STM32F4 Discovery. CAN communication FAIL. HAL_TIMEOUT.

tiberius91 · ‎2015-09-22

Posted on September 22, 2015 at 15:09

Hello everyone, this is my first post in the forum, but I read a great deal of threads about CAN communication between PC and STM32 Discovery using HAL Libraries.

The problem, basically, is that I'm unable to send/receive CAN frames. The configuration of the peripheral is pretty standard, and my code looks right, but when I try to send a message through HAL_CAN_Transmit I get an HAL_TIMEOUT state.

Can someone help me? I'm pretty stuck!

CAN_HandleTypeDef CAN_HandleStruc;

void CAN1_Init()

{

//Struct for GPIO and CAN initialization

GPIO_InitTypeDef GPIO_InitStruc;

CAN_FilterConfTypeDef CAN_FilterConfStruc;

static CanRxMsgTypeDef msgRX;

static CanTxMsgTypeDef msgTX;

//Enable GPIOD clock

__HAL_RCC_CAN1_CLK_ENABLE();

__GPIOD_CLK_ENABLE();

GPIO_InitStruc.Pin = CAN_RX_PIN | CAN_TX_PIN;

GPIO_InitStruc.Mode = GPIO_MODE_AF_PP;

GPIO_InitStruc.Speed = GPIO_SPEED_HIGH; //100 Mhz

GPIO_InitStruc.Pull = GPIO_PULLUP;

GPIO_InitStruc.Alternate = GPIO_AF9_CAN1;

HAL_GPIO_Init(CAN_GPIO_PORT,&GPIO_InitStruc);

/*♯&sharp1 Configure the CAN peripheral ♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯*/

// CAN Baudrate (1Mbps) = 168MHz/[(SJW+BS1+BS2)*Prescaler]

HAL_CAN_DeInit(&CAN_HandleStruc);

CAN_HandleStruc.Instance = CAN1;

CAN_HandleStruc.pTxMsg = &msgTX;

CAN_HandleStruc.pRxMsg = &msgRX;

CAN_HandleStruc.Init.TTCM = DISABLE;

CAN_HandleStruc.Init.ABOM = DISABLE;

CAN_HandleStruc.Init.AWUM = DISABLE;

CAN_HandleStruc.Init.NART = DISABLE;

CAN_HandleStruc.Init.RFLM = DISABLE;

CAN_HandleStruc.Init.TXFP = DISABLE;

CAN_HandleStruc.Init.Mode = CAN_MODE_NORMAL;

CAN_HandleStruc.Init.SJW = CAN_SJW_1TQ;

CAN_HandleStruc.Init.BS1 = CAN_BS1_14TQ;

CAN_HandleStruc.Init.BS2 = CAN_BS2_6TQ;

CAN_HandleStruc.Init.Prescaler = 8;

if(HAL_CAN_Init(&CAN_HandleStruc) != HAL_OK)

Error_Handler();

/*♯&sharp2 Configure the CAN filter ♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯*/

CAN_FilterConfStruc.FilterNumber = 0;

CAN_FilterConfStruc.FilterMode = CAN_FILTERMODE_IDMASK;

CAN_FilterConfStruc.FilterScale = CAN_FILTERSCALE_32BIT;

CAN_FilterConfStruc.FilterIdHigh = 0x0000;

CAN_FilterConfStruc.FilterIdLow = 0x0000;

CAN_FilterConfStruc.FilterMaskIdHigh = 0x0000;

CAN_FilterConfStruc.FilterMaskIdLow = 0x0000;

CAN_FilterConfStruc.FilterFIFOAssignment = CAN_FILTER_FIFO0;

CAN_FilterConfStruc.FilterActivation = ENABLE;

//CAN_FilterConfStruc.BankNumber = 14;

HAL_CAN_ConfigFilter(&CAN_HandleStruc,&CAN_FilterConfStruc);

//Enable CAN1 RX Interrupt

HAL_NVIC_SetPriority(CAN1_RX0_IRQn,0,0); //Priority and Sub Priority

HAL_NVIC_EnableIRQ(CAN1_RX0_IRQn);

//Enable FIFO0 pending interrupt

__HAL_CAN_ENABLE_IT(&CAN_HandleStruc,CAN_IT_FMP0);

/*♯&sharp3 Configure Transmission process ♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯♯*/

CAN_HandleStruc.pTxMsg->StdId = 0x1;

CAN_HandleStruc.pTxMsg->ExtId = 0x0;

CAN_HandleStruc.pTxMsg->RTR = CAN_RTR_DATA;

CAN_HandleStruc.pTxMsg->IDE = CAN_ID_STD;

CAN_HandleStruc.pTxMsg->DLC = 2;

CAN_HandleStruc.pTxMsg->Data[0] = 0x01;

CAN_HandleStruc.pTxMsg->Data[1] = 0x01;

//Below the function that return an HAL_TIMEOUT!!!!!!

HAL_CAN_Transmit(&CAN_HandleStruc, 10);

}

I should write down the RX interrupt, but meanwhile I'm trying to get Polling mode working..with no result so far.

#can #stm32f4-discovery

jpeacock · ‎2015-09-22

Posted on September 22, 2015 at 22:59

The CAN ESR register should give you some hint as to what is wrong. Do you get any kind of error on the other CAN node?

Jack Peacock