STM32F429 CAN receive (polling) doesn't work - microcontroller

Question

I am using an STM32F429 device for CAN polling transmitting and receiving messages.
I have used part of the "STM32Cube_FW_F4_V1.21.0" LOOPBACK example. By difference I have turned loopback mode to normal mode.
I can transmit messages successfully, but I can not receive any message. I am transmitting CAN messages with Id=0x22 with another device to STM32F429, but it can not receive them and FIFO level is always zero. Here is the code:
/* Includes -------------------------------------------------------- */
#include "main.h"
#include "stm32f4xx_hal.h"
/* USER CODE BEGIN Includes */
/* USER CODE END Includes */
/* Private variables ----------------------------------------------- */
CAN_HandleTypeDef hcan1;
/* USER CODE BEGIN PV */
/* Private variables ----------------------------------------------- */
/* USER CODE END PV */
/* Private function prototypes ------------------------------------- */
void SystemClock_Config(void);
static void MX_GPIO_Init(void);
static void MX_CAN1_Init(void);
void Can_Transmit();
void Can_Recieve();
CAN_HandleTypeDef CanHandle;
CAN_TxHeaderTypeDef TxHeader;
CAN_RxHeaderTypeDef RxHeader;
uint8_t TxData[8];
uint8_t RxData[8];
uint32_t TxMailbox;
uint32_t RcvData = 0;
uint32_t td = 0x67;
uint8_t ERR = 0;
/* USER CODE BEGIN PFP */
/* Private function prototypes ------------------------------------- */
/* USER CODE END PFP */
/* USER CODE BEGIN 0 */
/* USER CODE END 0 */
/**
* #brief The application entry point.
*
* #retval None
*/
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_CAN1_Init();
/* USER CODE BEGIN 2 */
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
if (HAL_CAN_GetRxFifoFillLevel(&CanHandle, CAN_RX_FIFO0) != 1)
{
/* Reception Missing */
Error_Handler();
}
if (HAL_CAN_GetRxMessage(&CanHandle, CAN_RX_FIFO0, &RxHeader, RxData) != HAL_OK)
{
/* Reception Error */
Error_Handler();
}
if (RxHeader.StdId == 0x22)
RcvData = ((RxData[1]<<8) | RxData[0]);
}
}
/**
* #brief System Clock Configuration
* #retval None
*/
void SystemClock_Config(void)
{
RCC_OscInitTypeDef RCC_OscInitStruct;
RCC_ClkInitTypeDef RCC_ClkInitStruct;
/** Configure the main internal regulator output voltage */
__HAL_RCC_PWR_CLK_ENABLE();
__HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
/** Initializes the CPU, AHB and APB busses clocks */
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
RCC_OscInitStruct.HSEState = RCC_HSE_ON;
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
RCC_OscInitStruct.PLL.PLLM = 8;
RCC_OscInitStruct.PLL.PLLN = 336;
RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
RCC_OscInitStruct.PLL.PLLQ = 4;
if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
{
_Error_Handler(__FILE__, __LINE__);
}
/** 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_PLLCLK;
RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4;
RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;
if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK)
{
_Error_Handler(__FILE__, __LINE__);
}
/** Configure the Systick interrupt time */
HAL_SYSTICK_Config(HAL_RCC_GetHCLKFreq()/1000);
/** Configure the Systick */
HAL_SYSTICK_CLKSourceConfig(SYSTICK_CLKSOURCE_HCLK);
/* SysTick_IRQn interrupt configuration */
HAL_NVIC_SetPriority(SysTick_IRQn, 0, 0);
}
/* CAN1 init function */
static void MX_CAN1_Init(void)
{
CAN_FilterTypeDef sFilterConfig;
/* ## -1- Configure the CAN peripheral ########################### */
CanHandle.Instance = CAN1;
CanHandle.Init.TimeTriggeredMode = DISABLE;
CanHandle.Init.AutoBusOff = DISABLE;
CanHandle.Init.AutoWakeUp = DISABLE;
CanHandle.Init.AutoRetransmission = ENABLE;
CanHandle.Init.ReceiveFifoLocked = DISABLE;
CanHandle.Init.TransmitFifoPriority = DISABLE;
CanHandle.Init.Mode = CAN_MODE_NORMAL;
CanHandle.Init.SyncJumpWidth = CAN_SJW_1TQ;
CanHandle.Init.TimeSeg1 = CAN_BS1_4TQ;
CanHandle.Init.TimeSeg2 = CAN_BS2_2TQ;
CanHandle.Init.Prescaler = 12;
if (HAL_CAN_Init(&CanHandle) != HAL_OK)
{
/* Initialization Error */
Error_Handler();
}
/* ## -2- Configure the CAN Filter ############################### */
sFilterConfig.FilterBank = 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 = CAN_RX_FIFO0;
sFilterConfig.FilterActivation = ENABLE;
sFilterConfig.SlaveStartFilterBank = 14;
if (HAL_CAN_ConfigFilter(&CanHandle, &sFilterConfig) != HAL_OK)
{
/* Filter configuration Error */
Error_Handler();
}
/* ## -3- Start the CAN peripheral ############################### */
if (HAL_CAN_Start(&CanHandle) != HAL_OK)
{
/* Start Error */
Error_Handler();
}
}
/** Configure pins as
* Analog
* Input
* Output
* EVENT_OUT
* EXTI
*/
static void MX_GPIO_Init(void)
{
/* GPIO Ports Clock Enable */
__HAL_RCC_GPIOH_CLK_ENABLE();
__HAL_RCC_GPIOB_CLK_ENABLE();
}
/* USER CODE BEGIN 4 */
/* USER CODE END 4 */
/**
* #brief This function is executed in case of error occurrence.
* #param file: The file name as string.
* #param line: The line in file as a number.
* #retval None
*/
void _Error_Handler(char *file, int line)
{
/* USER CODE BEGIN Error_Handler_Debug */
/* User can add his own implementation to report the HAL
error return state */
while(1){
}
/* USER CODE END Error_Handler_Debug */
}

Answer 1

If this is still active, try sth. like this:
//set filter / mask to accept every identifier
CAN_FilterTypeDef filter = {0};
filter.FilterIdHigh = 0x1fff;
filter.FilterIdLow = 0xffff;
filter.FilterMaskIdHigh = 0;
filter.FilterMaskIdLow = 0;
filter.FilterFIFOAssignment = CAN_RX_FIFO0;
filter.FilterBank = 0;
filter.FilterMode = CAN_FILTERMODE_IDMASK;
filter.FilterScale = CAN_FILTERSCALE_16BIT;
filter.FilterActivation = ENABLE;
filter.SlaveStartFilterBank = 0;
if (HAL_CAN_ConfigFilter(&can_handle, &filter) != HAL_OK)
return (1);