main_g341_fdcan.cpp

// THIS DOESN'T WORK.  
// Discussed here https://www.stm32duino.com/viewtopic.php?f=7&t=832

#include <Arduino.h>
#include "fdcan.h"

FDCAN_HandleTypeDef hfdcan1;
FDCAN_TxHeaderTypeDef tx_header;

void sendCanMessage() {

  uint8_t TxData[2];
  TxData[0] = 1;
  TxData[1] = 0xAD;

  if (HAL_FDCAN_AddMessageToTxFifoQ(&hfdcan1, &tx_header, TxData) != HAL_OK)
  {
    Serial.println("Error add");
    Error_Handler();
  } else {
    Serial.println("Added");
  }
}

void pollCanMessage() {
  
  uint8_t receiveData[8];
  FDCAN_RxHeaderTypeDef* receiveHeader = {};

  HAL_StatusTypeDef status = HAL_FDCAN_GetRxMessage(&hfdcan1, FDCAN_RX_FIFO0, receiveHeader, receiveData); 
  
  if ( status != HAL_OK) {
    Serial.print("no data: "); Serial.println(status);
    
  } else {
    //we have data
    Serial.println(receiveData[1]);
    
  }
  
}

void setup() {

  pinMode(CAN_TERM, OUTPUT);
  pinMode(CAN_TX, OUTPUT);
  pinMode(CAN_RX, INPUT);

  // this enables the 120ohm resistor
  digitalWrite(CAN_TERM, HIGH);

  // hold low to enable can tranceiver
  pinMode(CAN_SHDN, OUTPUT);
  digitalWrite(CAN_SHDN, LOW);

  Serial.begin(115200);
  delay(1000);

  Serial.println("setup start");

  tx_header.Identifier = 0x321;
  tx_header.IdType = FDCAN_STANDARD_ID;
  tx_header.TxFrameType = FDCAN_DATA_FRAME;
  tx_header.DataLength = FDCAN_DLC_BYTES_2;
  tx_header.ErrorStateIndicator = FDCAN_ESI_ACTIVE;
  tx_header.BitRateSwitch = FDCAN_BRS_OFF;
  tx_header.FDFormat = FDCAN_CLASSIC_CAN;
  tx_header.TxEventFifoControl = FDCAN_NO_TX_EVENTS;
  tx_header.MessageMarker = 0;

  __HAL_RCC_GPIOB_CLK_ENABLE();

  RCC_PeriphCLKInitTypeDef PeriphClkInit = {0};
  PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_FDCAN;
  PeriphClkInit.FdcanClockSelection = RCC_FDCANCLKSOURCE_PCLK1;
  if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK)
  {
    Error_Handler();
  }

  pinmap_pinout(PB_9, PinMap_CAN_TD);
  pinmap_pinout(PA_11, PinMap_CAN_RD);
  
  hfdcan1.Instance = FDCAN1;
  hfdcan1.Init.ClockDivider = FDCAN_CLOCK_DIV1;
  hfdcan1.Init.FrameFormat = FDCAN_FRAME_FD_BRS; //FDCAN_FRAME_CLASSIC; // FDCAN_FRAME_FD_NO_BRS
  hfdcan1.Init.Mode = FDCAN_MODE_NORMAL; // FDCAN_MODE_INTERNAL_LOOPBACK | FDCAN_MODE_NORMAL;
  hfdcan1.Init.AutoRetransmission = DISABLE;
  hfdcan1.Init.TransmitPause = DISABLE;
  hfdcan1.Init.ProtocolException = DISABLE;
  hfdcan1.Init.NominalPrescaler = 20;//1;
  hfdcan1.Init.NominalSyncJumpWidth = 1;
  hfdcan1.Init.NominalTimeSeg1 = 14; //2;
  hfdcan1.Init.NominalTimeSeg2 = 2;
  hfdcan1.Init.DataPrescaler = 1;
  hfdcan1.Init.DataSyncJumpWidth = 1;
  hfdcan1.Init.DataTimeSeg1 = 1;
  hfdcan1.Init.DataTimeSeg2 = 1;
  hfdcan1.Init.StdFiltersNbr = 1; //0;
  hfdcan1.Init.ExtFiltersNbr = 0;
  hfdcan1.Init.TxFifoQueueMode = FDCAN_TX_FIFO_OPERATION; // FDCAN_TX_QUEUE_OPERATION;

  Serial.println("setup before init");
  if (HAL_FDCAN_Init(&hfdcan1) != HAL_OK)
  {
    Error_Handler();
  }

  Serial.println("setup after init");

  FDCAN_FilterTypeDef sFilterConfig;

  /* 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(&hfdcan1, &sFilterConfig) != HAL_OK)
  {
    Error_Handler();
  }

  if (HAL_FDCAN_ConfigGlobalFilter(&hfdcan1, FDCAN_REJECT, FDCAN_REJECT, FDCAN_FILTER_REMOTE, FDCAN_FILTER_REMOTE) != HAL_OK)
  {
    Error_Handler();
  }

  /* Start the FDCAN module */
  if (HAL_FDCAN_Start(&hfdcan1) != HAL_OK)
  {
    Error_Handler();
  }

  if (HAL_FDCAN_ActivateNotification(&hfdcan1, FDCAN_IT_RX_FIFO0_NEW_MESSAGE, 0) != HAL_OK)
  {
    Error_Handler();
  }
  Serial.println("setup notifies");
}

void loop() {

  static long last_micros = 0;
  long now = micros();
  if (now-last_micros > 1000000) {
    sendCanMessage();
    last_micros = now;
    delay(50);
    pollCanMessage();
  }

  
  

}