Posted on June 14, 2018 at 19:23
Stm32F103 HAL_CAN_Transmit(&hcan,10) not working, always return HAL_TIMEOUT and HAL_ERROR, but when i use STD_Lib everything is good. So i think if the HAL has BUG of CAN on STM32F1?
Hello,
I'm trying to set up CAN on my STM32F103 to send a CAN message but I keep getting HAL_TIMEOUT error from the HAL_CAN_Transmit() function :
/* Check End of transmission flag */
while(!(__HAL_CAN_TRANSMIT_STATUS(hcan, transmitmailbox)))
{
/* Check for the Timeout */
if(Timeout != HAL_MAX_DELAY)
{
if((Timeout == 0U) || ((HAL_GetTick()-tickstart) > Timeout)) ///////here!!!!!!!!!!!!!
{
hcan->State = HAL_CAN_STATE_TIMEOUT;
/* Cancel transmission */
__HAL_CAN_CANCEL_TRANSMIT(hcan, transmitmailbox);
/* Process unlocked */
__HAL_UNLOCK(hcan);
return HAL_TIMEOUT;
}
}
}
Here's my code:
/* Includes ------------------------------------------------------------------*/
&sharpinclude 'can.h'
&sharpinclude 'gpio.h'
/* USER CODE BEGIN 0 */
CanTxMsgTypeDef TxMessage;
CanRxMsgTypeDef RxMessage;
/* USER CODE END 0 */
CAN_HandleTypeDef hcan;
/* CAN init function */
void MX_CAN_Init(void)
{
hcan.Instance = CAN1;
hcan.pTxMsg = &TxMessage; //?????
hcan.pRxMsg = &RxMessage;
hcan.Init.Prescaler = 6;
hcan.Init.Mode = CAN_MODE_NORMAL;
hcan.Init.SJW = CAN_SJW_1TQ;
hcan.Init.BS1 = CAN_BS1_6TQ;
hcan.Init.BS2 = CAN_BS2_5TQ;
hcan.Init.TTCM = DISABLE;
hcan.Init.ABOM = DISABLE;
hcan.Init.AWUM = DISABLE;
hcan.Init.NART = ENABLE;
hcan.Init.RFLM = DISABLE;
hcan.Init.TXFP = DISABLE;
if (HAL_CAN_Init(&hcan) != HAL_OK)
{
_Error_Handler(__FILE__, __LINE__);
}
CAN_FilterConfTypeDef sFilterConfig;
//
sFilterConfig.FilterNumber = 0;
sFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK;
sFilterConfig.FilterScale = CAN_FILTERSCALE_32BIT;
sFilterConfig.FilterIdHigh = 0x0000;
sFilterConfig.FilterIdLow = 0x0000;
sFilterConfig.FilterMaskIdHigh = 0x0000;
sFilterConfig.FilterMaskIdLow = 0x0000;
sFilterConfig.FilterFIFOAssignment = 0;
sFilterConfig.FilterActivation = ENABLE;
sFilterConfig.BankNumber = 14;
if (HAL_CAN_ConfigFilter(&hcan, &sFilterConfig) != HAL_OK)
{
/* Filter configuration Error */
Error_Handler();
}
}
void HAL_CAN_MspInit(CAN_HandleTypeDef* canHandle)
{
GPIO_InitTypeDef GPIO_InitStruct;
if(canHandle->Instance==CAN1)
{
/* USER CODE BEGIN CAN1_MspInit 0 */
/* USER CODE END CAN1_MspInit 0 */
/* CAN1 clock enable */
__HAL_RCC_CAN1_CLK_ENABLE();
/**CAN GPIO Configuration
PB8 ------> CAN_RX
PB9 ------> CAN_TX
*/
GPIO_InitStruct.Pin = GPIO_PIN_8;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = GPIO_PULLUP;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
GPIO_InitStruct.Pin = GPIO_PIN_9;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
__HAL_AFIO_REMAP_CAN1_2();
/* CAN1 interrupt Init */
HAL_NVIC_SetPriority(USB_LP_CAN1_RX0_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(USB_LP_CAN1_RX0_IRQn);
/* USER CODE BEGIN CAN1_MspInit 1 */
/* USER CODE END CAN1_MspInit 1 */
}
}
void HAL_CAN_MspDeInit(CAN_HandleTypeDef* canHandle)
{
if(canHandle->Instance==CAN1)
{
/* USER CODE BEGIN CAN1_MspDeInit 0 */
/* USER CODE END CAN1_MspDeInit 0 */
/* Peripheral clock disable */
__HAL_RCC_CAN1_CLK_DISABLE();
/**CAN GPIO Configuration
PB8 ------> CAN_RX
PB9 ------> CAN_TX
*/
HAL_GPIO_DeInit(GPIOB, GPIO_PIN_8|GPIO_PIN_9);
/* CAN1 interrupt Deinit */
HAL_NVIC_DisableIRQ(USB_LP_CAN1_RX0_IRQn);
/* USER CODE BEGIN CAN1_MspDeInit 1 */
/* USER CODE END CAN1_MspDeInit 1 */
}
}
/* USER CODE BEGIN 1 */
u8 Can_Send_Msg(u8 i,u8* msg,u8 len)
{
u8 j=0;
switch(i)
{
case 0:TxMessage.StdId = 0x200;break;
case 1:TxMessage.StdId = 0x1FF;break;
}
TxMessage.IDE=CAN_ID_STD; // ???
TxMessage.RTR=CAN_RTR_DATA; // ???
TxMessage.DLC=len; // ????????
for(j=0;j<len;j++)
TxMessage.Data[j]=msg[j];
if (HAL_CAN_Transmit(&hcan, 10) != HAL_OK)
{
/* Transmition Error */
Error_Handler();
}
return 1;
}
u8 Can_Receive_Msg(u8 *buf)
{
u32 i;
if((RxMessage.StdId|0x0F)==0x20F)
{
for(i=0;i<RxMessage.DLC;i++) buf[i] = RxMessage.Data[i];
buf[7] = RxMessage.StdId - 0x201;
return RxMessage.DLC;
}
else return 0;
}
/***************RX????************/
void HAL_CAN_RxCpltCallback(CAN_HandleTypeDef* hcan)
{
if (HAL_CAN_Receive_IT(hcan, CAN_FIFO0) != HAL_OK)
{
/* Reception Error */
Error_Handler();
}
Can_Receive_Msg(RxMessage.Data);
}
/* USER CODE END 1 */
#can-hal_can_transmit_it #bug? #stm32f1-hal
