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Correct TX CAN frame form using HAL_CAN libraries

Question asked by Eugenia Suarez on Mar 1, 2017
Latest reply on Mar 9, 2017 by Eugenia Suarez


I'm new using stm32 mcu and HAL libraries, too new developing CAN apps. So I have some questions to do in order to understand a few necessary things before testing an app that will transmit two chars in a infinite loop.


I'm working with discovery kit with smt32l4F6 mcu. I configured CAN controller params via HAL_CAN library. I have noticed that using this library, user can only have access from ID frame field to the end of data field (for transmisions). I must guess that CRC, ACK and EOF fields are configured in HAL lowest layers, independently of user code.


Am I wrong? If not, what does it mean if ESR register contains an 010 error field that indicates "form error" (according datasheet)? 


If I'm wrong, please, could anyone show me where to fill these fields or how to access them through HAL_CAN driver (of course, from my user code)?


Thanks in advance!