STM32 HAL_CAN_Transmit gibt immer TIMEOUT zurück (HAL_CAN_STATE_TIMEOUT)

Ich habe die neue Version und was für ein Unterschied, es gibt einige Änderungen, die man beachten muss, also hier sind einige Ausschnitte:

// 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();             
        }
    }
}   

viel anders als die alte Bibliothek aber es funktioniert sehr gut Ich habe mir die Interrupts noch nicht angesehen und damit empfangen, aber ich bin mir sicher, dass sie auch in der neuen Version des HAL_CAN-Treibers gut funktionieren

Ist es nicht so einfach, dass Sie den STM32 TX-Pin mit dem TX-Pin des Transceivers verbunden haben? Der Transceiver erwartet dieses Signal am RX-Pin.

Vertauschen Sie die Verkabelung so, dass STM32 TX >> Transceiver RX und umgekehrt.

Tx alias Transmit ist ein Einwegbus, der immer in einen Rx alias Receive-Pin eingespeist wird.

Es ist lange her, seit ich CAN verwendet habe, aber das erste, was mir in den Sinn kam, war, dass der Sender möglicherweise auf ein ACK vom Empfänger wartet, um die Übertragung erfolgreich abzuschließen. Und die Leitung, die auf 0 V bleibt, lässt mich auch an einen fehlenden ACK-Handshake denken. Ich bin mir sicher, dass Sie dies bereits überprüft haben, aber ich würde das globale Interrupt-Enable-Flag auf der Empfängerseite überprüfen.

Ich hatte das gleiche Problem, CAN auf dem STM32F103C8T6 zum Laufen zu bringen. Ich habe ein kleines Problem in der HAL_CAN_Transmit()Funktion gefunden. Es würde die Ausführung an dieser Zeile stoppen:

hcan->pTxMsg->DLC &= (uint8_t)0x0000000F;

Ich habe es geändert zu:

TxMessage.DLC &= (uint8_t)0x0000000F;

und Ergebnisse bekommen. Es gibt immer noch ein paar Probleme, wie in meinem Setup gebe ich eine Standard-ID und keine erweiterte ID, aber es sendet eine erweiterte ID. Außerdem versuche ich, eine Nachricht zu senden, und es sendet einen Remote-Request-Frame, aber ich habe es geschafft, eine Nachricht vom STM32 an den Arduino zu lesen.

Hier ist meine main.c-Datei:

/**
  ******************************************************************************
  * @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****/

Den Hinweis habe ich von hier:

https://github.com/nitsky/stm32-example/blob/master/stm32/periph/src/stm32f30x_can.c

Hoffe das könnte dir helfen.

Obwohl ich es noch nicht versucht habe (ich brauchte CAN schließlich nicht), besteht die Lösung darin, innerhalb von STM32CubeMX die HAL F1-Bibliothek auf 1.7 (oder höher) zu aktualisieren, wo die CAN-Implementierung behoben/geändert wurde.