STM32F4 CAN Rx Interrupt not servicing

[RPann]

void HAL_CAN_MspInit(CAN_HandleTypeDef* hcan)
{
  GPIO_InitTypeDef GPIO_InitStruct = {0};
  if(hcan->Instance==CAN1)
  {
  /* USER CODE BEGIN CAN1_MspInit 0 */
 
  /* USER CODE END CAN1_MspInit 0 */
    /* Peripheral clock enable */
    __HAL_RCC_CAN1_CLK_ENABLE();
  
    __HAL_RCC_GPIOA_CLK_ENABLE();
    /**CAN1 GPIO Configuration    
    PA11     ------> CAN1_RX
    PA12     ------> CAN1_TX 
    */
    GPIO_InitStruct.Pin = GPIO_PIN_11|GPIO_PIN_12;
    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(GPIOA, &GPIO_InitStruct);
 
    /* CAN1 interrupt Init */
    HAL_NVIC_SetPriority(CAN1_RX0_IRQn, 0, 0);
    HAL_NVIC_EnableIRQ(CAN1_RX0_IRQn);
    HAL_NVIC_SetPriority(CAN1_RX1_IRQn, 0, 0);
    HAL_NVIC_EnableIRQ(CAN1_RX1_IRQn);
  /* USER CODE BEGIN CAN1_MspInit 1 */
 
  /* USER CODE END CAN1_MspInit 1 */
  }
 
}
/**
  * @brief CAN1 Initialization Function
  * @param None
  * @retval None
  */
static void MX_CAN1_Init(void)
{
 
  /* USER CODE BEGIN CAN1_Init 0 */
  CAN_FilterTypeDef  sFilterConfig;
  /* USER CODE END CAN1_Init 0 */
 
  /* USER CODE BEGIN CAN1_Init 1 */
 
  /* USER CODE END CAN1_Init 1 */
  hcan1.Instance = CAN1;
  hcan1.Init.Prescaler = 4;
  hcan1.Init.Mode = CAN_MODE_NORMAL;
  hcan1.Init.SyncJumpWidth = CAN_SJW_1TQ;
  hcan1.Init.TimeSeg1 = CAN_BS1_8TQ;
  hcan1.Init.TimeSeg2 = CAN_BS2_6TQ;
  hcan1.Init.TimeTriggeredMode = DISABLE;
  hcan1.Init.AutoBusOff = ENABLE;
  hcan1.Init.AutoWakeUp = DISABLE;
  hcan1.Init.AutoRetransmission = DISABLE;
  hcan1.Init.ReceiveFifoLocked = DISABLE;
  hcan1.Init.TransmitFifoPriority = DISABLE;
  if (HAL_CAN_Init(&hcan1) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN CAN1_Init 2 */
  sFilterConfig.FilterBank = 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 = CAN_RX_FIFO0;
  sFilterConfig.FilterActivation = DISABLE;
  sFilterConfig.SlaveStartFilterBank = 14;
 
  if (HAL_CAN_ConfigFilter(&hcan1, &sFilterConfig) != HAL_OK)
  {
    /* Filter configuration Error */
    Error_Handler();
  }
 
  if (HAL_CAN_Start(&hcan1) != HAL_OK)
  {
    /* Start Error */
    Error_Handler();
  }
  if (HAL_CAN_ActivateNotification(&hcan1, CAN_IT_RX_FIFO0_MSG_PENDING) != HAL_OK)
  {
    /* Notification Error */
    Error_Handler();
  }
  if (HAL_CAN_ActivateNotification(&hcan1, CAN_IT_RX_FIFO1_MSG_PENDING) != HAL_OK)
  {
    /* Notification Error */
    Error_Handler();
  }
 
  printf("can init complete \n");
  /* USER CODE END CAN1_Init 2 */
 
}
 
/**
  * @brief This function handles CAN1 RX0 interrupt.
  */
void CAN1_RX0_IRQHandler(void)
{
  /* USER CODE BEGIN CAN1_RX0_IRQn 0 */
 
  /* USER CODE END CAN1_RX0_IRQn 0 */
  HAL_CAN_IRQHandler(&hcan1);
  /* USER CODE BEGIN CAN1_RX0_IRQn 1 */
 
  /* USER CODE END CAN1_RX0_IRQn 1 */
}
 
/**
  * @brief This function handles CAN1 RX1 interrupt.
  */
void CAN1_RX1_IRQHandler(void)
{
  /* USER CODE BEGIN CAN1_RX1_IRQn 0 */
  /* USER CODE END CAN1_RX1_IRQn 0 */
  HAL_CAN_IRQHandler(&hcan1);
  /* USER CODE BEGIN CAN1_RX1_IRQn 1 */
 
  /* USER CODE END CAN1_RX1_IRQn 1 */
}
 
 
void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan)
{
	printf("rx 0");
}
 
void HAL_CAN_RxFifo1MsgPendingCallback(CAN_HandleTypeDef *hcan)
{
	printf("rx 1");
}

 The code attached is what I have so far from reading the code comments (PDF on ST website is out of date?).

Initial code has been generate by CubeMX and the interrupts have been enabled in the NVIC settings.

I can see the ack bit being set whilst monitoring the CANTX with a scope, but no interrupts are being triggered and callbacks not called.

I have set USE_HAL_CAN_REGISTER_CALLBACKS in the CDC user variables.

Any help or pointers would be greatly appreciated.

Thanks!

[Jack Peacock_2]

Check the CAN status registers to see if you are receiving bus errors.

What object ID are you trying to receive? Do you enable any filters?

Jack Peacock