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STM32H7 CAN FD issues

xolotl over 6 years ago
Hi everyone,
I find myself working on a board with this microcontroller and I just have to get the CAN bus working.
I have never done any programming with neither CAN or this micro.
The issue I am encountering is this one:
when I connect to the board with a CAN-usb connector and I want the board to receive data through the CAN bus, the canAnalyzer software returns countless errors and my code goes in the error handling function. I don't understand how it works: does it need me to write a line of code to retrieve data from the bus or it handles it with the interrupt? from the datasheet it seems like the latter oprtion but I still don't know how to proceed.
when I transmit from my board to the can, I am able to see data frames on the canAnalyzer software, but just once and all data frames are flagged as "other error"
I am very confused and I can't find any practical example to help me understand this. I am using Keil uVision.
Can you help me?
here is the code, thank you so much for your help.
Fullscreen 5658.main.txt Download
/* USER CODE BEGIN Header */

/* USER CODE END Header */

/* Includes ------------------------------------------------------------------*/
#include "main.h"


/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */

/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */

/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/


/* CAN Variable Begin */

FDCAN_HandleTypeDef hfdcan1; // generato handler
FDCAN_RxHeaderTypeDef RxHeader;
FDCAN_TxHeaderTypeDef TxHeader;
uint8_t RxData[8];
uint8_t TxData[8];

/* CAN Variable END */


/* 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_FDCAN1_Init(void);
static void CPU_CACHE_Enable(void);
/* USER CODE BEGIN PFP */
/* Private function prototypes -----------------------------------------------*/

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */


uint8_t State=0;
uint8_t KEY_PRESSED=0;



/* USER CODE END 0 */

/**
  * @brief  The application entry point.
  * @retval int
  */
int main(void)
{
  /* USER CODE BEGIN 1 */
	CPU_CACHE_Enable();
  /* USER CODE END 1 */

  /* MCU Configuration--------------------------------------------------------*/

  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  HAL_Init();

  /* USER CODE BEGIN Init */
	
  /* USER CODE END Init */

  /* Configure the system clock */
  SystemClock_Config();

  /* USER CODE BEGIN SysInit */

  /* USER CODE END SysInit */

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
 
  
 
  MX_FDCAN1_Init();
  /* USER CODE BEGIN 2 */

  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
	
	while (1)
	{
		
	
		//HAL_FDCAN_RxFifo0Callback(&hfdcan1,FDCAN_IT_RX_FIFO0_NEW_MESSAGE);
		while (KEY_PRESSED==1)
    {
     
        /* Set the data to be transmitted */
        //TxData[0] = 0;
        //TxData[1] = 0xAD;
        
				
				
        /* Start the Transmission process */
        //if (HAL_FDCAN_AddMessageToTxFifoQ(&hfdcan1, &TxHeader, TxData) != HAL_OK)
        //{
					//KEY_PRESSED=0;
          /* Transmission request Error */
         // Error_Handler();
        //}
			   if(HAL_FDCAN_GetRxMessage(&hfdcan1, FDCAN_RX_FIFO0, &RxHeader, RxData)!= HAL_OK)
			   {
				    KEY_PRESSED=0;
			   }
			}
        
		State=RxData[0];
		
		switch (State){
	
			case 0:
			LED1_OFF;
			LED2_OFF;
			break;
	
			case 1:
			LED1_ON;
			break;
			
			case 2:
			LED1_OFF;	
			LED2_ON;
			break;	
		
		}	
	//HAL_Delay(100);
//	SD_card_routine(&SD_card,&file1,10);	
		
		/*Scrittura codice CAN */

    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */

	}
  /* USER CODE END 3 */
}
static void CPU_CACHE_Enable(void)
{
  /* Enable I-Cache */
  SCB_EnableICache();

  /* Enable D-Cache */
  SCB_EnableDCache();
}
/**
  * @brief System Clock Configuration
  * @retval None
  */
void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
  RCC_PeriphCLKInitTypeDef PeriphClkInitStruct = {0};

  /**Supply configuration update enable 
  */
  MODIFY_REG(PWR->CR3, PWR_CR3_SCUEN, 0);
  /**Configure the main internal regulator output voltage 
  */
  __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);

  while ((PWR->D3CR & (PWR_D3CR_VOSRDY)) != PWR_D3CR_VOSRDY) 
  {
    
  }
  /**Macro to configure the PLL clock source 
  */
  __HAL_RCC_PLL_PLLSOURCE_CONFIG(RCC_PLLSOURCE_HSE);
  /**Initializes the CPU, AHB and APB busses clocks 
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
  RCC_OscInitStruct.HSEState = RCC_HSE_BYPASS;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
  RCC_OscInitStruct.PLL.PLLM = 2;
  RCC_OscInitStruct.PLL.PLLN = 64;
  RCC_OscInitStruct.PLL.PLLP = 2;
  RCC_OscInitStruct.PLL.PLLQ = 2;
  RCC_OscInitStruct.PLL.PLLR = 2;
  RCC_OscInitStruct.PLL.PLLRGE = RCC_PLL1VCIRANGE_3;
  RCC_OscInitStruct.PLL.PLLVCOSEL = RCC_PLL1VCOWIDE;
  RCC_OscInitStruct.PLL.PLLFRACN = 0;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != 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_CLOCKTYPE_D3PCLK1|RCC_CLOCKTYPE_D1PCLK1;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  RCC_ClkInitStruct.SYSCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_HCLK_DIV2;
  RCC_ClkInitStruct.APB3CLKDivider = RCC_APB3_DIV2;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_APB1_DIV2;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_APB2_DIV2;
  RCC_ClkInitStruct.APB4CLKDivider = RCC_APB4_DIV2;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
  {
    Error_Handler();
  }
  PeriphClkInitStruct.PeriphClockSelection = RCC_PERIPHCLK_USART3|RCC_PERIPHCLK_FDCAN
                              |RCC_PERIPHCLK_SPI5|RCC_PERIPHCLK_SPI4
                              |RCC_PERIPHCLK_SPI1|RCC_PERIPHCLK_SPI2
                              |RCC_PERIPHCLK_SDMMC|RCC_PERIPHCLK_ADC
                              |RCC_PERIPHCLK_SPI6;
  PeriphClkInitStruct.PLL2.PLL2M = 2;
  PeriphClkInitStruct.PLL2.PLL2N = 12;
  PeriphClkInitStruct.PLL2.PLL2P = 6;
  PeriphClkInitStruct.PLL2.PLL2Q = 2;
  PeriphClkInitStruct.PLL2.PLL2R = 2;
  PeriphClkInitStruct.PLL2.PLL2RGE = RCC_PLL2VCIRANGE_3;
  PeriphClkInitStruct.PLL2.PLL2VCOSEL = RCC_PLL2VCOMEDIUM;
  PeriphClkInitStruct.PLL2.PLL2FRACN = 0;
  PeriphClkInitStruct.SdmmcClockSelection = RCC_SDMMCCLKSOURCE_PLL;
  PeriphClkInitStruct.Spi123ClockSelection = RCC_SPI123CLKSOURCE_PLL;
  PeriphClkInitStruct.Spi45ClockSelection = RCC_SPI45CLKSOURCE_D2PCLK1;
  PeriphClkInitStruct.FdcanClockSelection = RCC_FDCANCLKSOURCE_PLL;
  PeriphClkInitStruct.Usart234578ClockSelection = RCC_USART234578CLKSOURCE_D2PCLK1;
  PeriphClkInitStruct.AdcClockSelection = RCC_ADCCLKSOURCE_PLL2;
  PeriphClkInitStruct.Spi6ClockSelection = RCC_SPI6CLKSOURCE_PLL2;
  if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInitStruct) != HAL_OK)
  {
    Error_Handler();
  }
}



/**
  * 
**
  * @brief FDCAN1 Initialization Function
  * @param None
  * @retval None
  */
static void MX_FDCAN1_Init(void)
{

  /* USER CODE BEGIN FDCAN1_Init 0 */
	
	FDCAN_FilterTypeDef sFilterConfig;
	/* Bit time configuration:
    fdcan_ker_ck               = 200 MHz
    Time_quantum (tq)          = 5 ns
    Synchronization_segment    = 50 tq
    Propagation_segment        = 150 tq
    Phase_segment_1            = 25 tq
    Phase_segment_2            = 25 tq
    Synchronization_Jump_width = 25 tq
    Bit_length                 = 200 tq = 2 µs
    Bit_rate                   = 0.5 MBit/s
  */

  /* USER CODE END FDCAN1_Init 0 */

  /* USER CODE BEGIN FDCAN1_Init 1 */

  /* USER CODE END FDCAN1_Init 1 */
  hfdcan1.Instance = FDCAN1;
  hfdcan1.Init.FrameFormat = FDCAN_FRAME_CLASSIC;
  hfdcan1.Init.Mode = FDCAN_MODE_NORMAL;
  hfdcan1.Init.AutoRetransmission = ENABLE;
  hfdcan1.Init.TransmitPause = DISABLE;
	hfdcan1.Init.ProtocolException = ENABLE;
  hfdcan1.Init.NominalPrescaler = 5;
  hfdcan1.Init.NominalSyncJumpWidth = 0x8;
  hfdcan1.Init.NominalTimeSeg1 = 0x1F;
  hfdcan1.Init.NominalTimeSeg2 = 0x8;
  hfdcan1.Init.MessageRAMOffset = 0;
	
  hfdcan1.Init.StdFiltersNbr = 1;
  hfdcan1.Init.ExtFiltersNbr = 0;
	
  hfdcan1.Init.RxFifo0ElmtsNbr = 1;
	
  hfdcan1.Init.RxFifo0ElmtSize = FDCAN_DATA_BYTES_8;
  hfdcan1.Init.RxBuffersNbr = 0;
  hfdcan1.Init.RxBufferSize = FDCAN_DATA_BYTES_8;
	
  hfdcan1.Init.TxEventsNbr = 0;
  hfdcan1.Init.TxBuffersNbr = 1;
  hfdcan1.Init.TxFifoQueueElmtsNbr = 1;
  hfdcan1.Init.TxFifoQueueMode = FDCAN_TX_FIFO_OPERATION;
  hfdcan1.Init.TxElmtSize = FDCAN_DATA_BYTES_8;
	
  if (HAL_FDCAN_Init(&hfdcan1) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN FDCAN1_Init 2 */
	
/* Configure Rx filter */
  sFilterConfig.IdType = FDCAN_STANDARD_ID;
  sFilterConfig.FilterIndex = 0;
  sFilterConfig.FilterType = FDCAN_FILTER_MASK;
  sFilterConfig.FilterConfig = FDCAN_FILTER_TO_RXFIFO0;
  sFilterConfig.FilterID1 = 0x321; //da  modificare
  sFilterConfig.FilterID2 = 0x7FF;
	
  if (HAL_FDCAN_ConfigFilter(&hfdcan1, &sFilterConfig) != HAL_OK)
  {
    /* Filter configuration Error */
    Error_Handler();
  }
	
	 /* Start the FDCAN module */
  if (HAL_FDCAN_Start(&hfdcan1) != HAL_OK)
  {
    /* Start Error */
    Error_Handler();
  }
	
	if (HAL_FDCAN_ActivateNotification(&hfdcan1, FDCAN_IT_RX_FIFO0_NEW_MESSAGE, 0) != HAL_OK)
  {
    /* Notification Error */
    Error_Handler();
  }
	
	
	
	/* Prepare Tx Header */
  TxHeader.Identifier = 0x321; //da modificare
  TxHeader.IdType = FDCAN_STANDARD_ID; 
  TxHeader.TxFrameType = FDCAN_DATA_FRAME;
  TxHeader.DataLength = FDCAN_DLC_BYTES_2;
  TxHeader.ErrorStateIndicator = FDCAN_ESI_ACTIVE;
  TxHeader.BitRateSwitch = FDCAN_BRS_OFF;
  TxHeader.FDFormat = FDCAN_CLASSIC_CAN;
  TxHeader.TxEventFifoControl = FDCAN_NO_TX_EVENTS;
  TxHeader.MessageMarker = 0;
	
	
  /* USER CODE END FDCAN1_Init 2 */
}
/**
  * @brief  Rx FIFO 0 callback.
  * @param  hfdcan: pointer to an FDCAN_HandleTypeDef structure that contains
  *         the configuration information for the specified FDCAN.
  * @param  RxFifo0ITs: indicates which Rx FIFO 0 interrupts are signalled.
  *                     This parameter can be any combination of @arg FDCAN_Rx_Fifo0_Interrupts.
  * @retval None
  */
void HAL_FDCAN_RxFifo0Callback(FDCAN_HandleTypeDef *hfdcan, uint32_t RxFifo0ITs)
{
  if((RxFifo0ITs & FDCAN_IT_RX_FIFO0_NEW_MESSAGE) != RESET)
  {
    /* Retreive Rx messages from RX FIFO0 */
    if (HAL_FDCAN_GetRxMessage(hfdcan, FDCAN_RX_FIFO0, &RxHeader, RxData) != HAL_OK)
    {
    /* Reception Error */
    Error_Handler();
    }
		

      /* Display LEDx */
    if ((RxHeader.Identifier == 0x321) && (RxHeader.IdType == FDCAN_STANDARD_ID) && (RxHeader.DataLength == FDCAN_DLC_BYTES_2))
    {
      State=RxData[0];
      
    }

    if (HAL_FDCAN_ActivateNotification(hfdcan, FDCAN_IT_RX_FIFO0_NEW_MESSAGE, 0) != HAL_OK)
    {
      /* Notification Error */
      Error_Handler();
    }
  }
}



}

/**
  * @brief SPI5 Initialization Function
  * @param None
  * @retval None
  */


/**
  * @brief GPIO Initialization Function
  * @param None
  * @retval None
  */
static void MX_GPIO_Init(void)
{
  GPIO_InitTypeDef GPIO_InitStruct = {0};

  /* GPIO Ports Clock Enable */
  __HAL_RCC_GPIOE_CLK_ENABLE();
  __HAL_RCC_GPIOF_CLK_ENABLE();
  __HAL_RCC_GPIOH_CLK_ENABLE();
  __HAL_RCC_GPIOC_CLK_ENABLE();
  __HAL_RCC_GPIOA_CLK_ENABLE();
  __HAL_RCC_GPIOB_CLK_ENABLE();
  __HAL_RCC_GPIOD_CLK_ENABLE();
  __HAL_RCC_GPIOG_CLK_ENABLE();

  /*Configure GPIO pin Output Level */
  HAL_GPIO_WritePin(GPIOC, GPIO_PIN_4, GPIO_PIN_RESET);

  /*Configure GPIO pin Output Level */
  HAL_GPIO_WritePin(GPIOE, GPIO_PIN_13|GPIO_PIN_14|GPIO_PIN_15, GPIO_PIN_RESET);

  /*Configure GPIO pin Output Level */
  HAL_GPIO_WritePin(GPIOD, GPIO_PIN_3|GPIO_PIN_4, GPIO_PIN_RESET);

  /*Configure GPIO pin Output Level */
  HAL_GPIO_WritePin(GPIOG, GPIO_PIN_10|GPIO_PIN_11, GPIO_PIN_RESET);

  /*Configure GPIO pin : PA3 */
  GPIO_InitStruct.Pin = GPIO_PIN_3;
  GPIO_InitStruct.Mode = GPIO_MODE_IT_FALLING;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);

  /*Configure GPIO pin : PC4 */
  GPIO_InitStruct.Pin = GPIO_PIN_4;
  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
  HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);

  /*Configure GPIO pin : PE12 */
  GPIO_InitStruct.Pin = GPIO_PIN_12;
  GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  HAL_GPIO_Init(GPIOE, &GPIO_InitStruct);

  /*Configure GPIO pins : PE13 PE14 PE15 */
  GPIO_InitStruct.Pin = GPIO_PIN_13|GPIO_PIN_14|GPIO_PIN_15;
  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
  HAL_GPIO_Init(GPIOE, &GPIO_InitStruct);

  /*Configure GPIO pin : PB12 */
  GPIO_InitStruct.Pin = GPIO_PIN_12;
  GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
  GPIO_InitStruct.Alternate = GPIO_AF1_TIM1;
  HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);

  /*Configure GPIO pins : PD3 PD4 */
  GPIO_InitStruct.Pin = GPIO_PIN_3|GPIO_PIN_4;
  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
  HAL_GPIO_Init(GPIOD, &GPIO_InitStruct);

  /*Configure GPIO pins : PG10 PG11 */
  GPIO_InitStruct.Pin = GPIO_PIN_10|GPIO_PIN_11;
  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);

  /* EXTI interrupt init*/
  HAL_NVIC_SetPriority(EXTI3_IRQn, 3, 0);
  HAL_NVIC_EnableIRQ(EXTI3_IRQn);

}

/* USER CODE BEGIN 4 */

/* USER CODE END 4 */

/**
  * @brief  This function is executed in case of error occurrence.
  * @retval None
  */
void Error_Handler(void)
{
  /* USER CODE BEGIN Error_Handler_Debug */
	/* User can add his own implementation to report the HAL error return state */
	while(1)
	{
	}
  /* USER CODE END Error_Handler_Debug */
}

#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,
	tex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
  /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */

/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
0 42Bastian Schick over 6 years ago

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