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.
/* 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****/