STM32N6的CAN-FD功能和测试

static void MX_FDCAN1_Init(void)

{



  /* USER CODE BEGIN FDCAN1_Init 0 */



  /* USER CODE END FDCAN1_Init 0 */



  /* USER CODE BEGIN FDCAN1_Init 1 */



  /* USER CODE END FDCAN1_Init 1 */

  hfdcan1.Instance = FDCAN1;

  hfdcan1.Init.FrameFormat = FDCAN_FRAME_FD_BRS;

  hfdcan1.Init.Mode = FDCAN_MODE_EXTERNAL_LOOPBACK;

  hfdcan1.Init.AutoRetransmission = ENABLE;

  hfdcan1.Init.TransmitPause = DISABLE;

  hfdcan1.Init.ProtocolException = ENABLE;

  hfdcan1.Init.NominalPrescaler = 1;

  hfdcan1.Init.NominalSyncJumpWidth = 50;

  hfdcan1.Init.NominalTimeSeg1 = 149;

  hfdcan1.Init.NominalTimeSeg2 = 50;

  hfdcan1.Init.DataPrescaler = 4;

  hfdcan1.Init.DataSyncJumpWidth = 5;

  hfdcan1.Init.DataTimeSeg1 = 19;

  hfdcan1.Init.DataTimeSeg2 = 5;

  hfdcan1.Init.MessageRAMOffset = 0;

  hfdcan1.Init.StdFiltersNbr = 1;

  hfdcan1.Init.ExtFiltersNbr = 2;

  hfdcan1.Init.RxFifo0ElmtsNbr = 1;

  hfdcan1.Init.RxFifo0ElmtSize = FDCAN_DATA_BYTES_64;

  hfdcan1.Init.RxFifo1ElmtsNbr = 2;

  hfdcan1.Init.RxFifo1ElmtSize = FDCAN_DATA_BYTES_48;

  hfdcan1.Init.RxBuffersNbr = 1;

  hfdcan1.Init.RxBufferSize = FDCAN_DATA_BYTES_12;

  hfdcan1.Init.TxEventsNbr = 4;

  hfdcan1.Init.TxBuffersNbr = 2;

  hfdcan1.Init.TxFifoQueueElmtsNbr = 3;

  hfdcan1.Init.TxFifoQueueMode = FDCAN_TX_FIFO_OPERATION;

  hfdcan1.Init.TxElmtSize = FDCAN_DATA_BYTES_64;

  if (HAL_FDCAN_Init(&hfdcan1) != HAL_OK)

  {

    Error_Handler();

  }

  /* USER CODE BEGIN FDCAN1_Init 2 */



  /* USER CODE END FDCAN1_Init 2 */



}

/*##-1 Configure the FDCAN filters ########################################*/



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

  FDCAN_FilterTypeDef        sFilterConfig;

  sFilterConfig.IdType       = FDCAN_STANDARD_ID;

  sFilterConfig.FilterIndex  = 0U;

  sFilterConfig.FilterType   = FDCAN_FILTER_DUAL;

  sFilterConfig.FilterConfig = FDCAN_FILTER_TO_RXFIFO0;

  sFilterConfig.FilterID1    = 0x444;

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

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

  {

    Error_Handler();

  }



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

  sFilterConfig.IdType       = FDCAN_EXTENDED_ID;

  sFilterConfig.FilterIndex  = 0U;

  sFilterConfig.FilterType   = FDCAN_FILTER_RANGE_NO_EIDM;

  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();

  }

/*##-3 Transmit messages ##################################################*/



  FDCAN_TxHeaderTypeDef        txHeader;



  /* Add message to Tx FIFO */

  txHeader.Identifier          = 0x444;

  txHeader.IdType              = FDCAN_STANDARD_ID;

  txHeader.TxFrameType         = FDCAN_DATA_FRAME;

  txHeader.DataLength          = FDCAN_DLC_BYTES_12;

  txHeader.ErrorStateIndicator = FDCAN_ESI_ACTIVE;

  txHeader.BitRateSwitch       = FDCAN_BRS_ON;

  txHeader.FDFormat            = FDCAN_FD_CAN;

  txHeader.TxEventFifoControl  = FDCAN_STORE_TX_EVENTS;

  txHeader.MessageMarker       = 0x52U;

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

  {

    Error_Handler();

  }



  /* Add second message to Tx FIFO */

  txHeader.Identifier          = 0x1111112;

  txHeader.IdType              = FDCAN_EXTENDED_ID;

  txHeader.TxFrameType         = FDCAN_DATA_FRAME;

  txHeader.DataLength          = FDCAN_DLC_BYTES_12;

  txHeader.ErrorStateIndicator = FDCAN_ESI_PASSIVE;

  txHeader.BitRateSwitch       = FDCAN_BRS_ON;

  txHeader.FDFormat            = FDCAN_FD_CAN;

  txHeader.TxEventFifoControl  = FDCAN_STORE_TX_EVENTS;

  txHeader.MessageMarker       = 0xCCU;

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

  {

    Error_Handler();

  }



  /* Add third message to Tx FIFO */

  txHeader.Identifier          = 0x1111113;

  txHeader.IdType              = FDCAN_EXTENDED_ID;

  txHeader.TxFrameType         = FDCAN_DATA_FRAME;

  txHeader.DataLength          = FDCAN_DLC_BYTES_12;

  txHeader.ErrorStateIndicator = FDCAN_ESI_PASSIVE;

  txHeader.BitRateSwitch       = FDCAN_BRS_OFF;

  txHeader.FDFormat            = FDCAN_FD_CAN;

  txHeader.TxEventFifoControl  = FDCAN_STORE_TX_EVENTS;

  txHeader.MessageMarker       = 0xDDU;

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

  {

    Error_Handler();

  }



  /* Get tick */

  uint32_t tickstart = HAL_GetTick();



  /* Wait transmission complete */

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

  {

    /* Timeout handling */

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

    {

      Error_Handler();

    }

  }

/* Check one message is received in Rx FIFO 0 */

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

  {

    Error_Handler();

  }



  /* Retrieve message from Rx FIFO 0 */

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

  {

    Error_Handler();

  }



  /* Compare received RX message to expected data */

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

      (rxHeader.IdType     != FDCAN_STANDARD_ID) ||

      (rxHeader.DataLength != FDCAN_DLC_BYTES_12) ||

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

  {

    Error_Handler();

  }



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

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

  {

    Error_Handler();

  }



  /* Retrieve message from Rx FIFO 1 */

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

  {

    Error_Handler();

  }



  /* Compare received RX message to expected data */

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

      (rxHeader.IdType     != FDCAN_EXTENDED_ID) ||

      (rxHeader.DataLength != FDCAN_DLC_BYTES_12) ||

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

  {

    Error_Handler();

  }



  /* Retrieve next message from Rx FIFO 1 */

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

  {

    Error_Handler();

  }



  /* Compare received RX message to expected data */

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

      (rxHeader.IdType     != FDCAN_EXTENDED_ID) ||

      (rxHeader.DataLength != FDCAN_DLC_BYTES_12) ||

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

  {

    Error_Handler();

  }