

StatusCAN = CAN_Transmit(CAN1,&TxMessage);CanBusTxFailureCounter = 0;while((

CAN_TransmitStatus

(CAN1, StatusCAN) != CANTXOK) && (CanBusTxFailureCounter != CanBusTxFailureCounterMax) ) // Wait on Transmit

{CanBusTxFailureCounter++;}

}

#halt-cpu #can-bus #unplug-connec

[Tesla DeLorean]

Posted on August 09, 2015 at 16:20

So is it asserting because it sees the wrong/incorrect parameter?

If it is address that to resolve the problem. You can also turn off the assertion.

[h2399]

Posted on August 09, 2015 at 21:45

Hi clive,

Thank you for your reply. As you saw I have the same problem with I2C port. I didn't change the input type, I just disconnected the CAN bus connector. I will test it without assert.