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STM32F4 DISCOVERY CAN bus controller problem

Question asked by kezzuki on Jul 13, 2012
Latest reply on Jan 23, 2015 by akki.evil
Hi all,

I am trying to get the CAN interface working on the STM32F4DISCOVERY board.
After calling the configuration functions from the peripheral library, when I tried to transmit message with just a oscilloscope connected to the TX and RX pins it does not work. I tried usng CAN_TransmitStatus() to see the status of the mailbox and it returned "pending". Then I tracked down the register in the CAN controller, the error flag is up and further more it says "BIT DOMINANT error"... 
I don't know if I need to connect to a transceiver first and hook this board onto a CAN bus before I test it out? Or is it just something wrong with the configuration.

Here is the code I had for the configuration part:
---(I just used GPIOE pin0 to see if the program is running, nothing else)
 /* Enable GPIO clock */

  /* Connect CAN pins to AF9 */
  /* Configure CAN RX and TX pins */
  GPIO_InitStructure.GPIO_Pin = CAN_RX_PIN | CAN_TX_PIN;
  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
  GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
  GPIO_InitStructure.GPIO_PuPd  = GPIO_PuPd_UP;
  GPIO_Init(CAN_GPIO_PORT, &GPIO_InitStructure);
     //RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOE, ENABLE);
     //configure a pin for debug
  GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0;
  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
  GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
  GPIO_InitStructure.GPIO_PuPd  = GPIO_PuPd_UP;
  GPIO_Init(GPIOE, &GPIO_InitStructure);

  /* CAN configuration ********************************************************/  
       /* Enable CAN clock */
          RCC_APB1PeriphClockCmd(CAN_CLK, ENABLE);
  /* CAN register init */

  /* CAN cell init */
  CAN_InitStructure.CAN_TTCM = DISABLE;
  CAN_InitStructure.CAN_ABOM = DISABLE;
  CAN_InitStructure.CAN_AWUM = DISABLE;
  CAN_InitStructure.CAN_NART = DISABLE;
  CAN_InitStructure.CAN_RFLM = DISABLE;
  CAN_InitStructure.CAN_TXFP = DISABLE;
  CAN_InitStructure.CAN_Mode = CAN_Mode_Normal;
  CAN_InitStructure.CAN_SJW = CAN_SJW_1tq;
  /* CAN Baudrate = 1 MBps (CAN clocked at 30 MHz) */
  CAN_InitStructure.CAN_BS1 = CAN_BS1_6tq;
  CAN_InitStructure.CAN_BS2 = CAN_BS2_8tq;
  CAN_InitStructure.CAN_Prescaler = 2;
  CAN_Init(CANx, &CAN_InitStructure);

  /* CAN filter init */
#ifdef  USE_CAN1
  CAN_FilterInitStructure.CAN_FilterNumber = 0;
#else /* USE_CAN2 */
  CAN_FilterInitStructure.CAN_FilterNumber = 14;
#endif  /* USE_CAN1 */
  CAN_FilterInitStructure.CAN_FilterMode = CAN_FilterMode_IdMask;
  CAN_FilterInitStructure.CAN_FilterScale = CAN_FilterScale_32bit;
  CAN_FilterInitStructure.CAN_FilterIdHigh = 0x0000;
  CAN_FilterInitStructure.CAN_FilterIdLow = 0x0000;
  CAN_FilterInitStructure.CAN_FilterMaskIdHigh = 0x0000;
  CAN_FilterInitStructure.CAN_FilterMaskIdLow = 0x0000;
  CAN_FilterInitStructure.CAN_FilterFIFOAssignment = 0;
  CAN_FilterInitStructure.CAN_FilterActivation = ENABLE;
  /* Transmit Structure preparation */
  TxMessage.StdId = 0x321;
  TxMessage.ExtId = 0x01;
  TxMessage.RTR = CAN_RTR_DATA;
  TxMessage.IDE = CAN_ID_STD;
  TxMessage.DLC = 1;
  /* Enable FIFO 0 message pending Interrupt */

Any help is very appreciated. Thanks!