开启 BRS 后需要配置并使能 Tx Delay Compensation。
/* Configure and enable Tx Delay Compensation, required for BRS mode.
TdcOffset default recommended value: DataTimeSeg1 * DataPrescaler
TdcFilter default recommended value: 0 */
if (HAL_FDCAN_ConfigTxDelayCompensation(&hfdcan1, 0x0C, 0x00) != HAL_OK)
{
Error_Handler();
}
if (HAL_FDCAN_EnableTxDelayCompensation(&hfdcan1) != HAL_OK)
{
Error_Handler();
}
// Start FDCAN1
if (HAL_FDCAN_Start(&hfdcan1) != HAL_OK)
{
Error_Handler();
}
if (HAL_FDCAN_ActivateNotification(&hfdcan1, FDCAN_IT_RX_FIFO0_NEW_MESSAGE, 0) != HAL_OK)
{
Error_Handler();
}