STM32F4 - CAN2 empfängt nichts

[dj (Gast)]

Hi,
mein STM32F4DISCOVERY habe ich jetzt soweit, dass auf dem CAN1 Senden 
und Empfangen sowie auf CAN2 Senden funktioniert.
Nur will CAN2 nichts empfangen, anscheinend wird der Interrupthandler 
nie aufgerufen :(

/* Includes */
#include "stm32f4xx.h"
#include "system_stm32f4xx.h"
#include "stm32f4_discovery.h"
#include "main.h"
#include "stm32f4xx_can.h"
/* Private macro */
/* Private variables */
CAN_InitTypeDef        CAN_InitStructure;
CAN_FilterInitTypeDef  CAN_FilterInitStructure;

GPIO_InitTypeDef GPIO_InitStructure;

CanTxMsg TxMessage;
CanRxMsg RxMessage;
CanTxMsg TxMessage2;
CanRxMsg RxMessage2;
/* Private function prototypes */
void CAN_Config(void);
void NVIC_Config(void);
void LDoff(void);
/* Private functions */
//Pin definitions

#define CAN_RX_PIN      GPIO_Pin_8
#define CAN_TX_PIN      GPIO_Pin_9

#define CAN_RX_SOURCE    GPIO_PinSource8
#define CAN_TX_SOURCE    GPIO_PinSource9

//Port definitions
#define CAN_COM_PORT    GPIOB




//Clock definitions
#define CAN_GPIO_CLK        RCC_AHB1Periph_GPIOB
#define CAN_CLK             RCC_APB1Periph_CAN1



#define CAN2_RX_PIN      GPIO_Pin_5
#define CAN2_TX_PIN      GPIO_Pin_6

#define CAN2_RX_SOURCE    GPIO_PinSource5
#define CAN2_TX_SOURCE    GPIO_PinSource6

//Port definitions
#define CAN2_COM_PORT    GPIOB

//Clock definitions
#define CAN2_GPIO_CLK        RCC_AHB1Periph_GPIOB
#define CAN2_CLK             RCC_APB1Periph_CAN2




void CAN_Config(void)
{
  GPIO_InitTypeDef  GPIO_InitStructure;

  /* CAN GPIOs configuration **************************************************/

  /* Enable GPIO clock */
  RCC_AHB1PeriphClockCmd(CAN_GPIO_CLK, ENABLE);

  /* Connect CAN pins to AF9 */
  GPIO_PinAFConfig(CAN_COM_PORT, CAN_RX_SOURCE, GPIO_AF_CAN1);
  GPIO_PinAFConfig(CAN_COM_PORT, CAN_TX_SOURCE, GPIO_AF_CAN1);

  /* Configure CAN RX and TX pins */
  GPIO_InitStructure.GPIO_Pin = CAN_RX_PIN | CAN_TX_PIN;
  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
  GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
  GPIO_InitStructure.GPIO_PuPd  = GPIO_PuPd_UP;
  GPIO_Init(CAN_COM_PORT, &GPIO_InitStructure);

  /* CAN configuration ********************************************************/
  /* Enable CAN clock */
  RCC_APB1PeriphClockCmd(CAN_CLK, ENABLE);

  //CAN1
  /* CAN register init */
  CAN_DeInit(CAN1);

  /* CAN cell init */
  CAN_DBGFreeze(CAN1, DISABLE);
  CAN_InitStructure.CAN_TTCM = DISABLE;
  CAN_InitStructure.CAN_ABOM = DISABLE;
  CAN_InitStructure.CAN_AWUM = ENABLE;
  CAN_InitStructure.CAN_NART = ENABLE;
  CAN_InitStructure.CAN_RFLM = DISABLE;
  CAN_InitStructure.CAN_TXFP = ENABLE;
  CAN_InitStructure.CAN_Mode = CAN_Mode_Normal;
  CAN_InitStructure.CAN_SJW = CAN_SJW_2tq;

  /* CAN Baudrate = 500 kBps (CAN clocked at 42MHz) */
  CAN_InitStructure.CAN_BS1 = CAN_BS1_15tq;
  CAN_InitStructure.CAN_BS2 = CAN_BS2_5tq;
  CAN_InitStructure.CAN_Prescaler = 4;
  CAN_Init(CAN1, &CAN_InitStructure);

  /* CAN filter init */
  CAN_FilterInitStructure.CAN_FilterNumber = 0;
  CAN_FilterInitStructure.CAN_FilterMode = CAN_FilterMode_IdMask;
  CAN_FilterInitStructure.CAN_FilterScale = CAN_FilterScale_32bit;
  CAN_FilterInitStructure.CAN_FilterIdHigh = 0x0000;
  CAN_FilterInitStructure.CAN_FilterIdLow = 0x0000;
  CAN_FilterInitStructure.CAN_FilterMaskIdHigh = 0x0000;
  CAN_FilterInitStructure.CAN_FilterMaskIdLow = 0x0000;
  CAN_FilterInitStructure.CAN_FilterFIFOAssignment = 0;
  CAN_FilterInitStructure.CAN_FilterActivation = ENABLE;
  CAN_FilterInit(&CAN_FilterInitStructure);

  /* Transmit Structure preparation */
  TxMessage.StdId = 0x321;
  TxMessage.ExtId = 0x01;
  TxMessage.RTR = CAN_RTR_DATA;
  TxMessage.IDE = CAN_ID_STD;
  TxMessage.DLC = 8;

  /* Enable FIFO 0 message pending Interrupt */
  CAN_ITConfig(CAN1, CAN_IT_FMP0, ENABLE);
}


void CAN2_Config(void)
{
  GPIO_InitTypeDef  GPIO_InitStructure;

  /* CAN GPIOs configuration **************************************************/

    RCC_AHB1PeriphClockCmd(CAN_GPIO_CLK, ENABLE);
  /* Enable GPIO clock */
  RCC_AHB1PeriphClockCmd(CAN2_GPIO_CLK, ENABLE);

  /* Connect CAN pins to AF9 */
  GPIO_PinAFConfig(CAN2_COM_PORT, CAN2_RX_SOURCE, GPIO_AF_CAN2);
  GPIO_PinAFConfig(CAN2_COM_PORT, CAN2_TX_SOURCE, GPIO_AF_CAN2);

  /* Configure CAN RX and TX pins */
  GPIO_InitStructure.GPIO_Pin = CAN2_RX_PIN | CAN2_TX_PIN;
  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
  GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
  GPIO_InitStructure.GPIO_PuPd  = GPIO_PuPd_UP;
  GPIO_Init(CAN_COM_PORT, &GPIO_InitStructure);

  /* CAN configuration ********************************************************/
  /* Enable CAN clock */
  RCC_APB1PeriphClockCmd(CAN_CLK, ENABLE);
RCC_APB1PeriphClockCmd(CAN2_CLK, ENABLE);

  //CAN1
  /* CAN register init */
  CAN_DeInit(CAN2);

  /* CAN cell init */
  CAN_DBGFreeze(CAN2, DISABLE);
  CAN_InitStructure.CAN_TTCM = DISABLE;
  CAN_InitStructure.CAN_ABOM = DISABLE;
  CAN_InitStructure.CAN_AWUM = ENABLE;
  CAN_InitStructure.CAN_NART = ENABLE;
  CAN_InitStructure.CAN_RFLM = DISABLE;
  CAN_InitStructure.CAN_TXFP = ENABLE;
  CAN_InitStructure.CAN_Mode = CAN_Mode_Normal;
  CAN_InitStructure.CAN_SJW = CAN_SJW_2tq;

  /* CAN Baudrate = 500 kBps (CAN clocked at 42MHz) */
  CAN_InitStructure.CAN_BS1 = CAN_BS1_15tq;
  CAN_InitStructure.CAN_BS2 = CAN_BS2_5tq;
  CAN_InitStructure.CAN_Prescaler = 4;
  CAN_Init(CAN2, &CAN_InitStructure);

  /* CAN filter init */
  CAN_FilterInitStructure.CAN_FilterNumber = 14;
  CAN_FilterInitStructure.CAN_FilterMode = CAN_FilterMode_IdMask;
  CAN_FilterInitStructure.CAN_FilterScale = CAN_FilterScale_32bit;
  CAN_FilterInitStructure.CAN_FilterIdHigh = 0x0000;
  CAN_FilterInitStructure.CAN_FilterIdLow = 0x0000;
  CAN_FilterInitStructure.CAN_FilterMaskIdHigh = 0x0000;
  CAN_FilterInitStructure.CAN_FilterMaskIdLow = 0x0000;
  CAN_FilterInitStructure.CAN_FilterFIFOAssignment = 1;
  CAN_FilterInitStructure.CAN_FilterActivation = ENABLE;
  CAN_FilterInit(&CAN_FilterInitStructure);

  /* Transmit Structure preparation */
  TxMessage2.StdId = 0x123;
  TxMessage2.ExtId = 0x01;
  TxMessage2.RTR = CAN_RTR_DATA;
  TxMessage2.IDE = CAN_ID_STD;
  TxMessage2.DLC = 8;

  /* Enable FIFO 0 message pending Interrupt */
  CAN_ITConfig(CAN2, CAN_IT_FMP0, ENABLE);
}

void NVIC_Config(void)
{
  NVIC_InitTypeDef  NVIC_InitStructure;
  NVIC_InitTypeDef  NVIC2_InitStructure;
  
  NVIC_InitStructure.NVIC_IRQChannel = CAN1_RX0_IRQn;
  NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0x0;
  NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0x0;
  NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
  NVIC_Init(&NVIC_InitStructure);
  

  NVIC2_InitStructure.NVIC_IRQChannel = CAN2_RX0_IRQn;
  NVIC2_InitStructure.NVIC_IRQChannelPreemptionPriority = 0x0;
  NVIC2_InitStructure.NVIC_IRQChannelSubPriority = 0x0;
  NVIC2_InitStructure.NVIC_IRQChannelCmd = ENABLE;
  NVIC_Init(&NVIC2_InitStructure);
  
}


void Init_RxMes(CanRxMsg *RxMessage)
{
  uint8_t i = 0;

  RxMessage->StdId = 0x00;
  RxMessage->ExtId = 0x00;
  RxMessage->IDE = CAN_ID_STD;
  RxMessage->DLC = 0;
  RxMessage->FMI = 0;
  for (i = 0;i < 8;i++)
  {
    RxMessage->Data[i] = 0x00;
  }
}



int main(void)
{

  
  /* Initialize LEDs */
  STM_EVAL_LEDInit(LED3);
  STM_EVAL_LEDInit(LED4);
 STM_EVAL_LEDInit(LED5);
  STM_EVAL_LEDInit(LED6);

  /* Turn on LEDs */
 STM_EVAL_LEDOn(LED3);
  STM_EVAL_LEDOn(LED4);
 STM_EVAL_LEDOn(LED5);
  STM_EVAL_LEDOn(LED6);

   NVIC_Config();
  
 CAN_Config();
 CAN2_Config();
Init_RxMes(&RxMessage);
Init_RxMes(&RxMessage2);
  
    TxMessage.Data[0] = 0x09;
    TxMessage.Data[1] = 0x08;
    TxMessage.Data[2] = 0x07;
    TxMessage.Data[3] = 0x06;
    TxMessage.Data[4] = 0x05;
CAN_Transmit(CAN2, &TxMessage);
CAN_Transmit(CAN1, &TxMessage);



  /* Infinite loop */
  while (1)
  {

  }
}

void CAN1_RX0_IRQHandler(void)
{

  CAN_Receive(CAN1, CAN_FIFO0, &RxMessage);
  STM_EVAL_LEDToggle(RxMessage.Data[0]);

}

void CAN2_RX0_IRQHandler(void)
{
  
LD1(1);
  CAN_Receive(CAN2, CAN_FIFO1, &RxMessage2);
  STM_EVAL_LEDToggle(RxMessage2.Data[0]);

}

Wenn ich an CAN1 was sende, toggelt die LED, bei CAN2 tut sich nichts, 
senden funktioniert (sagen LA und Can-Sniffer).

Sieht jemand den Fehler?

[Markus M. (Firma: EleLa - www.elela.de) (mmvisual)]

Im ISR nutzt du deb anderen FIFO

[dj (Gast)]

Mit FIFO0 in der ISR wills auch nicht

[Volldemar (Gast)]

#define CAN2_CLK    (RCC_APB1Periph_CAN1 | RCC_APB1Periph_CAN2)

[Reamon (Gast)]

Hat es funktioniert? Ich habe das gleiche Problem.
Wäre nett wenn sich jemand meldet.

[Disco (Gast)]

Die Filter von CAN2 werden im Fliter von CAN1 definiert. Wieviele Filter 
für CAN2 benutzt werden, hängt von can1.FMR ab.

[Reamon (Gast)]

Was heisst das konkret? Sorry ich bin noch ein Anfänger.

[Disco (Gast)]

CAN2 ist etwas schwierig zu konfigurieren, da er von CAN1 abhängig ist. 
Sie teilen sich die Filtereinheit. Die von CAN1 versorgt wird. Wenn du 
keine Nachricht empfänst, liegt es an einer falschen 
Filterkonfiguration. Im Manual ist alles erklärt. Such nach FMR im 
Manual und dort findest du alles.

[Stefan K. (stefan64)]

... und Du musst die CAN1 clock zusätzlich zur CAN2 clock einschalten.

Gruß, Stefan

[Reamon (Gast)]

Danke für die Hilfe. Ich werde mich im Manual einlesen.