HAL_CAN_Start(&hcan) returns error 0x01

Aarra.1 · ‎2022-09-03

Dear all,

I'm using stm32f412ret6 MCU in my custom made board.

The code used is as below.

The HAL_CAN_Start function returns HAL_ERROR.

when debugged the issue is timeout with in the HAL_CAN_Start function.

I don't understand if I'm going wrong any where with the code. Kindly help me out with this problem.

/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file           : main.c
  * @brief          : Main program body
  ******************************************************************************
  * @attention
  *
  * Copyright (c) 2022 STMicroelectronics.
  * All rights reserved.
  *
  * This software is licensed under terms that can be found in the LICENSE file
  * in the root directory of this software component.
  * If no LICENSE file comes with this software, it is provided AS-IS.
  *
  ******************************************************************************
  */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
 
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
 
/* USER CODE END Includes */
 
/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */
 
/* USER CODE END PTD */
 
/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
/* USER CODE END PD */
 
/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */
 
/* USER CODE END PM */
 
/* Private variables ---------------------------------------------------------*/
CAN_HandleTypeDef hcan2;
 
/* USER CODE BEGIN PV */
 
/* USER CODE END PV */
 
/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
static void MX_GPIO_Init(void);
static void MX_CAN2_Init(void);
/* USER CODE BEGIN PFP */
 
/* USER CODE END PFP */
 
/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
CAN_TxHeaderTypeDef   TxHeader;
CAN_RxHeaderTypeDef   RxHeader;
 
uint8_t               RxData[8];
uint8_t               TxData[8];
uint32_t              TxMailbox;
int i =0;
void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan)
{
	HAL_CAN_GetRxMessage(&hcan2, CAN_RX_FIFO0, &RxHeader, RxData);
	if(RxHeader.DLC == 2)
	{
		i = 1;
	}
}
/* USER CODE END 0 */
 
/**
  * @brief  The application entry point.
  * @retval int
  */
int main(void)
{
  /* USER CODE BEGIN 1 */
 
  /* USER CODE END 1 */
 
  /* MCU Configuration--------------------------------------------------------*/
 
  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  HAL_Init();
 
  /* USER CODE BEGIN Init */
 
  /* USER CODE END Init */
 
  /* Configure the system clock */
  SystemClock_Config();
 
  /* USER CODE BEGIN SysInit */
 
  /* USER CODE END SysInit */
 
  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_CAN2_Init();
  /* USER CODE BEGIN 2 */
 
  HAL_GPIO_WritePin(CAN_MODE_GPIO_Port, CAN_MODE_Pin, 0);
  if(HAL_CAN_Start(&hcan2)!=HAL_OK)
  {
	  Error_Handler();
  }
 
  //activate notification
  HAL_CAN_ActivateNotification(&hcan2, CAN_IT_RX_FIFO0_MSG_PENDING);
 
 
 
  TxHeader.DLC = 2;
  TxHeader.IDE = CAN_ID_STD;
  TxHeader.RTR = CAN_RTR_DATA;
  TxHeader.StdId = 0x446;
 
  TxData[0] = 10;
  TxData[1] = 20;
 
  HAL_CAN_AddTxMessage(&hcan2, &TxHeader, TxData, &TxMailbox);
 
 
  /* USER CODE END 2 */
 
  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {
	  if(i == 1)
	  {
		  HAL_Delay(1000);
	  }
    /* USER CODE END WHILE */
 
    /* USER CODE BEGIN 3 */
  }
  /* USER CODE END 3 */
}
 
/**
  * @brief System Clock Configuration
  * @retval None
  */
void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
 
  /** Configure the main internal regulator output voltage
  */
  __HAL_RCC_PWR_CLK_ENABLE();
  __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
 
  /** Initializes the RCC Oscillators according to the specified parameters
  * in the RCC_OscInitTypeDef structure.
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
  RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
  RCC_OscInitStruct.PLL.PLLM = 8;
  RCC_OscInitStruct.PLL.PLLN = 90;
  RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
  RCC_OscInitStruct.PLL.PLLQ = 2;
  RCC_OscInitStruct.PLL.PLLR = 2;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    Error_Handler();
  }
 
  /** Initializes the CPU, AHB and APB buses clocks
  */
  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
 
  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
  {
    Error_Handler();
  }
}
 
/**
  * @brief CAN2 Initialization Function
  * @param None
  * @retval None
  */
static void MX_CAN2_Init(void)
{
 
  /* USER CODE BEGIN CAN2_Init 0 */
 
  /* USER CODE END CAN2_Init 0 */
 
  /* USER CODE BEGIN CAN2_Init 1 */
 
  /* USER CODE END CAN2_Init 1 */
  hcan2.Instance = CAN2;
  hcan2.Init.Prescaler = 15;
  hcan2.Init.Mode = CAN_MODE_NORMAL;
  hcan2.Init.SyncJumpWidth = CAN_SJW_1TQ;
  hcan2.Init.TimeSeg1 = CAN_BS1_2TQ;
  hcan2.Init.TimeSeg2 = CAN_BS2_3TQ;
  hcan2.Init.TimeTriggeredMode = DISABLE;
  hcan2.Init.AutoBusOff = DISABLE;
  hcan2.Init.AutoWakeUp = DISABLE;
  hcan2.Init.AutoRetransmission = DISABLE;
  hcan2.Init.ReceiveFifoLocked = DISABLE;
  hcan2.Init.TransmitFifoPriority = DISABLE;
  if (HAL_CAN_Init(&hcan2) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN CAN2_Init 2 */
  CAN_FilterTypeDef canfilterconfig;
 
   canfilterconfig.FilterActivation = CAN_FILTER_ENABLE;
   canfilterconfig.FilterBank = 14;  // which filter bank to use from the assigned ones
   canfilterconfig.FilterFIFOAssignment = CAN_FILTER_FIFO0;
   canfilterconfig.FilterIdHigh = 0x3fff;
   canfilterconfig.FilterIdLow = 0x0000;
   canfilterconfig.FilterMaskIdHigh = 0x3fff;
   canfilterconfig.FilterMaskIdLow = 0x0000;
   canfilterconfig.FilterMode = CAN_FILTERMODE_IDMASK;
   canfilterconfig.FilterScale = CAN_FILTERSCALE_32BIT;
   canfilterconfig.SlaveStartFilterBank = 20;  // how many filters to assign to the CAN1 (master can)
 
   if(HAL_CAN_ConfigFilter(&hcan2, &canfilterconfig)!=HAL_OK)
   {
	   Error_Handler();
   }
  /* USER CODE END CAN2_Init 2 */
 
}
 
/**
  * @brief GPIO Initialization Function
  * @param None
  * @retval None
  */
static void MX_GPIO_Init(void)
{
  GPIO_InitTypeDef GPIO_InitStruct = {0};
 
  /* GPIO Ports Clock Enable */
  __HAL_RCC_GPIOH_CLK_ENABLE();
  __HAL_RCC_GPIOB_CLK_ENABLE();
  __HAL_RCC_GPIOC_CLK_ENABLE();
 
  /*Configure GPIO pin Output Level */
  HAL_GPIO_WritePin(GPIOC, GPIO_PIN_12, GPIO_PIN_RESET);
 
  /*Configure GPIO pin : PC12 */
  GPIO_InitStruct.Pin = GPIO_PIN_12;
  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
  HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
 
}
 
/* USER CODE BEGIN 4 */
 
/* USER CODE END 4 */
 
/**
  * @brief  This function is executed in case of error occurrence.
  * @retval None
  */
void Error_Handler(void)
{
  /* USER CODE BEGIN Error_Handler_Debug */
  /* User can add his own implementation to report the HAL error return state */
  __disable_irq();
  while (1)
  {
  }
  /* USER CODE END Error_Handler_Debug */
}
 
#ifdef  USE_FULL_ASSERT
/**
  * @brief  Reports the name of the source file and the source line number
  *         where the assert_param error has occurred.
  * @param  file: pointer to the source file name
  * @param  line: assert_param error line source number
  * @retval None
  */
void assert_failed(uint8_t *file, uint32_t line)
{
  /* USER CODE BEGIN 6 */
  /* User can add his own implementation to report the file name and line number,
     ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
  /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */

Jaroslav JANOS · ‎2022-09-05

Hello,

in order to switch the interface to the normal mode (which is what HAL_CAN_Start does), 11 consecutive recessive bits must be received -- see reference manual for more information.

So how is your CAN interface wired? Is it connected to the CAN bus?

Jaroslav

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Aarra.1 · ‎2022-09-05

Hello Jaroslav,

Thank you for your response.

Yes, my CAN interface is connected to the CANMate to check the transmit and receive data on the Desktop application.

I'm also aware about "11 consecutive recessive bits must be received " but when I probe my CANRx pin during debugging I do not see any response.

While debugging HAL_CAN_Start function I figured out that

    /* Wait the acknowledge */
    while ((hcan->Instance->MSR & CAN_MSR_INAK) != 0U)
    {
      /* Check for the Timeout */
      if ((HAL_GetTick() - tickstart) > CAN_TIMEOUT_VALUE)
      {
        /* Update error code */
        hcan->ErrorCode |= HAL_CAN_ERROR_TIMEOUT;
 
        /* Change CAN state */
        hcan->State = HAL_CAN_STATE_ERROR;
 
        return HAL_ERROR;
      }
    }

the code is stuck in the above while loop.

From the reference manual I understand that CAN_MSR_INAK bit is not being reset by the hardware i.e. there is no acknowledgement received.

If I'm correct in my above observations kindly help me as how can I figure out this problem.

Jaroslav JANOS · ‎2022-09-05

Yes, you are right, the transition from the initialization mode to the normal mode is not "confirmed", therefore the CAN_MSR_INAK bit is not being reset and you end up with timeout error.

I suppose, you have not changed the auto-generated function HAL_CAN_MspInit() in stm32f4xx_hal_msp.c file, so the clock signal for the CAN peripheral is enabled and GPIO is configured as AF for CAN2. Is that correct?

Also, when you say you see no response on the CAN Rx pin, is the pin really in recessive state, i. e. in state of logical 1? What kind of CAN transceiver are you using?

Jaroslav

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Aarra.1 · ‎2022-09-05

My HAL_CAN_MspInit() function is as follows

void HAL_CAN_MspInit(CAN_HandleTypeDef* hcan)
{
  GPIO_InitTypeDef GPIO_InitStruct = {0};
  if(hcan->Instance==CAN2)
  {
  /* USER CODE BEGIN CAN2_MspInit 0 */
 
  /* USER CODE END CAN2_MspInit 0 */
    /* Peripheral clock enable */
    __HAL_RCC_CAN1_CLK_ENABLE();
    __HAL_RCC_CAN2_CLK_ENABLE();
 
    __HAL_RCC_GPIOB_CLK_ENABLE();
    /**CAN2 GPIO Configuration
    PB12     ------> CAN2_RX
    PB13     ------> CAN2_TX
    */
    GPIO_InitStruct.Pin = GPIO_PIN_12|GPIO_PIN_13;
    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_CAN2;
    HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
 
  /* USER CODE BEGIN CAN2_MspInit 1 */
 
  /* USER CODE END CAN2_MspInit 1 */
  }
 
}

The clock signal is enabled and the GPIO is configured as AF.

Yes the Rx pin is in recessive state.

I'm using SN65HV CAN Transceiver. And I have enabled the normal mode i.e. Mode select pin is low.

Jaroslav JANOS · ‎2022-09-05

Thank you for the code.

In the function MX_CAN2_Init() you are initializing CAN2 peripheral, but in the HAL_CAN_MspInit() function, you are enabling clock and GPIOs for CAN1 peripheral.

Try to change CAN2 to CAN1 in MX_CAN2_Init()

hcan2.Instance = CAN1;

For better readability, it would be better to re-generate the code in CubeMX to have MX_CAN1_Init() function and hcan1 HandleTypeDef...

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Aarra.1 · ‎2022-09-05

Sorry I don't understand. As I see in the code I have initialized the clock for CAN2

__HAL_RCC_CAN2_CLK_ENABLE();

and the GPIOs Initialized are also for CAN2 i.e. PB12 -> Rx and PB13->Tx

How is changing the name of the instance to CAN1 make a difference?

Jaroslav JANOS · ‎2022-09-05

Yes, you are right, this code is correct. But I am quite sure the previous/original code was different, nevermind...

In that case I do not see any problem with your code, maybe check again the wiring or try changing the operating mode of the CAN peripheral to loopback first.

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Kunaalkk1 · ‎2024-08-28

@Aarra.1 @Jaroslav JANOS was this problem solved? I am facing the same issue

DONGAO · ‎2024-10-31

Hello. Is the problem solved? I had the same problem.