[原创] 【ST NUCLEO-U5A5ZJ-Q开发板测评】-6-FDCAN体验

U5系列器件的FDCAN非常方便，可以支持CAN-FD也支持经典CAN 2.0.本次实验主要用到的工具和器件：

• STM32U5A5ZJ-Q
• TJA1050 CAN收发器
• CAN LIN TOOL V5.0

CAN收发引脚使用PB8和PB9：

TJA1050的原理图：

在CubeIde里面配置：

FDCAN时钟：64Mhz

CAN相关时序参数和工作模式：

保存，自动生成代码：

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.ClockDivider = FDCAN_CLOCK_DIV1;
  hfdcan1.Init.FrameFormat = FDCAN_FRAME_CLASSIC;
  hfdcan1.Init.Mode = FDCAN_MODE_NORMAL;
  hfdcan1.Init.AutoRetransmission = ENABLE;
  hfdcan1.Init.TransmitPause = ENABLE;
  hfdcan1.Init.ProtocolException = DISABLE;
  hfdcan1.Init.NominalPrescaler = 16;
  hfdcan1.Init.NominalSyncJumpWidth = 1;
  hfdcan1.Init.NominalTimeSeg1 = 5;
  hfdcan1.Init.NominalTimeSeg2 = 2;
  hfdcan1.Init.DataPrescaler = 1;
  hfdcan1.Init.DataSyncJumpWidth = 1;
  hfdcan1.Init.DataTimeSeg1 = 1;
  hfdcan1.Init.DataTimeSeg2 = 1;
  hfdcan1.Init.StdFiltersNbr = 0;
  hfdcan1.Init.ExtFiltersNbr = 0;
  hfdcan1.Init.TxFifoQueueMode = FDCAN_TX_FIFO_OPERATION;
  if (HAL_FDCAN_Init(&hfdcan1) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN FDCAN1_Init 2 */

  /* USER CODE END FDCAN1_Init 2 */

}

添加自定义的测试数据：

FDCAN_FilterTypeDef sFilterConfig;
FDCAN_TxHeaderTypeDef TxHeader;
FDCAN_RxHeaderTypeDef RxHeader;
uint8_t TxData0[] = {0x10, 0x32, 0x54, 0x76, 0x98, 0x00, 0x11, 0x22};
uint8_t TxData1[] = {0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55};
uint8_t TxData2[] = {0xFF, 0x00, 0xFF, 0x00, 0xFF, 0x00, 0xFF, 0x00};

添加相关的过滤器：

void MY_FDCAN_CONFIG(void){
	/*##-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_DUAL;
	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_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();
	}

	/* Configure global filter:
	       Filter all remote frames with STD and EXT ID
	       Reject non matching frames with STD ID and EXT ID */
	if (HAL_FDCAN_ConfigGlobalFilter(&hfdcan1, FDCAN_REJECT, FDCAN_REJECT, FDCAN_FILTER_REMOTE, FDCAN_FILTER_REMOTE) != HAL_OK)
	{
		Error_Handler();
	}

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

	printf("\r\nBefore Add 0x444: HAL_FDCAN_GetTxFifoFreeLevel(&hfdcan1) = %d", HAL_FDCAN_GetTxFifoFreeLevel(&hfdcan1));

	/*##-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_OFF;
	TxHeader.FDFormat = FDCAN_CLASSIC_CAN;
	TxHeader.TxEventFifoControl = FDCAN_STORE_TX_EVENTS;
	TxHeader.MessageMarker = 0x52;
	if (HAL_FDCAN_AddMessageToTxFifoQ(&hfdcan1, &TxHeader, TxData0) != HAL_OK)
	{
		Error_Handler();
	}
	printf("\r\nAfter Add 0x444: HAL_FDCAN_GetTxFifoFreeLevel(&hfdcan1) = %d", HAL_FDCAN_GetTxFifoFreeLevel(&hfdcan1));

	/* Add second message to Tx FIFO */
	TxHeader.Identifier = 0x1111112;
	TxHeader.IdType = FDCAN_EXTENDED_ID;
	TxHeader.TxFrameType = FDCAN_DATA_FRAME;
	TxHeader.DataLength = FDCAN_DLC_BYTES_8;
	TxHeader.ErrorStateIndicator = FDCAN_ESI_PASSIVE;
	TxHeader.BitRateSwitch = FDCAN_BRS_OFF;
	TxHeader.FDFormat = FDCAN_CLASSIC_CAN;
	TxHeader.TxEventFifoControl = FDCAN_STORE_TX_EVENTS;
	TxHeader.MessageMarker = 0xCC;
	if (HAL_FDCAN_AddMessageToTxFifoQ(&hfdcan1, &TxHeader, TxData1) != HAL_OK)
	{
		Error_Handler();
	}
	printf("\r\nAfter Add 0x1111112: HAL_FDCAN_GetTxFifoFreeLevel(&hfdcan1) = %d", HAL_FDCAN_GetTxFifoFreeLevel(&hfdcan1));

	/* Add third message to Tx FIFO */
	TxHeader.Identifier = 0x1111113;
	TxHeader.IdType = FDCAN_EXTENDED_ID;
	TxHeader.TxFrameType = FDCAN_DATA_FRAME;
	TxHeader.DataLength = FDCAN_DLC_BYTES_8;
	TxHeader.ErrorStateIndicator = FDCAN_ESI_PASSIVE;
	TxHeader.BitRateSwitch = FDCAN_BRS_OFF;
	TxHeader.FDFormat = FDCAN_CLASSIC_CAN;
	TxHeader.TxEventFifoControl = FDCAN_STORE_TX_EVENTS;
	TxHeader.MessageMarker = 0xDD;
	if (HAL_FDCAN_AddMessageToTxFifoQ(&hfdcan1, &TxHeader, TxData2) != HAL_OK)
	{
		Error_Handler();
	}
	printf("\r\nAfter Add 0x1111113: HAL_FDCAN_GetTxFifoFreeLevel(&hfdcan1) = %d", HAL_FDCAN_GetTxFifoFreeLevel(&hfdcan1));

	/* Wait transmissions complete */
	while (HAL_FDCAN_GetTxFifoFreeLevel(&hfdcan1) != 3) {}

	printf("\r\n 3 CAN MSG Transmissions Complete.");

}//end of void MY_FDCAN_CONFIG(void)

主循环中每次呼吸灯闪烁一次，把次数打包到can msg里面发送到上位机。

  while (1)
  {
    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */
	  static uint16_t dcycle_pulse = 0;
	  static uint8_t breath_cnt = 0;
	  //htim3.Init.Period = 999
	  while(dcycle_pulse <htim3.Init.Period){
		  __HAL_TIM_SET_COMPARE(&htim3, TIM_CHANNEL_2, dcycle_pulse);
		  dcycle_pulse += 50;
		  printf("\nLight Phase, Current DutyCycle = %u", dcycle_pulse*100/htim3.Init.Period);
		  HAL_Delay(100);
	  }
	  while(dcycle_pulse > 0){
		  __HAL_TIM_SET_COMPARE(&htim3, TIM_CHANNEL_2, dcycle_pulse);
		  dcycle_pulse -= 50;
		  printf("\nDim Phase, Current DutyCycle = %u", dcycle_pulse*100/htim3.Init.Period);
		  HAL_Delay(100);
	  }


	  printf("\r\nBefore Add 0x555: HAL_FDCAN_GetTxFifoFreeLevel(&hfdcan1) = %d", HAL_FDCAN_GetTxFifoFreeLevel(&hfdcan1));

	  /* Wait for available Tx Fifo */
	  while (HAL_FDCAN_GetTxFifoFreeLevel(&hfdcan1) == 0) {}

	  TxBreathLEDCnt[7] = breath_cnt++;
	  if (HAL_FDCAN_AddMessageToTxFifoQ(&hfdcan1, &TxHeader, TxBreathLEDCnt) != HAL_OK)
	  {
		  Error_Handler();
	  }


	  printf("\r\nAfter Add 0x555: HAL_FDCAN_GetTxFifoFreeLevel(&hfdcan1) = %d", HAL_FDCAN_GetTxFifoFreeLevel(&hfdcan1));
	  printf("\r\nSTM32U5-TJA1050-USBCAN: Breath LED CAN MSG Transmissions Complete.");


  }//end of while

硬件系统：

上位机数据：

首先收到3帧测试数据，然后呼吸灯的闪烁次数通过id为555的报文被传送过来。

这次体验下来感觉配置cubeide使用fdcan外设是非常方便的，后续考虑深入了解一下接收，以及中断收发等功能。

参考：

AN5348_STM32器件上的FDCAN外设的应用手册.pdf

https://community.st.com/t5/stm32-mcus-products/fdcan-on-stm32u5-and-stm32h5-serious-fifo-queue-and-id-filter/td-p/615847

FDCAN FIFO只有3个？

这次体验下来感觉配置cubeide使用fdcan外设是非常方便的，后续考虑深入了解一下接收，以及中断收发等功能。

感谢分享！

感谢刘工之前分享的U5系列FDCAN使用经验，受益匪浅！

你的帖子也非常精彩！比我的更内容丰富！