CAN BUS Acknowledgment error

Hallo

I am using STM32F429 CAN bus Program with TJA1041A as CAN
Transreciver.

The Problem is the messages are not getting acknowledged and herewith I
am attaching the code for further reference.I am using PCAN View to see
the messages.

I kindly request to check the code and tell me if there r any faults.

Code:-

int main(void)
{

RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE); RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN2, ENABLE);

// SystemInit();

GPIO_InitTypeDef GPIO_InitDef; RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB, ENABLE); GPIO_InitDef.GPIO_Pin = GPIO_Pin_12 | GPIO_Pin_13; GPIO_InitDef.GPIO_Mode = GPIO_Mode_AF; GPIO_InitDef.GPIO_OType = GPIO_OType_PP; GPIO_InitDef.GPIO_PuPd = GPIO_PuPd_UP; GPIO_InitDef.GPIO_Speed = GPIO_Speed_100MHz; GPIO_Init(GPIOB, &GPIO_InitDef);

/* Connect CAN pins to AF */ GPIO_PinAFConfig(GPIOB, GPIO_PinSource12, GPIO_AF_CAN2); // CAN2_RX GPIO_PinAFConfig(GPIOB, GPIO_PinSource13, GPIO_AF_CAN2); // CAN2_TX

RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOD, ENABLE);

GPIO_InitDef.GPIO_Pin = GPIO_Pin_5 | GPIO_Pin_7; GPIO_InitDef.GPIO_Mode = GPIO_Mode_OUT; GPIO_InitDef.GPIO_OType = GPIO_OType_PP; GPIO_InitDef.GPIO_PuPd = GPIO_PuPd_NOPULL; GPIO_InitDef.GPIO_Speed = GPIO_Speed_100MHz;

/* Connect PD5 and PD7 pins for CAN Transreceiver to enable and
stanby */

GPIO_Init(GPIOD, &GPIO_InitDef); GPIO_SetBits(GPIOD, GPIO_Pin_5|GPIO_Pin_7);

RCC_ClocksTypeDef RCC_Clocks; CAN_InitTypeDef CAN_InitStructure; CAN_FilterInitTypeDef CAN_FilterInitStructure;

RCC_GetClocksFreq(&RCC_Clocks);

CAN_DeInit(CAN2);

CAN_StructInit(&CAN_InitStructure);

/* 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 ;

/* quanta 1+14+6 = 21, 21 * 4 = 84, 42000000 / 84 = 5000000 */ /* CAN Baudrate = 500Kbps (CAN clocked at 42 MHz) Prescale = 4 */

/* Requires a clock with integer division into APB clock */

CAN_InitStructure.CAN_SJW = CAN_SJW_1tq; // 1+6+7 = 14, 1+14+6 = 21,
1+15+5 = 21 CAN_InitStructure.CAN_BS1 = CAN_BS1_14tq; CAN_InitStructure.CAN_BS2 = CAN_BS2_6tq; CAN_InitStructure.CAN_Prescaler = 4; // quanta by baudrate - 125kbps

CAN_Init(CAN2, &CAN_InitStructure);

/* CAN filter init */ CAN_FilterInitStructure.CAN_FilterMode = CAN_FilterMode_IdMask; //
IdMask or IdList CAN_FilterInitStructure.CAN_FilterScale = CAN_FilterScale_16bit; // 16
or 32

CAN_FilterInitStructure.CAN_FilterIdHigh = 0x0000; // Everything,
otherwise 11-bit in top bits CAN_FilterInitStructure.CAN_FilterIdLow = 0x0000; CAN_FilterInitStructure.CAN_FilterMaskIdHigh = 0x0000; CAN_FilterInitStructure.CAN_FilterMaskIdLow = 0x0000;

CAN_FilterInitStructure.CAN_FilterFIFOAssignment = CAN_FIFO0; // Rx CAN_FilterInitStructure.CAN_FilterActivation = ENABLE;

//CAN_FilterInitStructure.CAN_FilterNumber = 0; // CAN1 [ 0..13]

// CAN_FilterInit(&CAN_FilterInitStructure);

CAN_FilterInitStructure.CAN_FilterNumber = 14; // CAN2 [14..27]

CAN_FilterInit(&CAN_FilterInitStructure); CAN_ITConfig(CAN2, CAN_IT_FMP0, ENABLE);

CanTxMsg TxMessage;

// transmit */ TxMessage.StdId = 0x321; TxMessage.ExtId = 0x00; TxMessage.RTR = CAN_RTR_DATA; TxMessage.IDE = CAN_ID_STD; TxMessage.DLC = 8;

TxMessage.Data[0] = 0x02; TxMessage.Data[1] = 0x11; TxMessage.Data[2] = 0x11; TxMessage.Data[3] = 0x11;

while(1) { uint32_t i; int j = 0; uint8_t TransmitMailbox = 0;

TxMessage.Data[4] = (j >> 0) & 0xFF; // Cycling TxMessage.Data[5] = (j >> 8) & 0xFF; TxMessage.Data[6] = (j >> 16) & 0xFF; TxMessage.Data[7] = (j >> 24) & 0xFF; j++;

TransmitMailbox = CAN_Transmit(CAN2, &TxMessage);

i = 0; while((CAN_TransmitStatus(CAN2, TransmitMailbox) != CANTXOK) && (i
!= 0xFFFF)) // Wait on Transmit { i++; CAN2RX();// Pump RX }

}

}