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[STM32N6] STM32N6的CAN-FD功能和测试

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 楼主| 一路向北lm 发表于 2025-4-3 17:15 | 显示全部楼层 |阅读模式
stm32n, 测试, CAN-FD, dc, TE, TX
本帖最后由 一路向北lm 于 2025-4-3 17:19 编辑

canfd初始化
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  1. static void MX_FDCAN1_Init(void)
    

  2. {
    


  3. 

  4.   /* USER CODE BEGIN FDCAN1_Init 0 */
    


  5. 

  6.   /* USER CODE END FDCAN1_Init 0 */
    


  7. 

  8.   /* USER CODE BEGIN FDCAN1_Init 1 */
    


  9. 

  10.   /* USER CODE END FDCAN1_Init 1 */
    

  11.   hfdcan1.Instance = FDCAN1;
    

  12.   hfdcan1.Init.FrameFormat = FDCAN_FRAME_FD_BRS;
    

  13.   hfdcan1.Init.Mode = FDCAN_MODE_EXTERNAL_LOOPBACK;
    

  14.   hfdcan1.Init.AutoRetransmission = ENABLE;
    

  15.   hfdcan1.Init.TransmitPause = DISABLE;
    

  16.   hfdcan1.Init.ProtocolException = ENABLE;
    

  17.   hfdcan1.Init.NominalPrescaler = 1;
    

  18.   hfdcan1.Init.NominalSyncJumpWidth = 50;
    

  19.   hfdcan1.Init.NominalTimeSeg1 = 149;
    

  20.   hfdcan1.Init.NominalTimeSeg2 = 50;
    

  21.   hfdcan1.Init.DataPrescaler = 4;
    

  22.   hfdcan1.Init.DataSyncJumpWidth = 5;
    

  23.   hfdcan1.Init.DataTimeSeg1 = 19;
    

  24.   hfdcan1.Init.DataTimeSeg2 = 5;
    

  25.   hfdcan1.Init.MessageRAMOffset = 0;
    

  26.   hfdcan1.Init.StdFiltersNbr = 1;
    

  27.   hfdcan1.Init.ExtFiltersNbr = 2;
    

  28.   hfdcan1.Init.RxFifo0ElmtsNbr = 1;
    

  29.   hfdcan1.Init.RxFifo0ElmtSize = FDCAN_DATA_BYTES_64;
    

  30.   hfdcan1.Init.RxFifo1ElmtsNbr = 2;
    

  31.   hfdcan1.Init.RxFifo1ElmtSize = FDCAN_DATA_BYTES_48;
    

  32.   hfdcan1.Init.RxBuffersNbr = 1;
    

  33.   hfdcan1.Init.RxBufferSize = FDCAN_DATA_BYTES_12;
    

  34.   hfdcan1.Init.TxEventsNbr = 4;
    

  35.   hfdcan1.Init.TxBuffersNbr = 2;
    

  36.   hfdcan1.Init.TxFifoQueueElmtsNbr = 3;
    

  37.   hfdcan1.Init.TxFifoQueueMode = FDCAN_TX_FIFO_OPERATION;
    

  38.   hfdcan1.Init.TxElmtSize = FDCAN_DATA_BYTES_64;
    

  39.   if (HAL_FDCAN_Init(&hfdcan1) != HAL_OK)
    

  40.   {
    

  41.     Error_Handler();
    

  42.   }
    

  43.   /* USER CODE BEGIN FDCAN1_Init 2 */
    


  44. 

  45.   /* USER CODE END FDCAN1_Init 2 */
    


  46. 

  47. }
canfd 过滤器配置
复制
  1. /*##-1 Configure the FDCAN filters ########################################*/
    


  2. 

  3.   /* Configure standard ID reception filter to Rx FIFO 0. Only accept ID = FilterID1 */
    

  4.   FDCAN_FilterTypeDef        sFilterConfig;
    

  5.   sFilterConfig.IdType       = FDCAN_STANDARD_ID;
    

  6.   sFilterConfig.FilterIndex  = 0U;
    

  7.   sFilterConfig.FilterType   = FDCAN_FILTER_DUAL;
    

  8.   sFilterConfig.FilterConfig = FDCAN_FILTER_TO_RXFIFO0;
    

  9.   sFilterConfig.FilterID1    = 0x444;
    

  10.   sFilterConfig.FilterID2    = 0x444; /* For acceptance, MessageID and FilterID1 must match exactly */
    

  11.   if (HAL_FDCAN_ConfigFilter(&hfdcan1, &sFilterConfig) != HAL_OK)
    

  12.   {
    

  13.     Error_Handler();
    

  14.   }
    


  15. 

  16.   /* Configure extended ID reception filter to Rx FIFO 1. Only accept ID between FilterID1 and FilterID2. */
    

  17.   sFilterConfig.IdType       = FDCAN_EXTENDED_ID;
    

  18.   sFilterConfig.FilterIndex  = 0U;
    

  19.   sFilterConfig.FilterType   = FDCAN_FILTER_RANGE_NO_EIDM;
    

  20.   sFilterConfig.FilterConfig = FDCAN_FILTER_TO_RXFIFO1;
    

  21.   sFilterConfig.FilterID1    = 0x1111111;
    

  22.   sFilterConfig.FilterID2    = 0x2222222;
    

  23.   if (HAL_FDCAN_ConfigFilter(&hfdcan1, &sFilterConfig) != HAL_OK)
    

  24.   {
    

  25.     Error_Handler();
    

  26.   }
开启canfd 控制器
复制
  1. /*##-2 Start FDCAN controller (continuous listening CAN bus) ##############*/
    


  2. 

  3.   if (HAL_FDCAN_Start(&hfdcan1) != HAL_OK)
    

  4.   {
    

  5.     Error_Handler();
    

  6.   }
发送CANFD数据
复制
  1. /*##-3 Transmit messages ##################################################*/
    


  2. 

  3.   FDCAN_TxHeaderTypeDef        txHeader;
    


  4. 

  5.   /* Add message to Tx FIFO */
    

  6.   txHeader.Identifier          = 0x444;
    

  7.   txHeader.IdType              = FDCAN_STANDARD_ID;
    

  8.   txHeader.TxFrameType         = FDCAN_DATA_FRAME;
    

  9.   txHeader.DataLength          = FDCAN_DLC_BYTES_12;
    

  10.   txHeader.ErrorStateIndicator = FDCAN_ESI_ACTIVE;
    

  11.   txHeader.BitRateSwitch       = FDCAN_BRS_ON;
    

  12.   txHeader.FDFormat            = FDCAN_FD_CAN;
    

  13.   txHeader.TxEventFifoControl  = FDCAN_STORE_TX_EVENTS;
    

  14.   txHeader.MessageMarker       = 0x52U;
    

  15.   if (HAL_FDCAN_AddMessageToTxFifoQ(&hfdcan1, &txHeader, txData0) != HAL_OK)
    

  16.   {
    

  17.     Error_Handler();
    

  18.   }
    


  19. 

  20.   /* Add second message to Tx FIFO */
    

  21.   txHeader.Identifier          = 0x1111112;
    

  22.   txHeader.IdType              = FDCAN_EXTENDED_ID;
    

  23.   txHeader.TxFrameType         = FDCAN_DATA_FRAME;
    

  24.   txHeader.DataLength          = FDCAN_DLC_BYTES_12;
    

  25.   txHeader.ErrorStateIndicator = FDCAN_ESI_PASSIVE;
    

  26.   txHeader.BitRateSwitch       = FDCAN_BRS_ON;
    

  27.   txHeader.FDFormat            = FDCAN_FD_CAN;
    

  28.   txHeader.TxEventFifoControl  = FDCAN_STORE_TX_EVENTS;
    

  29.   txHeader.MessageMarker       = 0xCCU;
    

  30.   if (HAL_FDCAN_AddMessageToTxFifoQ(&hfdcan1, &txHeader, txData1) != HAL_OK)
    

  31.   {
    

  32.     Error_Handler();
    

  33.   }
    


  34. 

  35.   /* Add third message to Tx FIFO */
    

  36.   txHeader.Identifier          = 0x1111113;
    

  37.   txHeader.IdType              = FDCAN_EXTENDED_ID;
    

  38.   txHeader.TxFrameType         = FDCAN_DATA_FRAME;
    

  39.   txHeader.DataLength          = FDCAN_DLC_BYTES_12;
    

  40.   txHeader.ErrorStateIndicator = FDCAN_ESI_PASSIVE;
    

  41.   txHeader.BitRateSwitch       = FDCAN_BRS_OFF;
    

  42.   txHeader.FDFormat            = FDCAN_FD_CAN;
    

  43.   txHeader.TxEventFifoControl  = FDCAN_STORE_TX_EVENTS;
    

  44.   txHeader.MessageMarker       = 0xDDU;
    

  45.   if (HAL_FDCAN_AddMessageToTxFifoQ(&hfdcan1, &txHeader, txData2) != HAL_OK)
    

  46.   {
    

  47.     Error_Handler();
    

  48.   }
    


  49. 

  50.   /* Get tick */
    

  51.   uint32_t tickstart = HAL_GetTick();
    


  52. 

  53.   /* Wait transmission complete */
    

  54.  while (HAL_FDCAN_GetTxFifoFreeLevel(&hfdcan1) != hfdcan1.Init.TxFifoQueueElmtsNbr)
    

  55.   {
    

  56.     /* Timeout handling */
    

  57.     if ((HAL_GetTick() - tickstart) > TX_TIMEOUT)
    

  58.     {
    

  59.       Error_Handler();
    

  60.     }
    

  61.   }
接收canfd数据
复制
  1. /* Check one message is received in Rx FIFO 0 */
    

  2.   if (HAL_FDCAN_GetRxFifoFillLevel(&hfdcan1, FDCAN_RX_FIFO0) != 1U)
    

  3.   {
    

  4.     Error_Handler();
    

  5.   }
    


  6. 

  7.   /* Retrieve message from Rx FIFO 0 */
    

  8.   if (HAL_FDCAN_GetRxMessage(&hfdcan1, FDCAN_RX_FIFO0, &rxHeader, rxData) != HAL_OK)
    

  9.   {
    

  10.     Error_Handler();
    

  11.   }
    


  12. 

  13.   /* Compare received RX message to expected data */
    

  14.   if ((rxHeader.Identifier != 0x444) ||
    

  15.       (rxHeader.IdType     != FDCAN_STANDARD_ID) ||
    

  16.       (rxHeader.DataLength != FDCAN_DLC_BYTES_12) ||
    

  17.       (BufferCmp8b(txData0, rxData, COUNTOF(rxData)) != 0U))
    

  18.   {
    

  19.     Error_Handler();
    

  20.   }
    


  21. 

  22.   /* Check two messages are received in Rx FIFO 1 */
    

  23.   if (HAL_FDCAN_GetRxFifoFillLevel(&hfdcan1, FDCAN_RX_FIFO1) != 2U)
    

  24.   {
    

  25.     Error_Handler();
    

  26.   }
    


  27. 

  28.   /* Retrieve message from Rx FIFO 1 */
    

  29.   if (HAL_FDCAN_GetRxMessage(&hfdcan1, FDCAN_RX_FIFO1, &rxHeader, rxData) != HAL_OK)
    

  30.   {
    

  31.     Error_Handler();
    

  32.   }
    


  33. 

  34.   /* Compare received RX message to expected data */
    

  35.   if ((rxHeader.Identifier != 0x1111112) ||
    

  36.       (rxHeader.IdType     != FDCAN_EXTENDED_ID) ||
    

  37.       (rxHeader.DataLength != FDCAN_DLC_BYTES_12) ||
    

  38.       (BufferCmp8b(txData1, rxData, COUNTOF(rxData)) != 0U))
    

  39.   {
    

  40.     Error_Handler();
    

  41.   }
    


  42. 

  43.   /* Retrieve next message from Rx FIFO 1 */
    

  44.   if (HAL_FDCAN_GetRxMessage(&hfdcan1, FDCAN_RX_FIFO1, &rxHeader, rxData) != HAL_OK)
    

  45.   {
    

  46.     Error_Handler();
    

  47.   }
    


  48. 

  49.   /* Compare received RX message to expected data */
    

  50.   if ((rxHeader.Identifier != 0x1111113) ||
    

  51.       (rxHeader.IdType     != FDCAN_EXTENDED_ID) ||
    

  52.       (rxHeader.DataLength != FDCAN_DLC_BYTES_12) ||
    

  53.       (BufferCmp8b(txData2, rxData, COUNTOF(rxData)) != 0U))
    

  54.   {
    

  55.     Error_Handler();
    

  56.   }
can分析仪数据帧如下：
2465967ee52b9e4245.png
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suncat0504 发表于 2025-5-13 14:05 | 显示全部楼层
初始化部分涉及的属性可真多，有中文说明就好了。
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