I couldn’t get it up and running on my discovery board, because of limited time. But what i saw so far are two points:
you have enabled the interrupt for HAL_NVIC_EnableIRQ(CAN1_RX0_IRQn);, but you havn’t implemented an interrupt handler for it.
like: void CAN1_RX0_IRQHandler(void) { HAL_CAN_IRQHandler(&SimpleCan::hcan); }
…look into the can examples comming from stm (file ‘stm32f4xx_it.c’) or from generated CubeMX code. For the STM324xG-EVAL board they offer some CAN samples with interrupts.
second thing is that you have to make hcan static (static CAN_HandleTypeDef hcan;) otherwise you can not access it from the interrupt handler (don’t forget the static initializer CAN_HandleTypeDef SimpleCan::hcan = { };).
Hope this brings you on the right track. Have fun!
@JorgeMaker - I have interrupts working for HAL_CAN (stm32f405 vesc board). I’ve also sorted out CAN speeds which unlike FDCAN you have to work out prescalers and time segments for. Pain Unfortunately the speeds are going to be dependent on your PCKL1 freq (42MHz for me) - so might need replacing.
The interface is a little different to @erwin74. Perhaps we can work towards a common abstraction?? I’ve looked at esp32 as a 3rd CAN abstraction but it’s newer API assumes you are using tasks/threads I think. Challenging!
If we had an abstraction then we could write a SimpleFOC CanCommander which uses this abstraction and is aware of SimpleFOC config and actions. This would allow can bus message such as “set Node 4’s velocity P term to 4” or “what is the velocity of Node 3”. The commander would receive these messages and know what todo with BLDCMotor to set or obtain the info.
I will test your implementation as soon as I receive a new STM32F405RGT6, it’s on its way from China Unfortunately, I destroyed my MCU due to an ESD event caused by allowing more current than my power supply could handle.
I really like the interface you have implemented, it is not that different from the one @erwin74 implemented. It would be great to develop a top layer that uses this interface and is able to act on SimpleFOC. If I have time this weekend and I will try to make a proposal.
Thanks to the code of @Owen_Williams and @erwin74, I got bi-directional CAN working. For my setup I am using an Arduino Uno with a MCP2515 and the B-G431B-ESC1.
Everything works perfect with the standard code from Github. But when I want to combine my previous SimpleFOC code, I get many problems:
Only thing I add: Serial.print(“test”); in the loop and the codes stops working.
Or once I add the SimpleFOC library, it already stops working after BLDCMotor motor = BLDCMotor(11);
Or if I send more than two bytes to the standard code, it will also stops working.
I know that these are quite specific questions! So I am not looking for a precise answer. I want to ask advice how to solve these kind of things! Especially the first (Serial) and second point (Adding SimpleFOC code). Normally I can solve some problems but when adding one simple line of code and the whole board stops working (I always check with a led because Serial can sometimes be inconsistent with this board!), than I am quite lost!
@ultra.robotics - did you get past your CAN/Serial issues? I think on another thread you may have got more stability by using Arduino IDE. Does this mean you’re happy with your CAN situation?
I forgot to update this reply! Arduino IDE did the trick for me. SimpleFOC code is already implemented and I am hoping to get the first leg movements in the coming week .
The only thing I could not fix is that I can not send more than two bytes. When I send more than two bytes, the whole board crashes. For now it is fine because I convert a float into an integer and the bytes of this integer are than send via the CAN. But I am still curious why this is the case!
I think that it could maybe be related to the bit of the Data length code function.
Unfortunately the speeds are going to be dependent on your PCKL1 freq (42MHz for me) - so might need replacing.