Can.attach and can.read does not work on MbedOS6

Mbed OS
1

Hello All.
I’m trying to use can.read() when using can.attach() on MbedOS6.
I’ve already known it has the bug that it doesn’t work on ISR context, so I use thread and Event Queue.
This is my code.

#include "mbed.h"

void onReceive();
void CANreceive();

CAN can(PB_5, PB_6, 500000);
Thread t(osPriorityNormal, 2000);
EventQueue queue(32 * EVENTS_EVENT_SIZE);
int main(void)
{
  can.attach(onReceive, CAN::RxIrq);
  t.start(callback(&queue, &EventQueue::dispatch_forever));
  while (1)
  {
    printf("loop\n");
  }

  return 0;
}

void onReceive()
{

  queue.call(CANreceive);
}

void CANreceive()
{
  CANMessage msg;

  if (can.read(msg))
  {
    printf("data: %s,id:%d\n", msg.data, msg.id);
  }
}

However, it doesn’t work. I can see only “loop”. I suspected that CANreceive() has a problem, so I put it on main(). Then, it starts to read messages. Does can.attach() really work? Can anyone teach me solutions?
=environments=
*nucleo-stm32f767zi
*mbedOS version 6.15
*mbedCLI2 version 7.33.0
*GCC_ARM

1 Like
2

Hello,

I don’t know but spamming a printf in main loop without a wait is bad practise, I think.
I do not know what or who is a sender in your case. I use a CAN loop on one board with 2 interfaces.
So I only copy paste you code, fill a sender and seems to be OK.

  • nucleo-stm32f767zi
  • mbedOS version 6.15
  • KeilStudio IDE
  • AC6

BR, Jan