0 工具准备

1.STM32CubeMX

1 前言

本文介绍基于STM32CubeMX，使用stm32h743xi的对FDCAN2进行配置的方法。

2 初始化代码生成

2.1 选择FDCAN引脚

本例选择PB5、PB6作为FDCAN2的RX、TX引脚。

2.2 选择FDCAN时钟源

本例选择PLL2Q作为FDCAN时钟源，频率设置为100MHz。配置如下：

2.3 FDCAN参数设置

这一部分可以在代码里修改，一般设置标准帧过滤器个数、扩展帧过滤器个数、RX FIFO个数、TX FIFO个数、RX FIFIO元素大小、TX FIFO元素大小即可，其余参数在代码里修改。

本例使用中断接收CAN报文，使能所有FDCAN2相关中断：

可以在NVIC选项里修改FDCAN2抢占优先级和子优先级为（3，0）：

2.4 初始化代码生成

配置好后，直接点击“生成”按钮生成我们需要的初始化代码：

生成的初始化相关代码如下：

/**
  * @brief FDCAN2 Initialization Function
  * @param None
  * @retval None
  */
static void MX_FDCAN2_Init(void)
{

  /* USER CODE BEGIN FDCAN2_Init 0 */

  /* USER CODE END FDCAN2_Init 0 */

  /* USER CODE BEGIN FDCAN2_Init 1 */

  /* USER CODE END FDCAN2_Init 1 */
  hfdcan2.Instance = FDCAN2;
  hfdcan2.Init.FrameFormat = FDCAN_FRAME_CLASSIC;
  hfdcan2.Init.Mode = FDCAN_MODE_NORMAL;
  hfdcan2.Init.AutoRetransmission = DISABLE;
  hfdcan2.Init.TransmitPause = DISABLE;
  hfdcan2.Init.ProtocolException = DISABLE;
  hfdcan2.Init.NominalPrescaler = 10;
  hfdcan2.Init.NominalSyncJumpWidth = 1;
  hfdcan2.Init.NominalTimeSeg1 = 17;
  hfdcan2.Init.NominalTimeSeg2 = 2;
  hfdcan2.Init.DataPrescaler = 1;
  hfdcan2.Init.DataSyncJumpWidth = 1;
  hfdcan2.Init.DataTimeSeg1 = 1;
  hfdcan2.Init.DataTimeSeg2 = 1;
  hfdcan2.Init.MessageRAMOffset = 0;
  hfdcan2.Init.StdFiltersNbr = 1;
  hfdcan2.Init.ExtFiltersNbr = 1;
  hfdcan2.Init.RxFifo0ElmtsNbr = 64;
  hfdcan2.Init.RxFifo0ElmtSize = FDCAN_DATA_BYTES_64;
  hfdcan2.Init.RxFifo1ElmtsNbr = 0;
  hfdcan2.Init.RxFifo1ElmtSize = FDCAN_DATA_BYTES_64;
  hfdcan2.Init.RxBuffersNbr = 0;
  hfdcan2.Init.RxBufferSize = FDCAN_DATA_BYTES_64;
  hfdcan2.Init.TxEventsNbr = 0;
  hfdcan2.Init.TxBuffersNbr = 0;
  hfdcan2.Init.TxFifoQueueElmtsNbr = 32;
  hfdcan2.Init.TxFifoQueueMode = FDCAN_TX_FIFO_OPERATION;
  hfdcan2.Init.TxElmtSize = FDCAN_DATA_BYTES_64;
  if (HAL_FDCAN_Init(&hfdcan2) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN FDCAN2_Init 2 */

  /* USER CODE END FDCAN2_Init 2 */

}

/**
* @brief FDCAN MSP Initialization
* This function configures the hardware resources used in this example
* @param hfdcan: FDCAN handle pointer
* @retval None
*/
void HAL_FDCAN_MspInit(FDCAN_HandleTypeDef* hfdcan)
{
  GPIO_InitTypeDef GPIO_InitStruct = {0};
  RCC_PeriphCLKInitTypeDef PeriphClkInitStruct = {0};
  if(hfdcan->Instance==FDCAN2)
  {
  /* USER CODE BEGIN FDCAN2_MspInit 0 */

  /* USER CODE END FDCAN2_MspInit 0 */

  /** Initializes the peripherals clock
  */
    PeriphClkInitStruct.PeriphClockSelection = RCC_PERIPHCLK_FDCAN;
    PeriphClkInitStruct.PLL2.PLL2M = 5;
    PeriphClkInitStruct.PLL2.PLL2N = 80;
    PeriphClkInitStruct.PLL2.PLL2P = 2;
    PeriphClkInitStruct.PLL2.PLL2Q = 4;
    PeriphClkInitStruct.PLL2.PLL2R = 1;
    PeriphClkInitStruct.PLL2.PLL2RGE = RCC_PLL2VCIRANGE_2;
    PeriphClkInitStruct.PLL2.PLL2VCOSEL = RCC_PLL2VCOWIDE;
    PeriphClkInitStruct.PLL2.PLL2FRACN = 0;
    PeriphClkInitStruct.FdcanClockSelection = RCC_FDCANCLKSOURCE_PLL2;
    if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInitStruct) != HAL_OK)
    {
      Error_Handler();
    }

    /* Peripheral clock enable */
    __HAL_RCC_FDCAN_CLK_ENABLE();

    __HAL_RCC_GPIOB_CLK_ENABLE();
    /**FDCAN2 GPIO Configuration
    PB5     ------> FDCAN2_RX
    PB6     ------> FDCAN2_TX
    */
    GPIO_InitStruct.Pin = GPIO_PIN_5|GPIO_PIN_6;
    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
    GPIO_InitStruct.Pull = GPIO_NOPULL;
    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
    GPIO_InitStruct.Alternate = GPIO_AF9_FDCAN2;
    HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);

    /* FDCAN2 interrupt Init */
    HAL_NVIC_SetPriority(FDCAN2_IT0_IRQn, 3, 0);
    HAL_NVIC_EnableIRQ(FDCAN2_IT0_IRQn);
    HAL_NVIC_SetPriority(FDCAN2_IT1_IRQn, 3, 0);
    HAL_NVIC_EnableIRQ(FDCAN2_IT1_IRQn);
    HAL_NVIC_SetPriority(FDCAN_CAL_IRQn, 3, 0);
    HAL_NVIC_EnableIRQ(FDCAN_CAL_IRQn);
  /* USER CODE BEGIN FDCAN2_MspInit 1 */

  /* USER CODE END FDCAN2_MspInit 1 */
  }

}

/**
* @brief FDCAN MSP De-Initialization
* This function freeze the hardware resources used in this example
* @param hfdcan: FDCAN handle pointer
* @retval None
*/
void HAL_FDCAN_MspDeInit(FDCAN_HandleTypeDef* hfdcan)
{
  if(hfdcan->Instance==FDCAN2)
  {
  /* USER CODE BEGIN FDCAN2_MspDeInit 0 */

  /* USER CODE END FDCAN2_MspDeInit 0 */
    /* Peripheral clock disable */
    __HAL_RCC_FDCAN_CLK_DISABLE();

    /**FDCAN2 GPIO Configuration
    PB5     ------> FDCAN2_RX
    PB6     ------> FDCAN2_TX
    */
    HAL_GPIO_DeInit(GPIOB, GPIO_PIN_5|GPIO_PIN_6);

    /* FDCAN2 interrupt DeInit */
    HAL_NVIC_DisableIRQ(FDCAN2_IT0_IRQn);
    HAL_NVIC_DisableIRQ(FDCAN2_IT1_IRQn);
    HAL_NVIC_DisableIRQ(FDCAN_CAL_IRQn);
  /* USER CODE BEGIN FDCAN2_MspDeInit 1 */

  /* USER CODE END FDCAN2_MspDeInit 1 */
  }

}
/**
  * @brief This function handles FDCAN2 interrupt 0.
  */
void FDCAN2_IT0_IRQHandler(void)
{
  /* USER CODE BEGIN FDCAN2_IT0_IRQn 0 */

  /* USER CODE END FDCAN2_IT0_IRQn 0 */
  HAL_FDCAN_IRQHandler(&hfdcan2);
  /* USER CODE BEGIN FDCAN2_IT0_IRQn 1 */

  /* USER CODE END FDCAN2_IT0_IRQn 1 */
}

/**
  * @brief This function handles FDCAN2 interrupt 1.
  */
void FDCAN2_IT1_IRQHandler(void)
{
  /* USER CODE BEGIN FDCAN2_IT1_IRQn 0 */

  /* USER CODE END FDCAN2_IT1_IRQn 0 */
  HAL_FDCAN_IRQHandler(&hfdcan2);
  /* USER CODE BEGIN FDCAN2_IT1_IRQn 1 */

  /* USER CODE END FDCAN2_IT1_IRQn 1 */
}
/**
  * @brief This function handles FDCAN calibration unit interrupt.
  */
void FDCAN_CAL_IRQHandler(void)
{
  /* USER CODE BEGIN FDCAN_CAL_IRQn 0 */

  /* USER CODE END FDCAN_CAL_IRQn 0 */
  HAL_FDCAN_IRQHandler(&hfdcan2);
  /* USER CODE BEGIN FDCAN_CAL_IRQn 1 */

  /* USER CODE END FDCAN_CAL_IRQn 1 */
}