stm32f103 CAN send test

main.c

/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file           : main.c
  * @brief          : Main program body
  ******************************************************************************
  * @attention
  *
  * <h2><center>&copy; Copyright (c) 2021 STMicroelectronics.
  * All rights reserved.</center></h2>
  *
  * This software component is licensed by ST under BSD 3-Clause license,
  * the "License"; You may not use this file except in compliance with the
  * License. You may obtain a copy of the License at:
  *                        opensource.org/licenses/BSD-3-Clause
  *
  ******************************************************************************
  */

// references:
// https://github.com/nematix/stm32f10x-stdperiph-lib/tree/master/Project/STM32F10x_StdPeriph_Examples/CAN/DualCAN
// https://github.com/timsonater/stm32-CAN-bus-example-HAL-API/blob/master/main.c
/* USER CODE END Header */

/* Includes ------------------------------------------------------------------*/
#include "main.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include <stdio.h>
/* 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_HandleTypeDef hcan;

/* USER CODE BEGIN PV */

CAN_HandleTypeDef hcan1;

CAN_TxHeaderTypeDef pTxHeader;
CAN_RxHeaderTypeDef pRxHeader;
uint32_t TxMailbox;

CAN_FilterTypeDef sFilterConfig;

/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/

void SystemClock_Config(void);
static void MX_GPIO_Init(void);
static void MX_CAN_Init(void);

/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */

/* USER CODE END 0 */

/**
  * @brief  The application entry point.
  * @retval int
  */
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_CAN_Init();
  /* USER CODE BEGIN 2 */



//	sFilterConfig.FilterFIFOAssignment=CAN_FILTER_FIFO0; //set fifo assignment
//	sFilterConfig.FilterMaskIdHigh=0;
//	sFilterConfig.FilterMaskIdLow=0;
//	sFilterConfig.FilterScale=CAN_FILTERSCALE_32BIT; //set filter scale
//	sFilterConfig.FilterActivation=CAN_FILTER_ENABLE;
//
//
//	if (HAL_CAN_ConfigFilter(&hcan1, &sFilterConfig) != HAL_OK)
//	{
//		Error_Handler();
//	}

//	if (HAL_CAN_RegisterCallback(&hcan, HAL_CAN_RX_FIFO0_MSG_PENDING_CB_ID, CAN_Recv))
//	{
//		Error_Handler();
//	}

  HAL_StatusTypeDef status = HAL_CAN_Start(&hcan1);
//  if (status != HAL_OK)
//	// if (HAL_CAN_Start(&hcan1) != HAL_OK)
//	{
//	  Error_Handler();
//	}


//	/* Activate CAN RX notification */
//	if (HAL_CAN_ActivateNotification(&hcan1, CAN_IT_RX_FIFO0_MSG_PENDING) != HAL_OK)
//	{
//		/* Notification Error */
//		Error_Handler();
//	}

  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */

    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */



  while (1) {
	  HAL_GPIO_TogglePin(LED_1_GPIO_Port, LED_1_Pin);
//	  HAL_Delay(250);
//	  HAL_GPIO_TogglePin(LED_2_GPIO_Port, LED_2_Pin);
	  //HAL_Delay(125);
	  HAL_Delay(1000);

	  pTxHeader.DLC = 7;
	  pTxHeader.IDE = CAN_ID_STD;
	  pTxHeader.RTR = CAN_RTR_DATA;
	  pTxHeader.StdId = 244;
	  pTxHeader.TransmitGlobalTime = DISABLE;

	  uint8_t data[] = "Hello!";

	  //uint8_t data[4] = {'T','E','S','T'};
	  //HAL_CAN_AddTxMessage( &hcan1, &pHeader, data, &TxMailbox );
	  HAL_StatusTypeDef status = HAL_CAN_AddTxMessage( &hcan1, &pTxHeader, data, &TxMailbox );
	  if (status != HAL_OK){
		  HAL_GPIO_TogglePin(LED_2_GPIO_Port, LED_2_Pin);
	  }


//	  if(HAL_CAN_AddTxMessage( &hcan1, &pTxHeader, data, &TxMailbox ) != HAL_OK){
//		  Error_Handler();
//	  }
	  HAL_Delay(10);

  }


  /* USER CODE END 3 */
}

/**
  * @brief System Clock Configuration
  * @retval None
  */
void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

  /** Initializes the CPU, AHB and APB busses clocks 
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
  RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_NONE;
  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_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_HSI;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_0) != HAL_OK)
  {
    Error_Handler();
  }
}

/**
  * @brief CAN Initialization Function
  * @param None
  * @retval None
  */
static void MX_CAN_Init(void)
{

  /* USER CODE BEGIN CAN_Init 0 */


/* Baud rate calculation method:Clock frequency / division / (tq1 + tq2 + swj)
 *
 * https://www.programmersought.com/article/59375089857/
 *
 */

  /* USER CODE END CAN_Init 0 */

  /* USER CODE BEGIN CAN_Init 1 */



  /* USER CODE END CAN_Init 1 */
  hcan1.Instance = CAN1;
  hcan1.Init.Prescaler = 1;
  hcan1.Init.Mode = CAN_MODE_NORMAL;
  hcan1.Init.SyncJumpWidth = CAN_SJW_1TQ;
  hcan1.Init.TimeSeg1 = CAN_BS1_8TQ;
  hcan1.Init.TimeSeg2 = CAN_BS2_6TQ;
  hcan1.Init.TimeTriggeredMode = DISABLE;
  hcan1.Init.AutoBusOff = DISABLE;
  hcan1.Init.AutoWakeUp = DISABLE;
  hcan1.Init.AutoRetransmission = DISABLE;
  hcan1.Init.ReceiveFifoLocked = DISABLE;
  hcan1.Init.TransmitFifoPriority = DISABLE;
  if (HAL_CAN_Init(&hcan1) != HAL_OK)
  {
	  Error_Handler();
  }
  /* USER CODE BEGIN CAN_Init 2 */
  /*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 = 0;
  sFilterConfig.FilterActivation = ENABLE;
  sFilterConfig.BankNumber = 14;
  if (HAL_CAN_ConfigFilter(&hcan, &sFilterConfig) != HAL_OK)
  {
    Error_Handler();
  }*/



  /* Start the CAN peripheral */
  if (HAL_CAN_Start(&hcan1) != HAL_OK)
  {
    /* Start Error */
    Error_Handler();
  }


  // HAL_CAN_ActivateNotification(&hcan1, CAN_IT_RX_FIFO0_MSG_PENDING); //enable interrupts

  /*##-3- Configure Transmission process #####################################*/


  /* USER CODE END CAN_Init 2 */

}

/**
  * @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_GPIOB_CLK_ENABLE();
  __HAL_RCC_GPIOA_CLK_ENABLE();

  /*Configure GPIO pin Output Level */
  HAL_GPIO_WritePin(GPIOB, LED_1_Pin|LED_2_Pin, GPIO_PIN_RESET);

  /*Configure GPIO pins : LED_1_Pin LED_2_Pin */
  GPIO_InitStruct.Pin = LED_1_Pin|LED_2_Pin;
  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 CAN_Recv(CAN_HandleTypeDef *hcan1) {
//  CAN_RxHeaderTypeDef msg;
//  uint8_t data[8];
//  HAL_CAN_GetRxMessage(hcan1, CAN_RX_FIFO0, &msg, data);
//  // do something
//}

/* 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 */

  /* 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****/