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F1 can hal_can_state always 0x22

Question asked by Bartocha.Mateusz.001 on Mar 11, 2016
Latest reply on Mar 13, 2016 by Bartocha.Mateusz.001
Hi!

I get working can in normal mode on two boards with F103:
* normal mode and I can see frames on scope

But...

I connect both of them together and I couldn't see Rx frames hal_can_state was always busy.

Board1 code - the one on which I was looking for frames:

/**
  ******************************************************************************
  * File Name          : main.c
  * Description        : Main program body
  ******************************************************************************
  *
  * COPYRIGHT(c) 2016 STMicroelectronics
  *
  * Redistribution and use in source and binary forms, with or without modification,
  * are permitted provided that the following conditions are met:
  *   1. Redistributions of source code must retain the above copyright notice,
  *      this list of conditions and the following disclaimer.
  *   2. Redistributions in binary form must reproduce the above copyright notice,
  *      this list of conditions and the following disclaimer in the documentation
  *      and/or other materials provided with the distribution.
  *   3. Neither the name of STMicroelectronics nor the names of its contributors
  *      may be used to endorse or promote products derived from this software
  *      without specific prior written permission.
  *
  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
  * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
  * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
  * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
  * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
  * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
  *
  ******************************************************************************
  */
/* Includes ------------------------------------------------------------------*/
#include "stm32f1xx_hal.h"
 
/* USER CODE BEGIN Includes */
 
/* USER CODE END Includes */
 
/* Private variables ---------------------------------------------------------*/
CAN_HandleTypeDef hcan;
 
/* USER CODE BEGIN PV */
/* Private variables ---------------------------------------------------------*/
 
/* USER CODE END PV */
 
/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
static void MX_GPIO_Init(void);
static void MX_CAN_Init(void);
 
/* USER CODE BEGIN PFP */
/* Private function prototypes -----------------------------------------------*/
 
static void Error_Handler(void);
 
/* USER CODE END PFP */
 
/* USER CODE BEGIN 0 */
 
/* USER CODE END 0 */
 
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();
 
  /* Configure the system clock */
  SystemClock_Config();
 
  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_CAN_Init();
 
  /* USER CODE BEGIN 2 */
 
  /* USER CODE END 2 */
 
  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
     
    hcan.pTxMsg->Data[0] = 0xAD;
    hcan.pTxMsg->Data[1] = 0xAD;
     
    /* push button variable */
    int PB_State = 0;
 
  while (1)
  {
  /* USER CODE END WHILE */
         
        /* if pushed switch state */
        if(HAL_GPIO_ReadPin(GPIOA, GPIO_PIN_8)==0)
        {
            if(PB_State==0)
            {
                PB_State=1;
            }else
            {
                PB_State=0;
            }
        }
         
        /* if state high start transmit */
        if(PB_State==1)
        {
            HAL_CAN_Transmit(&hcan, 50);
             
            HAL_Delay(50);
        }
         
        if(HAL_CAN_Receive_IT(&hcan, CAN_FIFO0) != HAL_OK)
        {
             
        }
        else
        {
            /* if frame received toggle LED1 pin */
            HAL_GPIO_TogglePin(GPIOF, GPIO_PIN_6);
             
            if(hcan.pRxMsg->Data[0] == 0xAA)
            {
                /* if correct data[0] toggle LED2 pin */
                HAL_GPIO_TogglePin(GPIOF, GPIO_PIN_7);
            }
             
        }
         
        HAL_Delay(500);
 
  /* USER CODE BEGIN 3 */
 
  }
  /* USER CODE END 3 */
 
}
 
/** System Clock Configuration
*/
void SystemClock_Config(void)
{
 
  RCC_OscInitTypeDef RCC_OscInitStruct;
  RCC_ClkInitTypeDef RCC_ClkInitStruct;
 
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
  RCC_OscInitStruct.HSICalibrationValue = 16;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_NONE;
  HAL_RCC_OscConfig(&RCC_OscInitStruct);
 
  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_HSI;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
  HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_0);
 
  HAL_SYSTICK_Config(HAL_RCC_GetHCLKFreq()/1000);
 
  HAL_SYSTICK_CLKSourceConfig(SYSTICK_CLKSOURCE_HCLK);
 
  /* SysTick_IRQn interrupt configuration */
  HAL_NVIC_SetPriority(SysTick_IRQn, 0, 0);
}
 
/* CAN init function */
void MX_CAN_Init(void)
{
     
    static CanTxMsgTypeDef TxMess;
    static CanRxMsgTypeDef RxMess;
     
    hcan.pTxMsg = &TxMess;
    hcan.pRxMsg = &RxMess;
     
  hcan.Instance = CAN1;
  hcan.Init.Prescaler = 2;
  hcan.Init.Mode = CAN_MODE_NORMAL;
  hcan.Init.SJW = CAN_SJW_1TQ;
  hcan.Init.BS1 = CAN_BS1_6TQ;
  hcan.Init.BS2 = CAN_BS2_8TQ;
  hcan.Init.TTCM = DISABLE;
  hcan.Init.ABOM = DISABLE;
  hcan.Init.AWUM = DISABLE;
  hcan.Init.NART = DISABLE;
  hcan.Init.RFLM = DISABLE;
  hcan.Init.TXFP = DISABLE;
     
  if(HAL_CAN_Init(&hcan) != HAL_OK)
    {
        Error_Handler();
    }
     
    /** Frame config */
     
  hcan.pTxMsg->StdId = 0x321;
  hcan.pTxMsg->ExtId = 0x01;
  hcan.pTxMsg->RTR = CAN_RTR_DATA;
  hcan.pTxMsg->IDE = CAN_ID_STD;
  hcan.pTxMsg->DLC = 2;
 
}
 
/** Pinout Configuration
*/
void MX_GPIO_Init(void)
{
 
  GPIO_InitTypeDef GPIO_InitStruct;
 
  /* GPIO Ports Clock Enable */
  __GPIOF_CLK_ENABLE();
  __GPIOA_CLK_ENABLE();
  __GPIOB_CLK_ENABLE();
 
  /*Configure GPIO pin Output Level */
  HAL_GPIO_WritePin(GPIOF, LED1_Pin|LED2_Pin, GPIO_PIN_RESET);
 
  /*Configure GPIO pins : LED1_Pin LED2_Pin */
  GPIO_InitStruct.Pin = LED1_Pin|LED2_Pin;
  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
  GPIO_InitStruct.Speed = GPIO_SPEED_LOW;
  HAL_GPIO_Init(GPIOF, &GPIO_InitStruct);
 
  /*Configure GPIO pin : USER_PB1_Pin */
  GPIO_InitStruct.Pin = USER_PB1_Pin;
  GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
  GPIO_InitStruct.Pull = GPIO_PULLDOWN;
  HAL_GPIO_Init(USER_PB1_GPIO_Port, &GPIO_InitStruct);
 
}
 
/* USER CODE BEGIN 4 */
 
/**
  * @brief  This function is executed in case of error occurrence.
  * @param  None
  * @retval None
  */
static void Error_Handler(void)
{
  while (1)
  {
  }
}
 
/* USER CODE END 4 */
 
#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
 
/**
  * @}
  */
 
/**
  * @}
*/
 
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

Board 2 - always transmit - code

/**
  ******************************************************************************
  * File Name          : main.c
  * Description        : Main program body
  ******************************************************************************
  *
  * COPYRIGHT(c) 2016 STMicroelectronics
  *
  * Redistribution and use in source and binary forms, with or without modification,
  * are permitted provided that the following conditions are met:
  *   1. Redistributions of source code must retain the above copyright notice,
  *      this list of conditions and the following disclaimer.
  *   2. Redistributions in binary form must reproduce the above copyright notice,
  *      this list of conditions and the following disclaimer in the documentation
  *      and/or other materials provided with the distribution.
  *   3. Neither the name of STMicroelectronics nor the names of its contributors
  *      may be used to endorse or promote products derived from this software
  *      without specific prior written permission.
  *
  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
  * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
  * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
  * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
  * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
  * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
  *
  ******************************************************************************
  */
/* Includes ------------------------------------------------------------------*/
#include "stm32f1xx_hal.h"
 
/* USER CODE BEGIN Includes */
 
/* USER CODE END Includes */
 
/* Private variables ---------------------------------------------------------*/
CAN_HandleTypeDef hcan;
 
/* USER CODE BEGIN PV */
/* Private variables ---------------------------------------------------------*/
 
/* USER CODE END PV */
 
/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
static void MX_GPIO_Init(void);
static void MX_CAN_Init(void);
 
/* USER CODE BEGIN PFP */
/* Private function prototypes -----------------------------------------------*/
 
static void Error_Handler(void);
 
/* USER CODE END PFP */
 
/* USER CODE BEGIN 0 */
 
/* USER CODE END 0 */
 
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();
 
  /* Configure the system clock */
  SystemClock_Config();
 
  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_CAN_Init();
 
  /* USER CODE BEGIN 2 */
 
  /* USER CODE END 2 */
 
  /* Infinite loop */
     
    hcan.pTxMsg->Data[0] = 0xAA;
  hcan.pTxMsg->Data[1] = 0xAD;
     
  while (1)
  {
  /* USER CODE END WHILE */
         
        if(HAL_CAN_Transmit(&hcan, 50) != HAL_OK)
        {
             
        }
         
        HAL_Delay(1000);
 
  /* USER CODE BEGIN 3 */
 
  }
  /* USER CODE END 3 */
}
 
/** System Clock Configuration
*/
void SystemClock_Config(void)
{
 
  RCC_OscInitTypeDef RCC_OscInitStruct;
  RCC_ClkInitTypeDef RCC_ClkInitStruct;
 
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
  RCC_OscInitStruct.HSICalibrationValue = 16;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_NONE;
  HAL_RCC_OscConfig(&RCC_OscInitStruct);
 
  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_HSI;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
  HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_0);
 
  HAL_SYSTICK_Config(HAL_RCC_GetHCLKFreq()/1000);
 
  HAL_SYSTICK_CLKSourceConfig(SYSTICK_CLKSOURCE_HCLK);
 
  /* SysTick_IRQn interrupt configuration */
  HAL_NVIC_SetPriority(SysTick_IRQn, 0, 0);
}
 
/* CAN init function */
void MX_CAN_Init(void)
{
  static CanTxMsgTypeDef TxMess;
     
    hcan.pTxMsg = &TxMess;
     
  hcan.Instance = CAN1;
  hcan.Init.Prescaler = 2;
  hcan.Init.Mode = CAN_MODE_NORMAL;
  hcan.Init.SJW = CAN_SJW_1TQ;
  hcan.Init.BS1 = CAN_BS1_6TQ;
  hcan.Init.BS2 = CAN_BS2_8TQ;
  hcan.Init.TTCM = DISABLE;
  hcan.Init.ABOM = DISABLE;
  hcan.Init.AWUM = DISABLE;
  hcan.Init.NART = DISABLE;
  hcan.Init.RFLM = DISABLE;
  hcan.Init.TXFP = DISABLE;
     
  HAL_CAN_Init(&hcan);
     
    if (HAL_CAN_Init(&hcan) != HAL_OK)
  {
        while(1);
    }
     
    hcan.pTxMsg->StdId = 0x321;
  hcan.pTxMsg->ExtId = 0x01;
  hcan.pTxMsg->RTR = CAN_RTR_DATA;
  hcan.pTxMsg->IDE = CAN_ID_STD;
  hcan.pTxMsg->DLC = 2;
 
}
 
/** Pinout Configuration
*/
void MX_GPIO_Init(void)
{
 
  /* GPIO Ports Clock Enable */
  __GPIOA_CLK_ENABLE();
 
}
 
/* USER CODE BEGIN 4 */
 
/**
  * @brief  This function is executed in case of error occurrence.
  * @param  None
  * @retval None
  */
static void Error_Handler(void)
{
  while (1)
  {
  }
}
 
/* USER CODE END 4 */
 
#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
 
/**
  * @}
  */
 
/**
  * @}
*/
 
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/


I took decision to test it with loopback mode on first board, and still the same - hal_can_status always 0x22 - rx busy. Even if I forced before receive function to set status to ready I coulnd't see my frames on both normal and loopback mode.

Any idea what I did wrong ?

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