【STM32H745I-DISCO试用】FDCAN实验

#define FDCANx                      FDCAN1

#define FDCANx_CLK_ENABLE()         __HAL_RCC_FDCAN_CLK_ENABLE()

#define FDCANx_RX_GPIO_CLK_ENABLE() __HAL_RCC_GPIOH_CLK_ENABLE()

#define FDCANx_TX_GPIO_CLK_ENABLE() __HAL_RCC_GPIOH_CLK_ENABLE()



#define FDCANx_FORCE_RESET()   __HAL_RCC_FDCAN_FORCE_RESET()

#define FDCANx_RELEASE_RESET() __HAL_RCC_FDCAN_RELEASE_RESET()



/* Definition for FDCANx Pins */

#define FDCANx_TX_PIN       GPIO_PIN_13

#define FDCANx_TX_GPIO_PORT GPIOH

#define FDCANx_TX_AF        GPIO_AF9_FDCAN1

#define FDCANx_RX_PIN       GPIO_PIN_14

#define FDCANx_RX_GPIO_PORT GPIOH

#define FDCANx_RX_AF        GPIO_AF9_FDCAN1



/* Definition for FDCANx's NVIC IRQ and IRQ Handlers */

#define FDCANx_IRQn       FDCAN1_IT0_IRQn

#define FDCANx_IRQHandler FDCAN1_IT0_IRQHandler

static void FDCAN_Config(void)

{

  FDCAN_FilterTypeDef sFilterConfig;



  /* Bit time configuration:

    fdcan_ker_ck               = 40 MHz

    Time_quantum (tq)          = 25 ns

    Synchronization_segment    = 1 tq

    Propagation_segment        = 23 tq

    Phase_segment_1            = 8 tq

    Phase_segment_2            = 8 tq

    Synchronization_Jump_width = 8 tq

    Bit_length                 = 40 tq = 1 �s

    Bit_rate                   = 1 MBit/s

  */

  hfdcan.Instance = FDCANx;

  hfdcan.Init.FrameFormat = FDCAN_FRAME_CLASSIC;

  hfdcan.Init.Mode = FDCAN_MODE_NORMAL;

  hfdcan.Init.AutoRetransmission = ENABLE;

  hfdcan.Init.TransmitPause = DISABLE;

  hfdcan.Init.ProtocolException = ENABLE;

  hfdcan.Init.NominalPrescaler = 0x1; /* tq = NominalPrescaler x (1/fdcan_ker_ck) */

  hfdcan.Init.NominalSyncJumpWidth = 0x8;

  hfdcan.Init.NominalTimeSeg1 = 0x1F; /* NominalTimeSeg1 = Propagation_segment + Phase_segment_1 */

  hfdcan.Init.NominalTimeSeg2 = 0x8;

  hfdcan.Init.MessageRAMOffset = 0;

  hfdcan.Init.StdFiltersNbr = 1;

  hfdcan.Init.ExtFiltersNbr = 0;

  hfdcan.Init.RxFifo0ElmtsNbr = 1;

  hfdcan.Init.RxFifo0ElmtSize = FDCAN_DATA_BYTES_8;

  hfdcan.Init.RxFifo1ElmtsNbr = 0;

  hfdcan.Init.RxBuffersNbr = 0;

  hfdcan.Init.TxEventsNbr = 0;

  hfdcan.Init.TxBuffersNbr = 0;

  hfdcan.Init.TxFifoQueueElmtsNbr = 1;

  hfdcan.Init.TxFifoQueueMode = FDCAN_TX_FIFO_OPERATION;

  hfdcan.Init.TxElmtSize = FDCAN_DATA_BYTES_8;

  if (HAL_FDCAN_Init(&hfdcan) != HAL_OK)

  {

    /* Initialization Error */

    Error_Handler();

  }



  /* Configure Rx filter */

  sFilterConfig.IdType = FDCAN_STANDARD_ID;

  sFilterConfig.FilterIndex = 0;

  sFilterConfig.FilterType = FDCAN_FILTER_MASK;

  sFilterConfig.FilterConfig = FDCAN_FILTER_TO_RXFIFO0;

  sFilterConfig.FilterID1 = 0x321;

  sFilterConfig.FilterID2 = 0x7FF;

  if (HAL_FDCAN_ConfigFilter(&hfdcan, &sFilterConfig) != HAL_OK)

  {

    /* Filter configuration Error */

    Error_Handler();

  }



  /* Start the FDCAN module */

  if (HAL_FDCAN_Start(&hfdcan) != HAL_OK)

  {

    /* Start Error */

    Error_Handler();

  }



  if (HAL_FDCAN_ActivateNotification(&hfdcan, FDCAN_IT_RX_FIFO0_NEW_MESSAGE, 0) != HAL_OK)

  {

    /* Notification Error */

    Error_Handler();

  }



  /* Prepare Tx Header */

  TxHeader.Identifier = 0x321;

  TxHeader.IdType = FDCAN_STANDARD_ID;

  TxHeader.TxFrameType = FDCAN_DATA_FRAME;

  TxHeader.DataLength = FDCAN_DLC_BYTES_2;

  TxHeader.ErrorStateIndicator = FDCAN_ESI_ACTIVE;

  TxHeader.BitRateSwitch = FDCAN_BRS_OFF;

  TxHeader.FDFormat = FDCAN_CLASSIC_CAN;

  TxHeader.TxEventFifoControl = FDCAN_NO_TX_EVENTS;

  TxHeader.MessageMarker = 0;

}

  while (1)

  {

    while (BSP_PB_GetState(BUTTON_USER) == KEY_PRESSED)

    {

      if (ubKeyNumber == 0x4)

      {

        ubKeyNumber = 0x00;

      }

      else

      {

        LED_Display(++ubKeyNumber);



        /* Set the data to be transmitted */

        TxData[0] = ubKeyNumber;

        TxData[1] = 0xAD;



        /* Start the Transmission process */

        if (HAL_FDCAN_AddMessageToTxFifoQ(&hfdcan, &TxHeader, TxData) != HAL_OK)

        {

          /* Transmission request Error */

          Error_Handler();

        }

        HAL_Delay(10);



        while (BSP_PB_GetState(BUTTON_USER) != KEY_NOT_PRESSED)

        {

        }

      }

    }

  }