AutoRetransmission 设置为enable 可以防止通讯速度过快时丢包
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下图所示的TxBuffersNbr 和 TxFifoQueueElmtsNbr 貌似是共享32个地址的，两者加起来不能超过32

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5 Y* q3 C0 K8 g1 P& S) v' ?, u1.设置硬件参数(引脚，时钟)
* s' [: j. _# A4 f8 j; G+ E1.1 启用FDCAN1，并设置参数
) Z! m) _8 W2 ]+ Z( K/ ]4 D8 @- k4 l' g启用FDCAN后参数设置如下:
设置FDCAN引脚，手头板子tx rx分别为PH13 PI9


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  z  S' e" Q5 E1 W; b# B设置参数

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! q9 a4 h' P8 N' `) u' \其中elmets Size因为采用classicmode 所以选用8bytes，注意 buffers nbr MP157rx和tx最多有32个buffer，offset貌似不设置也没事

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1.2启用FDCAN
/ o6 W! e- m4 j2 v0 f. ?2 Q首先可以设置过滤器，随后启动FDCAN
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1. /*##-1 Configure the FDCAN filters ########################################*/
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2.   /* Configure standard ID reception filter to Rx FIFO 0 */
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3.   sFilterConfig.IdType = FDCAN_STANDARD_ID;
   
4.   sFilterConfig.FilterIndex = 0;
   
5.   sFilterConfig.FilterType = FDCAN_FILTER_MASK;
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6.   sFilterConfig.FilterConfig = FDCAN_FILTER_TO_RXFIFO0;
   
7.   sFilterConfig.FilterID1 = 0x444;
   
8.   sFilterConfig.FilterID2 = 0x555;
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9.   if (HAL_FDCAN_ConfigFilter(&hfdcan1, &sFilterConfig) != HAL_OK)
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10.   {
    
11.     Error_Handler();
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12.   }
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13. 
    
14.   /* Configure extended ID reception filter to Rx FIFO 1 */
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15.   sFilterConfig.IdType = FDCAN_EXTENDED_ID;
    
16.   sFilterConfig.FilterIndex = 0;
    
17.   sFilterConfig.FilterType = FDCAN_FILTER_MASK;
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18.   sFilterConfig.FilterConfig = FDCAN_FILTER_TO_RXFIFO1;
    
19.   sFilterConfig.FilterID1 = 0x1111111;
    
20.   sFilterConfig.FilterID2 = 0x2222222;
    
21.   if (HAL_FDCAN_ConfigFilter(&hfdcan1, &sFilterConfig) != HAL_OK)
    
22.   {
    
23.     Error_Handler();
    
24.   }
    
25. 
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26.   /*##-2 Start FDCAN controller (continuous listening CAN bus) ##############*/
    
27.   if (HAL_FDCAN_Start(&hfdcan1) != HAL_OK)
    
28.   {
    
29.     Error_Handler();
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30.   }
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31.   /* USER CODE END 2 */

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发送数据

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1.   /*##-3 Transmit messages ##################################################*/
   
2.   /* Add message to Tx FIFO */
   
3.   TxHeader.Identifier = 0x444;
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4.   TxHeader.IdType = FDCAN_STANDARD_ID;
   
5.   TxHeader.TxFrameType = FDCAN_DATA_FRAME;
   
6.   TxHeader.DataLength = FDCAN_DLC_BYTES_8;
   
7.   TxHeader.ErrorStateIndicator = FDCAN_ESI_ACTIVE;
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8.   TxHeader.BitRateSwitch = FDCAN_BRS_ON;
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9.   TxHeader.FDFormat = FDCAN_FD_CAN;
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10.   TxHeader.TxEventFifoControl = FDCAN_STORE_TX_EVENTS;
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11.   TxHeader.MessageMarker = 0x52;
    
12.   if (HAL_FDCAN_AddMessageToTxFifoQ(&hfdcan1, &TxHeader, TxData0) != HAL_OK)
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13.   {
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14.     Error_Handler();
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15.   }

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3 h3 D* {; }, V' |8 M' N等待发送完成

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1.   /* Check transmission occurred before timeout */
   
2.   while(HAL_FDCAN_IsTxBufferMessagePending(&hfdcan1, FDCAN_TX_BUFFER0 | FDCAN_TX_BUFFER1 | FDCAN_TX_BUFFER2) != 0)
   
3.   {
   
4.     if((HAL_GetTick() - Tickstart) > TX_FAST_TIMEOUT)
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5.     {
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6.       Error_Handler();
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7.       break;
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8.     }
   
9.   }

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查询接收到的can数据
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1.   while(HAL_FDCAN_GetRxFifoFillLevel(&hfdcan1, FDCAN_RX_FIFO0) != 1)
   
2.   {
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3.     if((HAL_GetTick() - Tickstart) > RX_FAST_TIMEOUT)
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4.     {
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5.       Error_Handler();
   
6.       break;
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7.     }
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8.   }

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获取数据

1.   if (HAL_FDCAN_GetRxMessage(&hfdcan1, FDCAN_RX_FIFO0, &RxHeader, RxData) != HAL_OK)
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2.   {
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3.     Error_Handler();
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4.   }

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