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Merged
LelsersLasers merged 3 commits into from
May 1, 2026
Merged

CAN2 RX fix #9

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57bb22d
Adding CAN1 to IOC
LelsersLasers Apr 15, 2026
45bb50a
Starting CAN1
LelsersLasers Apr 15, 2026
c8bfa5c
CAN1 in silent mode + might as well set bus/prescaler settings same a…
LelsersLasers Apr 16, 2026
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55 changes: 35 additions & 20 deletions AutonomousDistroBoard/AutonomousDistroBoard.ioc
View file
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Original file line number Diff line number Diff line change
Expand Up @@ -2,6 +2,14 @@
CAD.formats=
CAD.pinconfig=
CAD.provider=
CAN1.BS1=CAN_BS1_12TQ
CAN1.BS2=CAN_BS2_2TQ
CAN1.CalculateBaudRate=499999
CAN1.CalculateTimeBit=2000
CAN1.CalculateTimeQuantum=133.33333333333334
CAN1.IPParameters=CalculateTimeQuantum,CalculateTimeBit,CalculateBaudRate,Mode,Prescaler,BS1,BS2
CAN1.Mode=CAN_MODE_SILENT
CAN1.Prescaler=4
CAN2.BS1=CAN_BS1_12TQ
CAN2.BS2=CAN_BS2_2TQ
CAN2.CalculateBaudRate=499999
Expand All @@ -26,40 +34,43 @@ GPIO.groupedBy=Group By Peripherals
KeepUserPlacement=false
Mcu.CPN=STM32F407VGT6
Mcu.Family=STM32F4
Mcu.IP0=CAN2
Mcu.IP1=DMA
Mcu.IP2=NVIC
Mcu.IP3=RCC
Mcu.IP4=SYS
Mcu.IP5=TIM1
Mcu.IP6=TIM11
Mcu.IP7=UART5
Mcu.IP8=USART3
Mcu.IP9=USB_OTG_FS
Mcu.IPNb=10
Mcu.IP0=CAN1
Mcu.IP1=CAN2
Mcu.IP10=USB_OTG_FS
Mcu.IP2=DMA
Mcu.IP3=NVIC
Mcu.IP4=RCC
Mcu.IP5=SYS
Mcu.IP6=TIM1
Mcu.IP7=TIM11
Mcu.IP8=UART5
Mcu.IP9=USART3
Mcu.IPNb=11
Mcu.Name=STM32F407V(E-G)Tx
Mcu.Package=LQFP100
Mcu.Pin0=PE5
Mcu.Pin1=PE6
Mcu.Pin10=PA13
Mcu.Pin11=PA14
Mcu.Pin12=PC12
Mcu.Pin13=PD2
Mcu.Pin14=PB5
Mcu.Pin15=PB6
Mcu.Pin16=PB7
Mcu.Pin17=PB9
Mcu.Pin18=VP_SYS_VS_Systick
Mcu.Pin19=VP_TIM11_VS_ClockSourceINT
Mcu.Pin13=PD0
Mcu.Pin14=PD1
Mcu.Pin15=PD2
Mcu.Pin16=PB5
Mcu.Pin17=PB6
Mcu.Pin18=PB7
Mcu.Pin19=PB9
Mcu.Pin2=PH0-OSC_IN
Mcu.Pin20=VP_SYS_VS_Systick
Mcu.Pin21=VP_TIM11_VS_ClockSourceINT
Mcu.Pin3=PH1-OSC_OUT
Mcu.Pin4=PE8
Mcu.Pin5=PE9
Mcu.Pin6=PB10
Mcu.Pin7=PB11
Mcu.Pin8=PA11
Mcu.Pin9=PA12
Mcu.PinsNb=20
Mcu.PinsNb=22
Mcu.ThirdPartyNb=0
Mcu.UserConstants=
Mcu.UserName=STM32F407VGTx
Expand Down Expand Up @@ -109,6 +120,10 @@ PB9.Signal=S_TIM11_CH1
PC12.Locked=true
PC12.Mode=Asynchronous
PC12.Signal=UART5_TX
PD0.Mode=CAN_Activate
PD0.Signal=CAN1_RX
PD1.Mode=CAN_Activate
PD1.Signal=CAN1_TX
PD2.Locked=true
PD2.Mode=Asynchronous
PD2.Signal=UART5_RX
Expand Down Expand Up @@ -161,7 +176,7 @@ ProjectManager.StackSize=0x400
ProjectManager.TargetToolchain=STM32CubeIDE
ProjectManager.ToolChainLocation=
ProjectManager.UnderRoot=true
ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_DMA_Init-DMA-false-HAL-true,4-MX_CAN2_Init-CAN2-false-HAL-true,5-MX_UART5_Init-UART5-false-HAL-true,6-MX_TIM1_Init-TIM1-false-HAL-true,7-MX_TIM11_Init-TIM11-false-HAL-true,8-MX_USART3_UART_Init-USART3-false-HAL-true,9-MX_USB_OTG_FS_PCD_Init-USB_OTG_FS-false-HAL-true
ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_DMA_Init-DMA-false-HAL-true,4-MX_CAN2_Init-CAN2-false-HAL-true,5-MX_UART5_Init-UART5-false-HAL-true,6-MX_TIM1_Init-TIM1-false-HAL-true,7-MX_TIM11_Init-TIM11-false-HAL-true,8-MX_USART3_UART_Init-USART3-false-HAL-true,9-MX_USB_OTG_FS_PCD_Init-USB_OTG_FS-false-HAL-true,10-MX_CAN1_Init-CAN1-false-HAL-true
RCC.48MHZClocksFreq_Value=48000000
RCC.AHBFreq_Value=120000000
RCC.APB1CLKDivider=RCC_HCLK_DIV4
Expand Down
45 changes: 44 additions & 1 deletion AutonomousDistroBoard/Core/Src/main.c
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Original file line number Diff line number Diff line change
Expand Up @@ -18,7 +18,6 @@
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include <stdint.h>

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
Expand All @@ -41,6 +40,7 @@
/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/
CAN_HandleTypeDef hcan1;
CAN_HandleTypeDef hcan2;

TIM_HandleTypeDef htim1;
Expand All @@ -66,6 +66,7 @@ static void MX_TIM1_Init(void);
static void MX_TIM11_Init(void);
static void MX_USART3_UART_Init(void);
static void MX_USB_OTG_FS_PCD_Init(void);
static void MX_CAN1_Init(void);
/* USER CODE BEGIN PFP */

/* USER CODE END PFP */
Expand Down Expand Up @@ -110,6 +111,7 @@ int main(void)
MX_TIM11_Init();
MX_USART3_UART_Init();
MX_USB_OTG_FS_PCD_Init();
MX_CAN1_Init();
/* USER CODE BEGIN 2 */
// Initialize logic state
logic_init(&g_logic_state);
Expand All @@ -136,6 +138,10 @@ int main(void)
Error_Handler();
}
// Start CAN peripheral
if (HAL_CAN_Start(&hcan1) != HAL_OK) {
// Must start CAN1 even though we only use CAN2 because CAN2 is a slave to CAN1 on F4
Error_Handler();
}
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if (HAL_CAN_Start(&hcan2) != HAL_OK) {
Error_Handler();
}
Expand Down Expand Up @@ -209,6 +215,43 @@ void SystemClock_Config(void)
}
}

/**
* @brief CAN1 Initialization Function
* @param None
* @retval None
*/
static void MX_CAN1_Init(void)
{

/* USER CODE BEGIN CAN1_Init 0 */

/* USER CODE END CAN1_Init 0 */

/* USER CODE BEGIN CAN1_Init 1 */

/* USER CODE END CAN1_Init 1 */
hcan1.Instance = CAN1;
hcan1.Init.Prescaler = 4;
hcan1.Init.Mode = CAN_MODE_SILENT;
hcan1.Init.SyncJumpWidth = CAN_SJW_1TQ;
hcan1.Init.TimeSeg1 = CAN_BS1_12TQ;
hcan1.Init.TimeSeg2 = CAN_BS2_2TQ;
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 CAN1_Init 2 */

/* USER CODE END CAN1_Init 2 */

}

/**
* @brief CAN2 Initialization Function
* @param None
Expand Down
64 changes: 60 additions & 4 deletions AutonomousDistroBoard/Core/Src/stm32f4xx_hal_msp.c
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Original file line number Diff line number Diff line change
Expand Up @@ -79,6 +79,8 @@ void HAL_MspInit(void)
/* USER CODE END MspInit 1 */
}

static uint32_t HAL_RCC_CAN1_CLK_ENABLED=0;

/**
* @brief CAN MSP Initialization
* This function configures the hardware resources used in this example
Expand All @@ -88,14 +90,44 @@ void HAL_MspInit(void)
void HAL_CAN_MspInit(CAN_HandleTypeDef* hcan)
{
GPIO_InitTypeDef GPIO_InitStruct = {0};
if(hcan->Instance==CAN2)
if(hcan->Instance==CAN1)
{
/* USER CODE BEGIN CAN1_MspInit 0 */

/* USER CODE END CAN1_MspInit 0 */
/* Peripheral clock enable */
HAL_RCC_CAN1_CLK_ENABLED++;
if(HAL_RCC_CAN1_CLK_ENABLED==1){
__HAL_RCC_CAN1_CLK_ENABLE();
}

__HAL_RCC_GPIOD_CLK_ENABLE();
/**CAN1 GPIO Configuration
PD0 ------> CAN1_RX
PD1 ------> CAN1_TX
*/
GPIO_InitStruct.Pin = GPIO_PIN_0|GPIO_PIN_1;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
GPIO_InitStruct.Alternate = GPIO_AF9_CAN1;
HAL_GPIO_Init(GPIOD, &GPIO_InitStruct);
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/* USER CODE BEGIN CAN1_MspInit 1 */

/* USER CODE END CAN1_MspInit 1 */
}
else if(hcan->Instance==CAN2)
{
/* USER CODE BEGIN CAN2_MspInit 0 */

/* USER CODE END CAN2_MspInit 0 */
/* Peripheral clock enable */
__HAL_RCC_CAN2_CLK_ENABLE();
__HAL_RCC_CAN1_CLK_ENABLE();
HAL_RCC_CAN1_CLK_ENABLED++;
if(HAL_RCC_CAN1_CLK_ENABLED==1){
__HAL_RCC_CAN1_CLK_ENABLE();
}

__HAL_RCC_GPIOB_CLK_ENABLE();
/**CAN2 GPIO Configuration
Expand Down Expand Up @@ -127,14 +159,38 @@ void HAL_CAN_MspInit(CAN_HandleTypeDef* hcan)
*/
void HAL_CAN_MspDeInit(CAN_HandleTypeDef* hcan)
{
if(hcan->Instance==CAN2)
if(hcan->Instance==CAN1)
{
/* USER CODE BEGIN CAN1_MspDeInit 0 */

/* USER CODE END CAN1_MspDeInit 0 */
/* Peripheral clock disable */
HAL_RCC_CAN1_CLK_ENABLED--;
if(HAL_RCC_CAN1_CLK_ENABLED==0){
__HAL_RCC_CAN1_CLK_DISABLE();
}

/**CAN1 GPIO Configuration
PD0 ------> CAN1_RX
PD1 ------> CAN1_TX
*/
HAL_GPIO_DeInit(GPIOD, GPIO_PIN_0|GPIO_PIN_1);

/* USER CODE BEGIN CAN1_MspDeInit 1 */

/* USER CODE END CAN1_MspDeInit 1 */
}
else if(hcan->Instance==CAN2)
{
/* USER CODE BEGIN CAN2_MspDeInit 0 */

/* USER CODE END CAN2_MspDeInit 0 */
/* Peripheral clock disable */
__HAL_RCC_CAN2_CLK_DISABLE();
__HAL_RCC_CAN1_CLK_DISABLE();
HAL_RCC_CAN1_CLK_ENABLED--;
if(HAL_RCC_CAN1_CLK_ENABLED==0){
__HAL_RCC_CAN1_CLK_DISABLE();
}

/**CAN2 GPIO Configuration
PB5 ------> CAN2_RX
Expand Down