fdcan transmit working

Author: PabloGonzalezSegarra

Core/App/FDCAN.c

@@ -8,63 +8,45 @@
 #include "FDCAN.h"
 
 extern FDCAN_HandleTypeDef hfdcan1;
-
-fdcan_instance_t fdcan_instance = {};
-
-fdcan_error_t const fdcan_start(void){
-	fdcan_instance.hfdcan = &hfdcan1;
-	fdcan_instance.rx_location = FDCAN_RX_FIFO0;
-
-	FDCAN_TxHeaderTypeDef* header = &fdcan_instance.tx_header;
-
-	header->FDFormat = FDCAN_FD_CAN;
-	header->DataLength = FDCAN_DLC_BYTES_64;
-	header->TxFrameType = FDCAN_DATA_FRAME;
-	header->BitRateSwitch = FDCAN_BRS_ON;
-	header->ErrorStateIndicator = FDCAN_ESI_PASSIVE;
-	header->FDFormat = FDCAN_FRAME_FD_BRS;
-	header->IdType = FDCAN_STANDARD_ID;
-	header->TxEventFifoControl = FDCAN_NO_TX_EVENTS;
-	header->MessageMarker = 0;
-	header->Identifier = 0x0;
-
-	if(HAL_FDCAN_Start(fdcan_instance.hfdcan) != HAL_OK){
-		return FDCAN_ERROR;
-	}
-
-	 if(HAL_FDCAN_ActivateNotification(fdcan_instance.hfdcan, FDCAN_IT_RX_FIFO0_NEW_MESSAGE, 0) != HAL_OK){
-		return FDCAN_ERROR;
-	}
-
-}
-
-fdcan_error_t const fdcan_transmit(fdcan_packet_t* data){
-	fdcan_instance.tx_header.Identifier = data->identifier;
-
-	if (HAL_FDCAN_AddMessageToTxFifoQ(fdcan_instance.hfdcan, &fdcan_instance.tx_header, data->data) != HAL_OK) {
+FDCAN_TxHeaderTypeDef tx_header;
+FDCAN_RxHeaderTypeDef rx_header_buffer;
+
+fdcan_error_t const fdcan_transmit(fdcan_packet_t* packet){
+
+	tx_header.Identifier = (uint32_t)packet->identifier;
+	tx_header.IdType = FDCAN_STANDARD_ID;
+	tx_header.TxFrameType = FDCAN_DATA_FRAME;
+	tx_header.DataLength = FDCAN_DLC_BYTES_64;
+	tx_header.ErrorStateIndicator = FDCAN_ESI_ACTIVE;
+	tx_header.BitRateSwitch = FDCAN_BRS_ON;
+	tx_header.FDFormat = FDCAN_FD_CAN;
+	tx_header.TxEventFifoControl = FDCAN_NO_TX_EVENTS;
+	tx_header.MessageMarker = 0;
+
+	if (HAL_FDCAN_AddMessageToTxFifoQ(&hfdcan1, &tx_header, packet->data) != HAL_OK) {
 		return FDCAN_ERROR;
 	}
 
 	return FDCAN_OK;
 }
 
-void HAL_FDCAN_RxFifo0Callback(FDCAN_HandleTypeDef *hfdcan, uint32_t RxFifo0ITs){
-
+//void HAL_FDCAN_RxFifo0Callback(FDCAN_HandleTypeDef *hfdcan, uint32_t RxFifo0ITs){
+//	__NOP();
+//
+//}
 
-}
+fdcan_error_t const fdcan_read(fdcan_packet_t* packet){
+//	if(!fdcan_test) {
+//		return FDCAN_EMPTY;
+//	}
 
-fdcan_error_t const fdcan_read(fdcan_packet_t* data){
-	if(!fdcan_test) {
-		return FDCAN_EMPTY;
-	}
 
-	FDCAN_RxHeaderTypeDef header_buffer = {};
-	HAL_FDCAN_GetRxMessage(fdcan_instance.hfdcan, fdcan_instance.rx_location, &header_buffer, data->data);
+	HAL_FDCAN_GetRxMessage(&hfdcan1, FDCAN_RX_FIFO0, &rx_header_buffer, packet->data);
 
-	data->identifier = header_buffer.Identifier;
+	packet->identifier = rx_header_buffer.Identifier;
 	return FDCAN_OK;
 }
 
 int const fdcan_test(void){
-	return HAL_FDCAN_IsRxBufferMessageAvailable(fdcan_instance.hfdcan, fdcan_instance.rx_location);
+	return HAL_FDCAN_IsRxBufferMessageAvailable(&hfdcan1, 0);
 }

Core/App/FDCAN.h

@@ -26,26 +26,18 @@ typedef enum{
 }fdcan_error_t;
 
 typedef struct {
-	uint8_t data[64];
 	uint16_t identifier;
+	uint8_t* data;
 
 }fdcan_packet_t;
 
-typedef struct{
-    FDCAN_HandleTypeDef* hfdcan;
-    FDCAN_TxHeaderTypeDef tx_header;
-    uint32_t rx_location;
-
-}fdcan_instance_t;
 /****************************************************************************************
 * Function prototypes
 ****************************************************************************************/
 
-fdcan_error_t const fdcan_start(void);
-
-fdcan_error_t const fdcan_transmit(fdcan_packet_t* data);
+fdcan_error_t const fdcan_transmit(fdcan_packet_t* packet);
 
-fdcan_error_t const fdcan_read(fdcan_packet_t* data);
+fdcan_error_t const fdcan_read(fdcan_packet_t* packet);
 
 int const fdcan_test(void);
 

Core/Inc/main.h

@@ -57,16 +57,24 @@ void Error_Handler(void);
 /* USER CODE END EFP */
 
 /* Private defines -----------------------------------------------------------*/
-#define LED_CAN_Pin GPIO_PIN_4
-#define LED_CAN_GPIO_Port GPIOG
+#define MCO_Pin GPIO_PIN_0
+#define MCO_GPIO_Port GPIOH
+#define LED_SLEEP_Pin GPIO_PIN_4
+#define LED_SLEEP_GPIO_Port GPIOG
 #define LED_FLASH_Pin GPIO_PIN_5
 #define LED_FLASH_GPIO_Port GPIOG
-#define LED_CANG6_Pin GPIO_PIN_6
-#define LED_CANG6_GPIO_Port GPIOG
+#define LED_CAN_Pin GPIO_PIN_6
+#define LED_CAN_GPIO_Port GPIOG
 #define LED_FAULT_Pin GPIO_PIN_7
 #define LED_FAULT_GPIO_Port GPIOG
-#define LED_OP_Pin GPIO_PIN_8
-#define LED_OP_GPIO_Port GPIOG
+#define LED_OPERATIONAL_Pin GPIO_PIN_8
+#define LED_OPERATIONAL_GPIO_Port GPIOG
+#define SWDIO_Pin GPIO_PIN_13
+#define SWDIO_GPIO_Port GPIOA
+#define SWCLK_Pin GPIO_PIN_14
+#define SWCLK_GPIO_Port GPIOA
+#define SWO_Pin GPIO_PIN_3
+#define SWO_GPIO_Port GPIOB
 /* USER CODE BEGIN Private defines */
 
 /* USER CODE END Private defines */

Core/Inc/stm32h7xx_hal_conf.h

@@ -165,7 +165,7 @@
   * @brief This is the HAL system configuration section
   */
 #define  VDD_VALUE                    (3300UL) /*!< Value of VDD in mv */
-#define  TICK_INT_PRIORITY            (15UL) /*!< tick interrupt priority */
+#define  TICK_INT_PRIORITY            (0UL) /*!< tick interrupt priority */
 #define  USE_RTOS                     0
 #define  USE_SD_TRANSCEIVER           0U               /*!< use uSD Transceiver */
 #define  USE_SPI_CRC	              0U               /*!< use CRC in SPI */

Core/Inc/stm32h7xx_it.h

@@ -55,9 +55,6 @@ void SVC_Handler(void);
 void DebugMon_Handler(void);
 void PendSV_Handler(void);
 void SysTick_Handler(void);
-void FDCAN1_IT0_IRQHandler(void);
-void FDCAN1_IT1_IRQHandler(void);
-void FDCAN_CAL_IRQHandler(void);
 /* USER CODE BEGIN EFP */
 
 /* USER CODE END EFP */

Core/Src/main.c

@@ -57,7 +57,10 @@ static void MX_FDCAN1_Init(void);
 
 /* Private user code ---------------------------------------------------------*/
 /* USER CODE BEGIN 0 */
-
+//FDCAN_TxHeaderTypeDef   TxHeader;
+//uint8_t               	TxData[64];
+//int indx = 0;
+uint8_t data[64];
 /* USER CODE END 0 */
 
 /**
@@ -91,25 +94,37 @@ int main(void)
   MX_FDCAN1_Init();
   /* USER CODE BEGIN 2 */
   //bootloader_init();
-  fdcan_start();
 
-  uint8_t data[64];
+
   int i;
   uint8_t d = 0xA;
   for (i = 0; i < 64; ++i) {
 	data[i] = d++;
   }
 
-  fdcan_packet_t p = {data, 69};
+  fdcan_packet_t p = { 69, data};
+
+
+
+  HAL_FDCAN_Start(&hfdcan1);
+  HAL_FDCAN_ActivateNotification(&hfdcan1, FDCAN_IT_RX_FIFO0_NEW_MESSAGE, 0);
 
   /* USER CODE END 2 */
 
   /* Infinite loop */
   /* USER CODE BEGIN WHILE */
   while (1)
   {
-	  fdcan_transmit(data);
-	  HAL_Delay(100);
+	  fdcan_transmit(&p);
+
+//	  if (HAL_FDCAN_AddMessageToTxFifoQ(&hfdcan1, &TxHeader, TxData)!= HAL_OK)
+//	   {
+//	    Error_Handler();
+//	   }
+	  //HAL_Delay(100);
+	 // int a = fdcan_test();
+
+	  fdcan_read(&p);
     /* USER CODE END WHILE */
 
     /* USER CODE BEGIN 3 */
@@ -150,7 +165,7 @@ void SystemClock_Config(void)
   RCC_OscInitStruct.PLL.PLLM = 2;
   RCC_OscInitStruct.PLL.PLLN = 44;
   RCC_OscInitStruct.PLL.PLLP = 1;
-  RCC_OscInitStruct.PLL.PLLQ = 2;
+  RCC_OscInitStruct.PLL.PLLQ = 4;
   RCC_OscInitStruct.PLL.PLLR = 2;
   RCC_OscInitStruct.PLL.PLLRGE = RCC_PLL1VCIRANGE_3;
   RCC_OscInitStruct.PLL.PLLVCOSEL = RCC_PLL1VCOWIDE;
@@ -219,7 +234,7 @@ static void MX_FDCAN1_Init(void)
   hfdcan1.Init.RxBufferSize = FDCAN_DATA_BYTES_64;
   hfdcan1.Init.TxEventsNbr = 0;
   hfdcan1.Init.TxBuffersNbr = 0;
-  hfdcan1.Init.TxFifoQueueElmtsNbr = 0;
+  hfdcan1.Init.TxFifoQueueElmtsNbr = 16;
   hfdcan1.Init.TxFifoQueueMode = FDCAN_TX_FIFO_OPERATION;
   hfdcan1.Init.TxElmtSize = FDCAN_DATA_BYTES_64;
   if (HAL_FDCAN_Init(&hfdcan1) != HAL_OK)
@@ -246,16 +261,17 @@ static void MX_GPIO_Init(void)
   __HAL_RCC_GPIOH_CLK_ENABLE();
   __HAL_RCC_GPIOG_CLK_ENABLE();
   __HAL_RCC_GPIOA_CLK_ENABLE();
+  __HAL_RCC_GPIOD_CLK_ENABLE();
   __HAL_RCC_GPIOB_CLK_ENABLE();
 
   /*Configure GPIO pin Output Level */
-  HAL_GPIO_WritePin(GPIOG, LED_CAN_Pin|LED_FLASH_Pin|LED_CANG6_Pin|LED_FAULT_Pin
-                          |LED_OP_Pin, GPIO_PIN_RESET);
+  HAL_GPIO_WritePin(GPIOG, LED_SLEEP_Pin|LED_FLASH_Pin|LED_CAN_Pin|LED_FAULT_Pin
+                          |LED_OPERATIONAL_Pin, GPIO_PIN_RESET);
 
-  /*Configure GPIO pins : LED_CAN_Pin LED_FLASH_Pin LED_CANG6_Pin LED_FAULT_Pin
-                           LED_OP_Pin */
-  GPIO_InitStruct.Pin = LED_CAN_Pin|LED_FLASH_Pin|LED_CANG6_Pin|LED_FAULT_Pin
-                          |LED_OP_Pin;
+  /*Configure GPIO pins : LED_SLEEP_Pin LED_FLASH_Pin LED_CAN_Pin LED_FAULT_Pin
+                           LED_OPERATIONAL_Pin */
+  GPIO_InitStruct.Pin = LED_SLEEP_Pin|LED_FLASH_Pin|LED_CAN_Pin|LED_FAULT_Pin
+                          |LED_OPERATIONAL_Pin;
   GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
   GPIO_InitStruct.Pull = GPIO_NOPULL;
   GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;

Core/Src/stm32h7xx_hal_msp.c

@@ -111,25 +111,18 @@ void HAL_FDCAN_MspInit(FDCAN_HandleTypeDef* hfdcan)
     /* Peripheral clock enable */
     __HAL_RCC_FDCAN_CLK_ENABLE();
 
-    __HAL_RCC_GPIOA_CLK_ENABLE();
+    __HAL_RCC_GPIOD_CLK_ENABLE();
     /**FDCAN1 GPIO Configuration
-    PA11     ------> FDCAN1_RX
-    PA12     ------> FDCAN1_TX
+    PD0     ------> FDCAN1_RX
+    PD1     ------> FDCAN1_TX
     */
-    GPIO_InitStruct.Pin = GPIO_PIN_11|GPIO_PIN_12;
+    GPIO_InitStruct.Pin = GPIO_PIN_0|GPIO_PIN_1;
     GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
     GPIO_InitStruct.Pull = GPIO_NOPULL;
-    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
+    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
     GPIO_InitStruct.Alternate = GPIO_AF9_FDCAN1;
-    HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
-
-    /* FDCAN1 interrupt Init */
-    HAL_NVIC_SetPriority(FDCAN1_IT0_IRQn, 0, 0);
-    HAL_NVIC_EnableIRQ(FDCAN1_IT0_IRQn);
-    HAL_NVIC_SetPriority(FDCAN1_IT1_IRQn, 0, 0);
-    HAL_NVIC_EnableIRQ(FDCAN1_IT1_IRQn);
-    HAL_NVIC_SetPriority(FDCAN_CAL_IRQn, 0, 0);
-    HAL_NVIC_EnableIRQ(FDCAN_CAL_IRQn);
+    HAL_GPIO_Init(GPIOD, &GPIO_InitStruct);
+
   /* USER CODE BEGIN FDCAN1_MspInit 1 */
 
   /* USER CODE END FDCAN1_MspInit 1 */
@@ -154,15 +147,11 @@ void HAL_FDCAN_MspDeInit(FDCAN_HandleTypeDef* hfdcan)
     __HAL_RCC_FDCAN_CLK_DISABLE();
 
     /**FDCAN1 GPIO Configuration
-    PA11     ------> FDCAN1_RX
-    PA12     ------> FDCAN1_TX
+    PD0     ------> FDCAN1_RX
+    PD1     ------> FDCAN1_TX
     */
-    HAL_GPIO_DeInit(GPIOA, GPIO_PIN_11|GPIO_PIN_12);
+    HAL_GPIO_DeInit(GPIOD, GPIO_PIN_0|GPIO_PIN_1);
 
-    /* FDCAN1 interrupt DeInit */
-    HAL_NVIC_DisableIRQ(FDCAN1_IT0_IRQn);
-    HAL_NVIC_DisableIRQ(FDCAN1_IT1_IRQn);
-    HAL_NVIC_DisableIRQ(FDCAN_CAL_IRQn);
   /* USER CODE BEGIN FDCAN1_MspDeInit 1 */
 
   /* USER CODE END FDCAN1_MspDeInit 1 */

Core/Src/stm32h7xx_it.c

@@ -55,7 +55,7 @@
 /* USER CODE END 0 */
 
 /* External variables --------------------------------------------------------*/
-extern FDCAN_HandleTypeDef hfdcan1;
+
 /* USER CODE BEGIN EV */
 
 /* USER CODE END EV */
@@ -198,48 +198,6 @@ void SysTick_Handler(void)
 /* please refer to the startup file (startup_stm32h7xx.s).                    */
 /******************************************************************************/
 
-/**
-  * @brief This function handles FDCAN1 interrupt 0.
-  */
-void FDCAN1_IT0_IRQHandler(void)
-{
-  /* USER CODE BEGIN FDCAN1_IT0_IRQn 0 */
-
-  /* USER CODE END FDCAN1_IT0_IRQn 0 */
-  HAL_FDCAN_IRQHandler(&hfdcan1);
-  /* USER CODE BEGIN FDCAN1_IT0_IRQn 1 */
-
-  /* USER CODE END FDCAN1_IT0_IRQn 1 */
-}
-
-/**
-  * @brief This function handles FDCAN1 interrupt 1.
-  */
-void FDCAN1_IT1_IRQHandler(void)
-{
-  /* USER CODE BEGIN FDCAN1_IT1_IRQn 0 */
-
-  /* USER CODE END FDCAN1_IT1_IRQn 0 */
-  HAL_FDCAN_IRQHandler(&hfdcan1);
-  /* USER CODE BEGIN FDCAN1_IT1_IRQn 1 */
-
-  /* USER CODE END FDCAN1_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(&hfdcan1);
-  /* USER CODE BEGIN FDCAN_CAL_IRQn 1 */
-
-  /* USER CODE END FDCAN_CAL_IRQn 1 */
-}
-
 /* USER CODE BEGIN 1 */
 
 /* USER CODE END 1 */