Estoy usando un STM32F103C8T6 (también conocido como Blue Pill). Con el STM32Cube configuré CAN_RX en PB8 y CAN_TX9 en PB9 (estos son valores predeterminados/no modificables).
simular este circuito : esquema creado con CircuitLab
Componentes en el circuito anterior:
Descubrí que el TJA1050 funciona con 5 V y que los VCC de salida de STM32 son de 3,3 V, por lo que utilicé una fuente de alimentación de placa de prueba para proporcionar 5 V al transceptor 1 y 2 VCC. Supongo que los USB GND están acoplados a los GND de los STM32 (probablemente internamente ya que no hice ningún cableado específico), al igual que el USB +5V está acoplado al VCC de los STM.
Los transceptores ya contienen resistencias de 120 ohmios, así que supongo que no necesito ninguna adicional. La distancia actual entre CANL y CANH de los transceptores #1 y #2 es de unos 10 cm / 4" (cable simple). En mi aplicación real será de unos 2 metros.
También supongo que el CAN TX debe estar conectado al TX del transceptor (y RX a RX).
Los ajustes de CAN generados se encuentran a continuación. Esto se ejecuta bien.
/* CAN init function */
static void MX_CAN_Init(void)
{
static CanRxMsgTypeDef CanRX;
static CanTxMsgTypeDef CanTX;
CAN_FilterConfTypeDef sFilterConfig;
hcan.Instance = CAN1;
hcan.pRxMsg = &CanRX;
hcan.pTxMsg = &CanTX;
hcan.Init.Prescaler = 128;
hcan.Init.Mode = CAN_MODE_NORMAL;
hcan.Init.SJW = CAN_SJW_1TQ;
hcan.Init.BS1 = CAN_BS1_12TQ;
hcan.Init.BS2 = CAN_BS2_5TQ;
hcan.Init.TTCM = DISABLE;
hcan.Init.ABOM = DISABLE;
hcan.Init.AWUM = DISABLE;
hcan.Init.NART = DISABLE;
hcan.Init.RFLM = DISABLE;
hcan.Init.TXFP = DISABLE;
if (HAL_CAN_Init(&hcan) != HAL_OK)
{
_Error_Handler(__FILE__, __LINE__);
}
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_FILTER_FIFO0;
sFilterConfig.FilterActivation = ENABLE;
sFilterConfig.BankNumber = 14;
if (HAL_CAN_ConfigFilter(&hcan, &sFilterConfig) != HAL_OK)
{
Error_Handler();
}
}
(se eliminaron los bloques de comentarios generados por STM)
Transmisor:
int main(void)
{
..
/* USER CODE BEGIN 2 */
hcan.pTxMsg->StdId = 0x100;
hcan.pTxMsg->ExtId = 0x01;
hcan.pTxMsg->RTR = CAN_RTR_DATA;
hcan.pTxMsg->IDE = CAN_ID_STD;
hcan.pTxMsg->DLC = 2;
while (1)
{
hcan.pTxMsg->Data[0] = 0x10;
hcan.pTxMsg->Data[1] = 0x1;
if (HAL_CAN_Transmit(&hcan, CAN_FIFO0) != HAL_OK)
{
Error_Handler();
}
HAL_Delay(1000);
}
}
Receptor (el código de interrupción nunca se llama):
anular RxIntEnable(CAN_HandleTypeDef *CanHandle)
{
if (CanHandle->State == HAL_CAN_STATE_BUSY_TX)
{
CanHandle->State = HAL_CAN_STATE_BUSY_TX_RX0;
}
else
{
CanHandle->ErrorCode = HAL_CAN_ERROR_NONE;
__HAL_CAN_ENABLE_IT(CanHandle, CAN_IT_EWG); // Error warning interrupt
__HAL_CAN_ENABLE_IT(CanHandle, CAN_IT_EPV); // Error passive interrupt
__HAL_CAN_ENABLE_IT(CanHandle, CAN_IT_BOF); // Bus-off interrupt
__HAL_CAN_ENABLE_IT(CanHandle, CAN_IT_LEC); // Last error code interrupt
__HAL_CAN_ENABLE_IT(CanHandle, CAN_IT_ERR); // Error interrupt
}
__HAL_CAN_ENABLE_IT(CanHandle, CAN_IT_FMP0); // FIFO0 message pending interrupt
}
void HAL_CAN_RxCpltCallback(CAN_HandleTypeDef* CanHandle)
{
if ((CanHandle->pRxMsg->StdId == 0x100) &&
(CanHandle->pRxMsg->IDE == CAN_ID_STD) &&
(CanHandle->pRxMsg->DLC == 2))
{
printf("1");
}
RxIntEnable(CanHandle);
}
dentro de principal:
if (HAL_CAN_Receive_IT(&hcan, CAN_FIFO0) != HAL_OK)
{
Error_Handler();
}
Cuando uso el modo de bucle invertido:
hcan.Init.Mode = CAN_MODE_LOOPBACK
en lugar del modo Normal, puedo transmitir y recibir mensajes (y el hcan muestra los datos correctos en el mensaje recibido).
Sin embargo, en el modo Normal (como se muestra en el fragmento de código anterior) siempre obtengo un tiempo de espera en el siguiente comando:
if (HAL_CAN_Transmit(&hcan, 10) != HAL_OK)
La función devuelve: HAL_CAN_STATE_TIMEOUT dentro de este fragmento (código HAL predeterminado):
/* Check End of transmission flag */
while(!(__HAL_CAN_TRANSMIT_STATUS(hcan, transmitmailbox)))
{
/* Check for the Timeout */
if(Timeout != HAL_MAX_DELAY)
{
if((Timeout == 0U) || ((HAL_GetTick()-tickstart) > Timeout))
{
hcan->State = HAL_CAN_STATE_TIMEOUT;
/* Cancel transmission */
__HAL_CAN_CANCEL_TRANSMIT(hcan, transmitmailbox);
/* Process unlocked */
__HAL_UNLOCK(hcan);
return HAL_TIMEOUT;
}
}
}
Toda la inicialización parece estar bien (todas las funciones devuelven HAL_OK).
Lo que probé/comprobé fue:
Pregunta relacionada:
Actualizar
Esta es una vieja pregunta, pero intentar nuevamente hacer que CAN funcione con el mismo mal resultado (tiempo de espera). Cambié algunas configuraciones y actualicé la información anterior en consecuencia.
Obtuve la nueva versión y qué diferencia hay un par de cambios a tener en cuenta, así que aquí hay algunos fragmentos:
// To send a message
// Old version:
HAL_CAN_Transmit(&hcan1, 10);
//new version:
HAL_CAN_AddTxMessage(&hcan, &TxMessage, TxData, &TxMailbox);
//To receive a message by polling
Receive_CAN_Message_Polling(RxMessage, RxData);
// here is the Polling Function
void Receive_CAN_Message_Polling(CAN_RxHeaderTypeDef RxMessage_, uint8_t* RxData_){
uint8_t messages = HAL_CAN_GetRxFifoFillLevel(&hcan, CAN_RX_FIFO0);
if(messages > 0){
if(HAL_CAN_GetRxMessage(&hcan, CAN_RX_FIFO0, &RxMessage_, RxData_) == HAL_OK){
Indicate();
}
}
}
muy diferente a la biblioteca anterior, pero funciona muy bien. Todavía no he mirado las interrupciones y recibido con ellas, pero estoy seguro de que también funcionan bien en la nueva versión del controlador HAL_CAN.
¿No es tan sencillo que hayas conectado el pin TX del STM32 al pin TX del transceptor? El transceptor espera esa señal en el pin RX.
Cambie el cableado para que STM32 TX >> Transceptor RX y viceversa.
Tx, también conocido como Transmit, es un bus unidireccional que siempre se alimenta a un pin Rx, también conocido como Receive.
Ha pasado mucho tiempo desde que usé CAN, pero lo primero que me vino a la mente es que la posibilidad de que el transmisor esté esperando un ACK del receptor para completar la transmisión con éxito. Y la línea que permanece en 0V también me hace pensar en un apretón de manos ACK faltante. Estoy seguro de que ya lo ha verificado, pero verificaría el indicador de activación de interrupción global en el lado del receptor.
Tuve el mismo problema para que CAN funcionara en el STM32F103C8T6. Encontré un pequeño problema en la HAL_CAN_Transmit()
función. Dejaría de ejecutarse en esta línea:
hcan->pTxMsg->DLC &= (uint8_t)0x0000000F;
Lo cambié a:
TxMessage.DLC &= (uint8_t)0x0000000F;
y obtuve resultados. Todavía hay algunos problemas, como en mi configuración, doy una ID estándar y no extendida, pero envía una ID extendida. Además, intento enviar un mensaje y envía un marco de solicitud remota, pero logré leer un mensaje del STM32 al Arduino.
Aquí está mi archivo main.c:
/**
******************************************************************************
* @file : main.c
* @brief : Main program body
******************************************************************************
** This notice applies to any and all portions of this file
* that are not between comment pairs USER CODE BEGIN and
* USER CODE END. Other portions of this file, whether
* inserted by the user or by software development tools
* are owned by their respective copyright owners.
*
* COPYRIGHT(c) 2019 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 "main.h"
#include "stm32f1xx_hal.h"
#include "string.h"
/* USER CODE BEGIN Includes */
/* USER CODE END Includes */
/* Private variables ---------------------------------------------------------*/
CAN_HandleTypeDef hcan1;
UART_HandleTypeDef huart1;
/* USER CODE BEGIN PV */
/* Private variables ---------------------------------------------------------*/
CAN_FilterConfTypeDef sFilterConfig;
CanTxMsgTypeDef TxMessage;
CanRxMsgTypeDef RxMessage;
/* USER CODE END PV */
/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
static void MX_GPIO_Init(void);
static void MX_USART1_UART_Init(void);
static void MX_CAN_Init(void);
void Serialprintln(char _out[]);
void newline(void);
HAL_StatusTypeDef T_HAL_CAN_Transmit(CAN_HandleTypeDef* hcan, uint32_t Timeout);
/* USER CODE BEGIN PFP */
/* Private function prototypes -----------------------------------------------*/
/* USER CODE END PFP */
/* USER CODE BEGIN 0 */
/* USER CODE END 0 */
/**
* @brief The application entry point.
*
* @retval None
*/
int main(void)
{
/* USER CODE BEGIN 1 */
/* 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_USART1_UART_Init();
Serialprintln("Welcome");
Serialprintln("UART and GPIO is initiated");
Serialprintln("Clock configured ");
Serialprintln("HAL initiated");
Serialprintln("Going to try to initiate MX_CAN");
Serialprintln("INITIALISING CAN BUS NOW");
MX_CAN_Init();
HAL_Delay(500);
Serialprintln("Setting the Messages and perameters");
Serialprintln("Starting with sFilterConfig");
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_FILTER_FIFO0;
sFilterConfig.FilterActivation = ENABLE;
sFilterConfig.BankNumber = 14;
Serialprintln("Filter config was done now to link to hcan");
HAL_CAN_ConfigFilter(&hcan1, &sFilterConfig);
Serialprintln("All linked up to hcan");
Serialprintln("Now for the Tx side of it");
Serialprintln("Setting up the TxMessage");
TxMessage.IDE = CAN_ID_STD;
TxMessage.StdId = 0x01;
TxMessage.RTR = CAN_RTR_DATA;
TxMessage.DLC = 8;
TxMessage.Data[0] = 0x00;
TxMessage.Data[1] = 0x01;
TxMessage.Data[2] = 0x02;
TxMessage.Data[3] = 0x03;
TxMessage.Data[4] = 0x04;
TxMessage.Data[5] = 0x05;
TxMessage.Data[6] = 0x06;
TxMessage.Data[7] = 0x07;
Serialprintln("Message data configured");
Serialprintln("Linking it to the hcan ");
/* USER CODE BEGIN 2 */
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
HAL_Delay(500);
while (1)
{
Serialprintln("In the loop now");
Serialprintln("Trying to send a message");
T_HAL_CAN_Transmit(&hcan1, 10);
Serialprintln("Message sent");
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
}
/* USER CODE END 3 */
}
/**
* @brief System Clock Configuration
* @retval None
*/
void SystemClock_Config(void)
{
RCC_OscInitTypeDef RCC_OscInitStruct;
RCC_ClkInitTypeDef RCC_ClkInitStruct;
/**Initializes the CPU, AHB and APB busses clocks
*/
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
RCC_OscInitStruct.HSEState = RCC_HSE_ON;
RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1;
RCC_OscInitStruct.HSIState = RCC_HSI_ON;
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL9;
if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
{
_Error_Handler(__FILE__, __LINE__);
}
/**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_DIV2;
RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
{
_Error_Handler(__FILE__, __LINE__);
}
/**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, 0, 0);
}
/* CAN init function */
static void MX_CAN_Init(void)
{
hcan1.Instance = CAN1;
hcan1.Init.Prescaler = 9;
hcan1.Init.Mode = CAN_MODE_NORMAL;
hcan1.Init.SJW = CAN_SJW_1TQ;
hcan1.Init.BS1 = CAN_BS1_13TQ;
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)
{
newline();
Serialprintln("/////////////////////////////////////////");
Serialprintln("/////////////////////////////////////////");
Serialprintln("ERROR INITIATING CAN BUS");
_Error_Handler(__FILE__, __LINE__);
}
else{
Serialprintln("CAN BUS INITIATED");
}
}
/* USART1 init function */
static void MX_USART1_UART_Init(void)
{
huart1.Instance = USART1;
huart1.Init.BaudRate = 115200;
huart1.Init.WordLength = UART_WORDLENGTH_8B;
huart1.Init.StopBits = UART_STOPBITS_1;
huart1.Init.Parity = UART_PARITY_NONE;
huart1.Init.Mode = UART_MODE_TX_RX;
huart1.Init.HwFlowCtl = UART_HWCONTROL_NONE;
huart1.Init.OverSampling = UART_OVERSAMPLING_16;
if (HAL_UART_Init(&huart1) != HAL_OK)
{
_Error_Handler(__FILE__, __LINE__);
}
}
/** 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_GPIOD_CLK_ENABLE();
__HAL_RCC_GPIOB_CLK_ENABLE();
__HAL_RCC_GPIOA_CLK_ENABLE();
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOB, GPIO_PIN_13, GPIO_PIN_RESET);
/*Configure GPIO pin : PB13 */
GPIO_InitStruct.Pin = GPIO_PIN_13;
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);
}
/* USER CODE BEGIN 4 */
void Serialprintln(char _out[]){
HAL_UART_Transmit(&huart1, (uint8_t *) _out, strlen(_out), 10);
char newline[2] = "\r\n";
HAL_UART_Transmit(&huart1, (uint8_t *) newline, 2, 10);
}
void newline(void){
char newline[2] = "\r\n";
HAL_UART_Transmit(&huart1, (uint8_t *) newline, 2, 10);
}
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
/*
Copied and renamed the transmit function for debugging
*/
HAL_StatusTypeDef T_HAL_CAN_Transmit(CAN_HandleTypeDef* hcan, uint32_t Timeout)
{
Serialprintln("Starting the transmit function now");
uint32_t transmitmailbox = CAN_TXSTATUS_NOMAILBOX;
Serialprintln("transmitmailbox int created");
uint32_t tickstart = 0U;
Serialprintln("tickstart created");
/* Check the parameters */
assert_param(IS_CAN_IDTYPE(hcan->pTxMsg->IDE));
assert_param(IS_CAN_RTR(hcan->pTxMsg->RTR));
assert_param(IS_CAN_DLC(hcan->pTxMsg->DLC));
Serialprintln("Parameters checked");
if(((hcan->Instance->TSR&CAN_TSR_TME0) == CAN_TSR_TME0) || \
((hcan->Instance->TSR&CAN_TSR_TME1) == CAN_TSR_TME1) || \
((hcan->Instance->TSR&CAN_TSR_TME2) == CAN_TSR_TME2))
{
/* Process locked */
__HAL_LOCK(hcan);
Serialprintln("process locked");
Serialprintln("checking hcan status now");
/* Change CAN state */
switch(hcan->State)
{
case(HAL_CAN_STATE_BUSY_RX0):
Serialprintln("HAL_CAN_STATE_BUSY_TX_RX0");
hcan->State = HAL_CAN_STATE_BUSY_TX_RX0;
break;
case(HAL_CAN_STATE_BUSY_RX1):
Serialprintln("HAL_CAN_STATE_BUSY_TX_RX1");
hcan->State = HAL_CAN_STATE_BUSY_TX_RX1;
break;
case(HAL_CAN_STATE_BUSY_RX0_RX1):
Serialprintln("HAL_CAN_STATE_BUSY_TX_RX0_RX1");
hcan->State = HAL_CAN_STATE_BUSY_TX_RX0_RX1;
break;
default: /* HAL_CAN_STATE_READY */
Serialprintln("HAL_CAN_STATE_BUSY_TX");
hcan->State = HAL_CAN_STATE_BUSY_TX;
break;
}
Serialprintln("Select one empty transmit mailbox");
/* Select one empty transmit mailbox */
if (HAL_IS_BIT_SET(hcan->Instance->TSR, CAN_TSR_TME0))
{
Serialprintln("transmitmailbox = CAN_TXMAILBOX_0;");
transmitmailbox = CAN_TXMAILBOX_0;
}
else if (HAL_IS_BIT_SET(hcan->Instance->TSR, CAN_TSR_TME1))
{
Serialprintln("transmitmailbox = CAN_TXMAILBOX_1;");
transmitmailbox = CAN_TXMAILBOX_1;
}
else
{
Serialprintln("transmitmailbox = CAN_TXMAILBOX_2;");
transmitmailbox = CAN_TXMAILBOX_2;
}
Serialprintln("Set up the Id");
/* Set up the Id */
hcan->Instance->sTxMailBox[transmitmailbox].TIR &= CAN_TI0R_TXRQ;
if (hcan->pTxMsg->IDE == CAN_ID_STD)
{
assert_param(IS_CAN_STDID(hcan->pTxMsg->StdId));
hcan->Instance->sTxMailBox[transmitmailbox].TIR |= ((hcan->pTxMsg->StdId pTxMsg->RTR);
Serialprintln("Setting up a STD ID");
}
else
{
assert_param(IS_CAN_EXTID(hcan->pTxMsg->ExtId));
hcan->Instance->sTxMailBox[transmitmailbox].TIR |= ((hcan->pTxMsg->ExtId pTxMsg->IDE |
hcan->pTxMsg->RTR);
Serialprintln("Setting up an extended ID");
}
Serialprintln("Done setting the ID wrong");
/* Set up the DLC */
Serialprintln("Set up the DLC");
TxMessage.DLC &= (uint8_t)0x0000000F;
//hcan->sTxMailBox[transmit_mailbox].TDTR &= (uint32_t)0xFFFFFFF0;
//hcan->sTxMailBox[transmit_mailbox].TDTR |= TxMessage->DLC;
//hcan->pTxMsg->DLC &= (uint8_t)0x0000000F;
Serialprintln("hcan->pTxMsg->DLC &= (uint8_t)0x0000000F; DONE");
hcan->Instance->sTxMailBox[transmitmailbox].TDTR &= 0xFFFFFFF0U;
Serialprintln("hcan->Instance->sTxMailBox[transmitmailbox].TDTR &= 0xFFFFFFF0U; DONE");
hcan->Instance->sTxMailBox[transmitmailbox].TDTR |= hcan->pTxMsg->DLC;
Serialprintln("hcan->Instance->sTxMailBox[transmitmailbox].TDTR |= hcan->pTxMsg->DLC; DONE");
Serialprintln("Set up the DLC DONE");
/* Set up the data field */
Serialprintln("Set up the data field");
WRITE_REG(hcan->Instance->sTxMailBox[transmitmailbox].TDLR, ((uint32_t)hcan->pTxMsg->Data[3] pTxMsg->Data[2] pTxMsg->Data[1] pTxMsg->Data[0] Instance->sTxMailBox[transmitmailbox].TDHR, ((uint32_t)hcan->pTxMsg->Data[7] pTxMsg->Data[6] pTxMsg->Data[5] pTxMsg->Data[4] Instance->sTxMailBox[transmitmailbox].TIR, CAN_TI0R_TXRQ);
/* Get tick */
tickstart = HAL_GetTick();
/* Check End of transmission flag */
while(!(__HAL_CAN_TRANSMIT_STATUS(hcan, transmitmailbox)))
{
/* Check for the Timeout */
if(Timeout != HAL_MAX_DELAY)
{
if((Timeout == 0U) || ((HAL_GetTick()-tickstart) > Timeout))
{
hcan->State = HAL_CAN_STATE_TIMEOUT;
/* Cancel transmission */
__HAL_CAN_CANCEL_TRANSMIT(hcan, transmitmailbox);
/* Process unlocked */
__HAL_UNLOCK(hcan);
return HAL_TIMEOUT;
}
}
}
/* Change CAN state */
switch(hcan->State)
{
case(HAL_CAN_STATE_BUSY_TX_RX0):
hcan->State = HAL_CAN_STATE_BUSY_RX0;
break;
case(HAL_CAN_STATE_BUSY_TX_RX1):
hcan->State = HAL_CAN_STATE_BUSY_RX1;
break;
case(HAL_CAN_STATE_BUSY_TX_RX0_RX1):
hcan->State = HAL_CAN_STATE_BUSY_RX0_RX1;
break;
default: /* HAL_CAN_STATE_BUSY_TX */
hcan->State = HAL_CAN_STATE_READY;
break;
}
/* Process unlocked */
__HAL_UNLOCK(hcan);
/* Return function status */
return HAL_OK;
}
else
{
/* Change CAN state */
hcan->State = HAL_CAN_STATE_ERROR;
/* Return function status */
return HAL_ERROR;
}
}
/* USER CODE END 4 */
/**
* @brief This function is executed in case of error occurrence.
* @param file: The file name as string.
* @param line: The line in file as a number.
* @retval None
*/
void _Error_Handler(char *file, int line)
{
/* 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****/
Obtuve la pista de aquí:
https://github.com/nitsky/stm32-example/blob/master/stm32/periph/src/stm32f30x_can.c
Espero que esto pueda ayudarte.
Aunque todavía no lo he intentado (después de todo, no necesitaba CAN), la solución es actualizar dentro de STM32CubeMX, la biblioteca HAL F1 a 1.7 (o superior), donde la implementación de CAN se ha corregido/cambiado.
Lundin
michel keijzers
michel keijzers
pop24
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pop24
michel keijzers
pop24
michel keijzers
michel keijzers
pop24
michel keijzers
michel keijzers
Jeroen3
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Tony Estuardo EE75
michel keijzers
Tony Estuardo EE75
michel keijzers
Tony Estuardo EE75