STM32 MP1 CANFD设置

STM32 CANFD cubemx设置流程(基于MP157正点原子开发板)

AutoRetransmission 设置为enable 可以防止通讯速度过快时丢包

下图所示的TxBuffersNbr 和 TxFifoQueueElmtsNbr 貌似是共享32个地址的，两者加起来不能超过32

1.设置硬件参数(引脚，时钟)

1.1 启用FDCAN1，并设置参数

启用FDCAN后参数设置如下:

• 设置FDCAN引脚，手头板子tx rx分别为PH13 PI9
• 设置参数
• 其中elmets Size因为采用classicmode 所以选用8bytes，注意 buffers nbr MP157rx和tx最多有32个buffer，offset貌似不设置也没事，波特率算法可参考下方网站

https://www.cnblogs.com/Tuple-Joe/p/13278462.html

• 时钟设置
  

1.2启用FDCAN

首先可以设置过滤器，随后启动FDCAN

  /*##-1 Configure the FDCAN filters ########################################*/
  /* Configure standard ID reception filter to Rx FIFO 0 */
  sFilterConfig.IdType = FDCAN_STANDARD_ID;
  sFilterConfig.FilterIndex = 0;
  sFilterConfig.FilterType = FDCAN_FILTER_MASK;
  sFilterConfig.FilterConfig = FDCAN_FILTER_TO_RXFIFO0;
  sFilterConfig.FilterID1 = 0x444;
  sFilterConfig.FilterID2 = 0x555;
  if (HAL_FDCAN_ConfigFilter(&hfdcan1, &sFilterConfig) != HAL_OK)
  {
    Error_Handler();
  }

  /* Configure extended ID reception filter to Rx FIFO 1 */
  sFilterConfig.IdType = FDCAN_EXTENDED_ID;
  sFilterConfig.FilterIndex = 0;
  sFilterConfig.FilterType = FDCAN_FILTER_MASK;
  sFilterConfig.FilterConfig = FDCAN_FILTER_TO_RXFIFO1;
  sFilterConfig.FilterID1 = 0x1111111;
  sFilterConfig.FilterID2 = 0x2222222;
  if (HAL_FDCAN_ConfigFilter(&hfdcan1, &sFilterConfig) != HAL_OK)
  {
    Error_Handler();
  }

  /*##-2 Start FDCAN controller (continuous listening CAN bus) ##############*/
  if (HAL_FDCAN_Start(&hfdcan1) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE END 2 */

发送数据

  /*##-3 Transmit messages ##################################################*/
  /* Add message to Tx FIFO */
  TxHeader.Identifier = 0x444;
  TxHeader.IdType = FDCAN_STANDARD_ID;
  TxHeader.TxFrameType = FDCAN_DATA_FRAME;
  TxHeader.DataLength = FDCAN_DLC_BYTES_8;
  TxHeader.ErrorStateIndicator = FDCAN_ESI_ACTIVE;
  TxHeader.BitRateSwitch = FDCAN_BRS_ON;
  TxHeader.FDFormat = FDCAN_FD_CAN;
  TxHeader.TxEventFifoControl = FDCAN_STORE_TX_EVENTS;
  TxHeader.MessageMarker = 0x52;
  if (HAL_FDCAN_AddMessageToTxFifoQ(&hfdcan1, &TxHeader, TxData0) != HAL_OK)
  {
    Error_Handler();
  }

等待发送完成

  /* Check transmission occurred before timeout */
  while(HAL_FDCAN_IsTxBufferMessagePending(&hfdcan1, FDCAN_TX_BUFFER0 | FDCAN_TX_BUFFER1 | FDCAN_TX_BUFFER2) != 0)
  {
    if((HAL_GetTick() - Tickstart) > TX_FAST_TIMEOUT)
    {
      Error_Handler();
      break;
    }
  } 

查询接收到的can数据

  while(HAL_FDCAN_GetRxFifoFillLevel(&hfdcan1, FDCAN_RX_FIFO0) != 1)
  {
    if((HAL_GetTick() - Tickstart) > RX_FAST_TIMEOUT)
    {
      Error_Handler();
      break;
    }
  }

获取数据

  if (HAL_FDCAN_GetRxMessage(&hfdcan1, FDCAN_RX_FIFO0, &RxHeader, RxData) != HAL_OK)
  {
    Error_Handler();
  }