Hi All,
I am using CAN for the first time and had success in sending and receiving data. However, when I enabled interrupt on can RX, it is still working and receiving messages but some message are lost!. I am sending numbers 0 to 5 from one nucleo-f767zi to another in a normal mode and receiving something like 0, 1 then 3 then 5 then 2 , and it seems to skip some data. Could be an issue with the can buffer? or my filter settings are not right. Please help I am stuck with this for days. Many thanks.
/**
******************************************************************************
* File Name : main.c
* Description : Main program body
******************************************************************************
*/
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "stm32f7xx_hal.h"
#include "cmsis_os.h"
#include "OLED.h"
#include "AsciiLib.h"
/* USER CODE BEGIN Includes */
/* USER CODE END Includes */
/* Private variables ---------------------------------------------------------*/
ADC_HandleTypeDef hadc1;
CAN_HandleTypeDef hcan1;
DAC_HandleTypeDef hdac;
SPI_HandleTypeDef hspi1;
osThreadId defaultTaskHandle;
/* USER CODE BEGIN PV */
/* Private variables ---------------------------------------------------------*/
uint32_t value,val_dac;
uint16_t x_position1, y_position1, screen_width1;
uint8_t Byte_num = 0x0, LD1=0x0;
uint8_t data[10]="";
float val_disp;
int x11=0;
/* USER CODE END PV */
/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
void Error_Handler(void);
static void MX_GPIO_Init(void);
static void MX_CAN1_Init(void);
static void MX_SPI1_Init(void);
static void MX_ADC1_Init(void);
static void MX_DAC_Init(void);
void StartDefaultTask(void const * argument);
/* USER CODE END PV */
void OLEDwriteCommand(uint8_t c);
void OLEDwriteData(uint8_t c);
void OLEDLine(int16_t x, int16_t y, int16_t w, uint16_t color);
void OLEDinit();
/* USER CODE BEGIN PFP */
/* Private function prototypes -----------------------------------------------*/
/* USER CODE END PFP */
/* USER CODE BEGIN 0 */
/* USER CODE END 0 */
int main(void)
{
/* USER CODE BEGIN 1 */
x_position1=0;
y_position1=0;
screen_width1=128;
/* 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_CAN1_Init();
MX_SPI1_Init();
MX_ADC1_Init();
MX_DAC_Init();
OLEDinit();
/* USER CODE BEGIN 2 */
for(y_position1=0;y_position1<128;y_position1++){
OLEDLine(x_position1,y_position1,screen_width1,BLACK);
}
ILI9325_TextFont(0,0,"Voltage:",BLUE,BLACK,FONT8x8_table);
ILI9325_TextFont(0,30,"Pressure:",BLUE,BLACK,FONT8x8_table);
ILI9325_TextFont(0,50,"CAN BUS:",BLUE,BLACK,FONT8x8_table);
HAL_CAN_Receive_IT(&hcan1, CAN_FIFO0);
/* USER CODE END 2 */
/* USER CODE BEGIN RTOS_MUTEX */
/* add mutexes, ... */
/* USER CODE END RTOS_MUTEX */
/* USER CODE BEGIN RTOS_SEMAPHORES */
/* add semaphores, ... */
/* USER CODE END RTOS_SEMAPHORES */
/* USER CODE BEGIN RTOS_TIMERS */
/* start timers, add new ones, ... */
/* USER CODE END RTOS_TIMERS */
/* Create the thread(s) */
/* definition and creation of defaultTask */
// osThreadDef(defaultTask, StartDefaultTask, osPriorityNormal, 0, 128);
// defaultTaskHandle = osThreadCreate(osThread(defaultTask), NULL);
/* USER CODE BEGIN RTOS_THREADS */
/* add threads, ... */
/* USER CODE END RTOS_THREADS */
/* USER CODE BEGIN RTOS_QUEUES */
/* add queues, ... */
/* USER CODE END RTOS_QUEUES */
/* Start scheduler */
// osKernelStart();
/* We should never get here as control is now taken by the scheduler */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
/////////////////////////////DAC
HAL_DAC_Init(&hdac);
HAL_DAC_Start(&hdac, DAC_CHANNEL_1);
val_dac=100;
HAL_DAC_SetValue(&hdac,DAC_CHANNEL_1,DAC_ALIGN_8B_R,val_dac);
///////////////////////////////ADC
HAL_ADC_Start(&hadc1);
HAL_ADC_PollForConversion(&hadc1,1000);
value= HAL_ADC_GetValue(&hadc1);
val_disp=(value/4096.0f)*3.3;
sprintf(data, "%.2f", val_disp);
ILI9325_TextFont(0,15,data,WHITE,BLACK,FONT8x8_table);
}
/* USER CODE END 3 */
}
/** System Clock Configuration
*/
void SystemClock_Config(void)
{
RCC_OscInitTypeDef RCC_OscInitStruct;
RCC_ClkInitTypeDef RCC_ClkInitStruct;
/**Configure the main internal regulator output voltage
*/
__HAL_RCC_PWR_CLK_ENABLE();
__HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
/**Initializes the CPU, AHB and APB busses clocks
*/
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
RCC_OscInitStruct.HSEState = RCC_HSE_ON;
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
RCC_OscInitStruct.PLL.PLLM = 8;
RCC_OscInitStruct.PLL.PLLN = 192;
RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
RCC_OscInitStruct.PLL.PLLQ = 2;
if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
{
Error_Handler();
}
/**Activate the Over-Drive mode
*/
if (HAL_PWREx_EnableOverDrive() != HAL_OK)
{
Error_Handler();
}
/**Initializes the CPU, AHB and APB busses 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_DIV4;
RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV4;
if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_6) != HAL_OK)
{
Error_Handler();
}
/**Configure the Systick interrupt time
*/
HAL_SYSTICK_Config(HAL_RCC_GetHCLKFreq()/1000);
/**Configure the Systick
*/
HAL_SYSTICK_CLKSourceConfig(SYSTICK_CLKSOURCE_HCLK);
/* SysTick_IRQn interrupt configuration */
HAL_NVIC_SetPriority(SysTick_IRQn, 15, 0);
}
/* ADC1 init function */
static void MX_ADC1_Init(void)
{
ADC_ChannelConfTypeDef sConfig;
/**Configure the global features of the ADC (Clock, Resolution, Data Alignment and number of conversion)
*/
hadc1.Instance = ADC1;
hadc1.Init.ClockPrescaler = ADC_CLOCK_SYNC_PCLK_DIV2;
hadc1.Init.Resolution = ADC_RESOLUTION_12B;
hadc1.Init.ScanConvMode = DISABLE;
hadc1.Init.ContinuousConvMode = DISABLE;
hadc1.Init.DiscontinuousConvMode = DISABLE;
hadc1.Init.ExternalTrigConvEdge = ADC_EXTERNALTRIGCONVEDGE_NONE;
hadc1.Init.ExternalTrigConv = ADC_SOFTWARE_START;
hadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT;
hadc1.Init.NbrOfConversion = 1;
hadc1.Init.DMAContinuousRequests = DISABLE;
hadc1.Init.EOCSelection = ADC_EOC_SINGLE_CONV;
if (HAL_ADC_Init(&hadc1) != HAL_OK)
{
Error_Handler();
}
/**Configure for the selected ADC regular channel its corresponding rank in the sequencer and its sample time.
*/
sConfig.Channel = ADC_CHANNEL_0;
sConfig.Rank = 1;
sConfig.SamplingTime = ADC_SAMPLETIME_3CYCLES;
if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
{
Error_Handler();
}
}
/* CAN1 init function */
static void MX_CAN1_Init(void)
{
CAN_FilterConfTypeDef sFilterConfig;
static CanTxMsgTypeDef TxMessage;
static CanRxMsgTypeDef RxMessage;
/*##-1- Configure the CAN peripheral #######################################*/
hcan1.Instance = CAN1;
hcan1.pTxMsg = &TxMessage;
hcan1.pRxMsg = &RxMessage;
hcan1.Init.Prescaler = 12;
hcan1.Init.Mode = CAN_MODE_NORMAL;
hcan1.Init.SJW = CAN_SJW_1TQ;
hcan1.Init.BS1 = CAN_BS1_5TQ;
hcan1.Init.BS2 = CAN_BS2_2TQ;
hcan1.Init.TTCM = DISABLE;
hcan1.Init.ABOM = DISABLE;
hcan1.Init.AWUM = DISABLE;
hcan1.Init.NART = DISABLE;
hcan1.Init.RFLM = DISABLE;
hcan1.Init.TXFP = DISABLE;
if (HAL_CAN_Init(&hcan1) != HAL_OK)
{
Error_Handler();
}
// Filter Configuration
/*##-2- Configure the CAN Filter ###########################################*/
sFilterConfig.FilterNumber = 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_FIFO0;
sFilterConfig.FilterActivation = ENABLE;
sFilterConfig.BankNumber = 0;
if(HAL_CAN_ConfigFilter(&hcan1, &sFilterConfig) != HAL_OK)
{
/* Filter configuration Error */
Error_Handler();
}
/*##-3- Configure Transmission process #####################################*/
hcan1.pTxMsg->StdId = 0x321;
hcan1.pTxMsg->ExtId = 0x01;
hcan1.pTxMsg->RTR = CAN_RTR_DATA;
hcan1.pTxMsg->IDE = CAN_ID_STD;
hcan1.pTxMsg->DLC = 1;
}
/* DAC init function */
static void MX_DAC_Init(void)
{
DAC_ChannelConfTypeDef sConfig;
/**DAC Initialization
*/
hdac.Instance = DAC;
if (HAL_DAC_Init(&hdac) != HAL_OK)
{
Error_Handler();
}
/**DAC channel OUT1 config
*/
sConfig.DAC_Trigger = DAC_TRIGGER_NONE;
sConfig.DAC_OutputBuffer = DAC_OUTPUTBUFFER_ENABLE;
if (HAL_DAC_ConfigChannel(&hdac, &sConfig, DAC_CHANNEL_1) != HAL_OK)
{
Error_Handler();
}
}
/* SPI1 init function */
static void MX_SPI1_Init(void)
{
hspi1.Instance = SPI1;
hspi1.Init.Mode = SPI_MODE_MASTER;
hspi1.Init.Direction = SPI_DIRECTION_1LINE;
hspi1.Init.DataSize = SPI_DATASIZE_8BIT;
hspi1.Init.CLKPolarity = SPI_POLARITY_LOW;
hspi1.Init.CLKPhase = SPI_PHASE_1EDGE;
hspi1.Init.NSS = SPI_NSS_SOFT;
hspi1.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_2;
hspi1.Init.FirstBit = SPI_FIRSTBIT_MSB;
hspi1.Init.TIMode = SPI_TIMODE_DISABLE;
hspi1.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE;
hspi1.Init.CRCPolynomial = 7;
hspi1.Init.CRCLength = SPI_CRC_LENGTH_DATASIZE;
hspi1.Init.NSSPMode = SPI_NSS_PULSE_ENABLE;
if (HAL_SPI_Init(&hspi1) != HAL_OK)
{
Error_Handler();
}
}
/** Configure pins as
* Analog
* Input
* Output
* EVENT_OUT
* EXTI
*/
static void MX_GPIO_Init(void)
{
GPIO_InitTypeDef GPIO_InitStruct;
/* GPIO Ports Clock Enable */
__HAL_RCC_GPIOC_CLK_ENABLE();
__HAL_RCC_GPIOH_CLK_ENABLE();
__HAL_RCC_GPIOA_CLK_ENABLE();
__HAL_RCC_GPIOB_CLK_ENABLE();
__HAL_RCC_GPIOG_CLK_ENABLE();
HAL_GPIO_WritePin(GPIOG, GPIO_PIN_0|GPIO_PIN_1|GPIO_PIN_2, GPIO_PIN_RESET);
/*Configure GPIO pins : RS_Pin DC_Pin CS_Pin */
GPIO_InitStruct.Pin = GPIO_PIN_0|GPIO_PIN_1|GPIO_PIN_2;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(GPIOG, &GPIO_InitStruct);
/*Configure GPIO pin : PC13 */
GPIO_InitStruct.Pin = GPIO_PIN_13;
GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
/*Configure GPIO pin : PB7 */
GPIO_InitStruct.Pin = GPIO_PIN_7;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOB, GPIO_PIN_7, GPIO_PIN_RESET);
/* EXTI interrupt init*/
HAL_NVIC_SetPriority(EXTI15_10_IRQn, 5, 0);
HAL_NVIC_EnableIRQ(EXTI15_10_IRQn);
}
/* USER CODE BEGIN 4 */
/* USER CODE END 4 */
/* StartDefaultTask function */
void StartDefaultTask(void const * argument)
{
/* USER CODE BEGIN 5 */
/* Infinite loop */
for(;;)
{
osDelay(1);
}
/* USER CODE END 5 */
}
/**
* @brief Period elapsed callback in non blocking mode
* @note This function is called when TIM1 interrupt took place, inside
* HAL_TIM_IRQHandler(). It makes a direct call to HAL_IncTick() to increment
* a global variable "uwTick" used as application time base.
* @param htim : TIM handle
* @retval None
*/
void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
{
/* USER CODE BEGIN Callback 0 */
/* USER CODE END Callback 0 */
if (htim->Instance == TIM1) {
HAL_IncTick();
}
/* USER CODE BEGIN Callback 1 */
/* USER CODE END Callback 1 */
}
/**
* @brief This function is executed in case of error occurrence.
* @param None
* @retval None
*/
void Error_Handler(void)
{
/* USER CODE BEGIN Error_Handler */
/* User can add his own implementation to report the HAL error return state */
while(1)
{
}
/* USER CODE END Error_Handler */
}
#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
/**
* @}
*/
//void HAL_CAN_RxCpltCallback(CAN_HandleTypeDef* hcan1)
//{
// // if ((hcan1->pRxMsg->StdId == 0x321)&&(hcan1->pRxMsg->IDE == CAN_ID_STD) && (hcan1->pRxMsg->DLC == 2))
// //{
// HAL_CAN_IRQHandler(&hcan1);
// hcan1->pRxMsg->Data[0];
// sprintf(data, "%d", hcan1->pRxMsg->Data[0]);
// Byte_num=hcan1->pRxMsg->Data[0];
// ILI9325_TextFont(120,50,data,RED,BLACK,FONT8x8_table);
//
//
// //}
//
// /* Receive */
// if(HAL_CAN_Receive_IT(hcan1, CAN_FIFO0) != HAL_OK)
// {
// /* Reception Error */
// Error_Handler();
// }
//}
/**
* @}
*/
//////////////////////////////////////////////////////////////////////////////////////////////////////////
Interrupt file:
/**
******************************************************************************
* @file stm32f7xx_it.c
* @brief Interrupt Service Routines.
******************************************************************************
*
* 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 "stm32f7xx_hal.h"
#include "stm32f7xx.h"
#include "stm32f7xx_it.h"
#include "cmsis_os.h"
#include "OLED.h"
#include "AsciiLib.h"
/* USER CODE BEGIN 0 */
extern CAN_HandleTypeDef hcan1;
/* USER CODE END 0 */
/* External variables --------------------------------------------------------*/
extern CAN_HandleTypeDef hcan1;
extern TIM_HandleTypeDef htim1;
extern void MX_CAN1_Init(void);
extern void OLEDwriteCommand(uint8_t c);
extern void OLEDwriteData(uint8_t c);
extern void OLEDLine(int16_t x, int16_t y, int16_t w, uint16_t color);
extern void OLEDinit();
extern uint8_t Byte_num;
extern uint8_t data[10];
extern uint8_t LD1;
/******************************************************************************/
/* Cortex-M7 Processor Interruption and Exception Handlers */
/******************************************************************************/
/**
* @brief This function handles System tick timer.
*/
void SysTick_Handler(void)
{
/* USER CODE BEGIN SysTick_IRQn 0 */
/* USER CODE END SysTick_IRQn 0 */
osSystickHandler();
/* USER CODE BEGIN SysTick_IRQn 1 */
/* USER CODE END SysTick_IRQn 1 */
}
/******************************************************************************/
/* STM32F7xx Peripheral Interrupt Handlers */
/* Add here the Interrupt Handlers for the used peripherals. */
/* For the available peripheral interrupt handler names, */
/* please refer to the startup file (startup_stm32f7xx.s). */
/******************************************************************************/
/**
* @brief This function handles CAN1 RX0 interrupts.
*/
void CAN1_RX0_IRQHandler(void)
{
/* USER CODE BEGIN CAN1_RX0_IRQn 0 */
HAL_CAN_IRQHandler(&hcan1);
sprintf(data, "%d", hcan1.pRxMsg->Data[0]);
Byte_num=hcan1.pRxMsg->Data[0];
ILI9325_TextFont(120,50,data,RED,BLACK,FONT8x8_table);
HAL_CAN_Receive_IT(&hcan1, CAN_FIFO0);
/* USER CODE BEGIN CAN1_RX0_IRQn 1 */
/* USER CODE END CAN1_RX0_IRQn 1 */
}
/**
* @brief This function handles TIM1 update interrupt and TIM10 global interrupt.
*/
void TIM1_UP_TIM10_IRQHandler(void)
{
/* USER CODE BEGIN TIM1_UP_TIM10_IRQn 0 */
/* USER CODE END TIM1_UP_TIM10_IRQn 0 */
HAL_TIM_IRQHandler(&htim1);
/* USER CODE BEGIN TIM1_UP_TIM10_IRQn 1 */
/* USER CODE END TIM1_UP_TIM10_IRQn 1 */
}
/**
* @brief This function handles EXTI line[15:10] interrupts.
*/
void EXTI15_10_IRQHandler(void)
{
/* USER CODE BEGIN EXTI15_10_IRQn 0 */
if (LD1==0x0){
LD1=0x1;
}
else {
LD1=0x0;
}
/* Set the data to be transmitted */
hcan1.pTxMsg->Data[0] = LD1;
hcan1.pTxMsg->Data[1] = 0xAD;
HAL_CAN_Transmit(&hcan1, 10);
HAL_GPIO_EXTI_IRQHandler(GPIO_PIN_13);
/* USER CODE END EXTI15_10_IRQn 0 */
HAL_GPIO_EXTI_IRQHandler(GPIO_PIN_13);
/* USER CODE BEGIN EXTI15_10_IRQn 1 */
/* USER CODE END EXTI15_10_IRQn 1 */
}
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/