【STM32项目实战系列】基于STM32G474的FDCAN驱动配置

前言：本周工作中用到了CANFD的驱动，由于以前都是用到的CAN2.0，所以过程并不是特别的顺利，所以中间遇到几个比较小的问题导致自己卡住了一段时间，特此记录一下并完全奉上自己的配置的源码。

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1，CANFD配置与简介

先简单介绍一下CANFD：

FDCAN（Flexible Data-Rate CAN，灵活数据速率 CAN）是 CAN-FD（CAN with Flexible Data-Rate）协议的实现，支持更高的传输速率和更大的数据负载。FDCAN 通信主要由 仲裁域（Arbitration Phase） 和 数据域（Data Phase） 组成，它们在波特率和位定时参数上有所不同。

这里配置的FDCAN外设的时钟为100MHZ

1，相较于传统的CAN，CANFD仲裁域与数据域的波特率可以不同也可以相同，

• 仲裁阶段：与传统 CAN 相同（≤ 1 Mbps）
• 数据阶段：可以使用更高的速率（典型值 2 Mbps、5 Mbps，甚至 8 Mbps

2，数据传输特点：

• 传输 更长的数据（64 字节），减少协议开销，提高带宽利用率。
• 数据阶段 速率更快，提升整车网络通信性能。

3，仲裁域特点：

• 低 ID 优先级高（0 优先级高于 1）。
• 发送过程中，如果节点检测到比自己更低的 ID（更高优先级），则自动停止发送。
• 传统 CAN 与 CAN FD 可以共存，但 如果 CAN FD 设备检测到传统 CAN 帧，会降级为传统 CAN 模式。

4，波特率的计算方式

Baud_rate = FDCAN_Clock / (Prescaler * (Seg_1 + Seg_2 + Sync_Jump_Width))

• FDCAN_Clock（FDCAN 时钟）
• Prescaler（分频系数）
• Phase Segment 1（相位段 1）
• Phase Segment 2（相位段 2，用于接收器同步和误差修正）
• Sync_Jump_Width（同步跳宽）

5，采样率的计算方式

• sampling_rate = (Seg_1 + 1) / (1 + Seg_1 + Seg_2)

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2，FDCAN代码生成

这里先用的CUBEMX生成的源驱动代码，但是烧录进板子里面发现无法使用，后面就有改了一下，同样的把这个源码也搬过来

fdcan.c

/* USER CODE BEGIN Header */
/********************************************************************************* @file    fdcan.c* @brief   This file provides code for the configuration*          of the FDCAN instances.******************************************************************************* @attention** Copyright (c) 2025 STMicroelectronics.* All rights reserved.** This software is licensed under terms that can be found in the LICENSE file* in the root directory of this software component.* If no LICENSE file comes with this software, it is provided AS-IS.********************************************************************************/
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "fdcan.h"/* USER CODE BEGIN 0 *//* USER CODE END 0 */FDCAN_HandleTypeDef hfdcan1;/* FDCAN1 init function */
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_FD_BRS;hfdcan1.Init.Mode = FDCAN_MODE_NORMAL;hfdcan1.Init.AutoRetransmission = DISABLE;hfdcan1.Init.TransmitPause = DISABLE;hfdcan1.Init.ProtocolException = DISABLE;hfdcan1.Init.NominalPrescaler = 5;hfdcan1.Init.NominalSyncJumpWidth = 1;hfdcan1.Init.NominalTimeSeg1 = 15;hfdcan1.Init.NominalTimeSeg2 = 4;hfdcan1.Init.DataPrescaler = 5;hfdcan1.Init.DataSyncJumpWidth = 1;hfdcan1.Init.DataTimeSeg1 = 2;hfdcan1.Init.DataTimeSeg2 = 1;hfdcan1.Init.StdFiltersNbr = 28;hfdcan1.Init.ExtFiltersNbr = 8;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 */}void HAL_FDCAN_MspInit(FDCAN_HandleTypeDef* fdcanHandle)
{GPIO_InitTypeDef GPIO_InitStruct = {0};RCC_PeriphCLKInitTypeDef PeriphClkInit = {0};if(fdcanHandle->Instance==FDCAN1){/* USER CODE BEGIN FDCAN1_MspInit 0 *//* USER CODE END FDCAN1_MspInit 0 *//** Initializes the peripherals clocks*/PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_FDCAN;PeriphClkInit.FdcanClockSelection = RCC_FDCANCLKSOURCE_PCLK1;if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK){Error_Handler();}/* FDCAN1 clock enable */__HAL_RCC_FDCAN_CLK_ENABLE();__HAL_RCC_GPIOA_CLK_ENABLE();/**FDCAN1 GPIO ConfigurationPA11     ------> FDCAN1_RXPA12     ------> FDCAN1_TX*/GPIO_InitStruct.Pin = GPIO_PIN_11|GPIO_PIN_12;GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;GPIO_InitStruct.Pull = GPIO_NOPULL;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);/* USER CODE BEGIN FDCAN1_MspInit 1 *//* USER CODE END FDCAN1_MspInit 1 */}
}void HAL_FDCAN_MspDeInit(FDCAN_HandleTypeDef* fdcanHandle)
{if(fdcanHandle->Instance==FDCAN1){/* USER CODE BEGIN FDCAN1_MspDeInit 0 *//* USER CODE END FDCAN1_MspDeInit 0 *//* Peripheral clock disable */__HAL_RCC_FDCAN_CLK_DISABLE();/**FDCAN1 GPIO ConfigurationPA11     ------> FDCAN1_RXPA12     ------> FDCAN1_TX*/HAL_GPIO_DeInit(GPIOA, GPIO_PIN_11|GPIO_PIN_12);/* FDCAN1 interrupt Deinit */HAL_NVIC_DisableIRQ(FDCAN1_IT0_IRQn);HAL_NVIC_DisableIRQ(FDCAN1_IT1_IRQn);/* USER CODE BEGIN FDCAN1_MspDeInit 1 *//* USER CODE END FDCAN1_MspDeInit 1 */}
}/* USER CODE BEGIN 1 *//* USER CODE END 1 */

fdcan.h

/* USER CODE BEGIN Header */
/********************************************************************************* @file    fdcan.h* @brief   This file contains all the function prototypes for*          the fdcan.c file******************************************************************************* @attention** Copyright (c) 2025 STMicroelectronics.* All rights reserved.** This software is licensed under terms that can be found in the LICENSE file* in the root directory of this software component.* If no LICENSE file comes with this software, it is provided AS-IS.********************************************************************************/
/* USER CODE END Header */
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __FDCAN_H__
#define __FDCAN_H__#ifdef __cplusplus
extern "C" {
#endif/* Includes ------------------------------------------------------------------*/
#include "main.h"/* USER CODE BEGIN Includes *//* USER CODE END Includes */extern FDCAN_HandleTypeDef hfdcan1;/* USER CODE BEGIN Private defines *//* USER CODE END Private defines */void MX_FDCAN1_Init(void);/* USER CODE BEGIN Prototypes *//* USER CODE END Prototypes */#ifdef __cplusplus
}
#endif#endif /* __FDCAN_H__ */

改进后的代码，增加一个发送与接收CAN报文的接口与一些驱动接口。尝试之后就可以发送与接收到报文了，亲测有效。另外，当数据域设置成最大的时候，使用CAN工具设置数据域的那个波特率都是可以接受到报文的。

 fdcan.c

/* USER CODE BEGIN Header */
/********************************************************************************* @file    fdcan.c* @brief   This file provides code for the configuration*          of the FDCAN instances.******************************************************************************* @attention** Copyright (c) 2025 STMicroelectronics.* All rights reserved.** This software is licensed under terms that can be found in the LICENSE file* in the root directory of this software component.* If no LICENSE file comes with this software, it is provided AS-IS.********************************************************************************/
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "fdcan.h"/* USER CODE BEGIN 0 */
RxDataLen_t RxData_len[16] = {{SEND_BYTES_0, 0}, {SEND_BYTES_1, 1}, {SEND_BYTES_2, 2}, {SEND_BYTES_3, 3},{SEND_BYTES_4, 4}, {SEND_BYTES_5, 5}, {SEND_BYTES_6, 6}, {SEND_BYTES_7, 7},{SEND_BYTES_8, 8}, {SEND_BYTES_12, 12}, {SEND_BYTES_16, 16}, {SEND_BYTES_20, 20},{SEND_BYTES_24, 24}, {SEND_BYTES_32, 32}, {SEND_BYTES_48, 48}, {SEND_BYTES_64, 64}
};
/* USER CODE END 0 */FDCAN_HandleTypeDef hfdcan1;/* FDCAN1 init function */
void MX_FDCAN1_Init(void)
{FDCAN_FilterTypeDef sFilterConfig = {0};/* USER CODE BEGIN FDCAN1_Init 0 *//* USER CODE END FDCAN1_Init 0 *//* USER CODE BEGIN FDCAN1_Init 1 *//* USER CODE END FDCAN1_Init 1 */// 仲裁域波特率为1Mbps 80%  数据域波特率为5Mbps 75%// 波特率 Baud rate = FDCAN Clock / (Prescaler * (Seg_1 + Seg_2 + Sync_Jump_Width))// 采样率 sampling rate = (Seg_1 + 1) / (1 + Seg_1 + Seg_2)hfdcan1.Instance = FDCAN1;hfdcan1.Init.ClockDivider = FDCAN_CLOCK_DIV1;  // 外设时钟分频hfdcan1.Init.FrameFormat = FDCAN_FRAME_FD_BRS; // 使用FD BRS格式hfdcan1.Init.Mode = FDCAN_MODE_NORMAL;  			 // 正常模式hfdcan1.Init.AutoRetransmission = DISABLE;     // 禁止自动重发hfdcan1.Init.TransmitPause = DISABLE;          // 禁止暂停传输hfdcan1.Init.ProtocolException = DISABLE;      // 禁用协议异常hfdcan1.Init.NominalPrescaler = 5;             // 仲裁域分频系数（1Mbps）hfdcan1.Init.NominalSyncJumpWidth = 1;         // 同步跳跃宽度hfdcan1.Init.NominalTimeSeg1 = 15;             // 时间段1hfdcan1.Init.NominalTimeSeg2 = 4;              // 时间段2hfdcan1.Init.DataPrescaler = 5;                // 数据域分频系数hfdcan1.Init.DataSyncJumpWidth = 1;            // 数据同步跳跃宽度hfdcan1.Init.DataTimeSeg1 = 2;                 // 数据时间段1hfdcan1.Init.DataTimeSeg2 = 1;                 // 数据时间段2hfdcan1.Init.StdFiltersNbr = 28;               // 标准过滤器数量hfdcan1.Init.ExtFiltersNbr = 8;                // 扩展过滤器数量hfdcan1.Init.TxFifoQueueMode = FDCAN_TX_FIFO_OPERATION;  // 发送FIFO操作模式if (HAL_FDCAN_Init(&hfdcan1) != HAL_OK){printf("Error_Handler:HAL_FDCAN_Init\r\n");Error_Handler();}sFilterConfig.IdType = FDCAN_STANDARD_ID;sFilterConfig.FilterIndex = 0;sFilterConfig.FilterType = FDCAN_FILTER_RANGE;sFilterConfig.FilterConfig = FDCAN_FILTER_TO_RXFIFO0;sFilterConfig.FilterID1 = 0x00;sFilterConfig.FilterID2 = 0x7FF;if (HAL_FDCAN_ConfigFilter(&hfdcan1, &sFilterConfig) != HAL_OK){Error_Handler();}sFilterConfig.IdType = FDCAN_EXTENDED_ID;sFilterConfig.FilterIndex = 0;sFilterConfig.FilterType = FDCAN_FILTER_RANGE;sFilterConfig.FilterConfig = FDCAN_FILTER_TO_RXFIFO0;sFilterConfig.FilterID1 = 0x00;sFilterConfig.FilterID2 = 0x1FFFFFFF;if (HAL_FDCAN_ConfigFilter(&hfdcan1, &sFilterConfig) != HAL_OK){Error_Handler();}/* Configure global filter on both FDCAN instances:Filter all remote frames with STD and EXT IDReject 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();}/* Activate Rx FIFO 0 new message notification on both FDCAN instances */if (HAL_FDCAN_ActivateNotification(&hfdcan1, FDCAN_IT_RX_FIFO0_NEW_MESSAGE, 0) != HAL_OK){Error_Handler();}if (HAL_FDCAN_ActivateNotification(&hfdcan1, FDCAN_IT_BUS_OFF, 0) != HAL_OK){Error_Handler();}/* Configure and enable Tx Delay Compensation, required for BRS mode.TdcOffset default recommended value: DataTimeSeg1 * DataPrescalerTdcFilter default recommended value: 0 */HAL_FDCAN_ConfigTxDelayCompensation(&hfdcan1, hfdcan1.Init.DataPrescaler * hfdcan1.Init.DataTimeSeg1, 0);HAL_FDCAN_EnableTxDelayCompensation(&hfdcan1);HAL_FDCAN_Start(&hfdcan1);/* USER CODE END FDCAN1_Init 2 */
}void HAL_FDCAN_MspInit(FDCAN_HandleTypeDef* fdcanHandle)
{GPIO_InitTypeDef GPIO_InitStruct = {0};RCC_PeriphCLKInitTypeDef PeriphClkInit = {0};if(fdcanHandle->Instance==FDCAN1){/* USER CODE BEGIN FDCAN1_MspInit 0 *//* USER CODE END FDCAN1_MspInit 0 *//** Initializes the peripherals clocks*/PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_FDCAN;PeriphClkInit.FdcanClockSelection = RCC_FDCANCLKSOURCE_PCLK1;if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK){Error_Handler();}/* FDCAN1 clock enable */__HAL_RCC_FDCAN_CLK_ENABLE();__HAL_RCC_GPIOA_CLK_ENABLE();/**FDCAN1 GPIO ConfigurationPA11     ------> FDCAN1_RXPA12     ------> FDCAN1_TX*/GPIO_InitStruct.Pin = GPIO_PIN_11|GPIO_PIN_12;GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;GPIO_InitStruct.Pull = GPIO_NOPULL;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);/* USER CODE BEGIN FDCAN1_MspInit 1 *//* USER CODE END FDCAN1_MspInit 1 */}
}void HAL_FDCAN_MspDeInit(FDCAN_HandleTypeDef* fdcanHandle)
{if(fdcanHandle->Instance==FDCAN1){/* USER CODE BEGIN FDCAN1_MspDeInit 0 *//* USER CODE END FDCAN1_MspDeInit 0 *//* Peripheral clock disable */__HAL_RCC_FDCAN_CLK_DISABLE();/**FDCAN1 GPIO ConfigurationPA11     ------> FDCAN1_RXPA12     ------> FDCAN1_TX*/HAL_GPIO_DeInit(GPIOA, GPIO_PIN_11|GPIO_PIN_12);/* FDCAN1 interrupt Deinit */HAL_NVIC_DisableIRQ(FDCAN1_IT0_IRQn);HAL_NVIC_DisableIRQ(FDCAN1_IT1_IRQn);/* USER CODE BEGIN FDCAN1_MspDeInit 1 *//* USER CODE END FDCAN1_MspDeInit 1 */}
}// /* USER CODE BEGIN 1 *//* FDCAN发送报文函数 */
HAL_StatusTypeDef FDCAN_SendMessage(uint32_t id, uint8_t Txdata[], FDCAN_DLC_T dataLength)
{FDCAN_TxHeaderTypeDef TxHeader = {0};TxHeader.Identifier = id;  // 设置CAN报文的ID  // 检查发送帧ID的有效性if(id < 0x800) {TxHeader.IdType = FDCAN_STANDARD_ID;}else {TxHeader.IdType = FDCAN_EXTENDED_ID;if(id > 0x1FFFFFFF) {printf("Error_Handler:id > 0x1FFFFFFF\r\n");return HAL_ERROR;}}// CAN发送格式的识别if (dataLength > FDCAN_DLC_BYTES_8) {TxHeader.FDFormat = FDCAN_FD_CAN;}else {TxHeader.FDFormat = FDCAN_CLASSIC_CAN;}TxHeader.TxFrameType = FDCAN_DATA_FRAME;  // 数据帧 FDCAN_REMOTE_FRAME//FDCAN_DATA_FRAME// 数据长度（0-8字节,还有12,16,20,24,32,48,64）TxHeader.DataLength = dataLength; TxHeader.BitRateSwitch = FDCAN_BRS_OFF;  // 不使用数据速率切换// 发送报文if (HAL_FDCAN_AddMessageToTxFifoQ(&hfdcan1, &TxHeader, Txdata) != HAL_OK){printf("FDCAN send msg fail\r\n");return HAL_ERROR;  // 发送失败}return HAL_OK;  // 发送成功
}// FDCAN1 中断接收回调函数
void HAL_FDCAN_RxFifo0Callback(FDCAN_HandleTypeDef *hfdcan, uint32_t RxFifo0ITs)
{FDCAN_RxHeaderTypeDef RxHeader = {0};uint8_t RxData[64] = {0};  // 支持最大64字节数据uint8_t len = 0;           // 接收到的数据长度// 从FIFO0中读取接收到的消息if (HAL_FDCAN_GetRxMessage(hfdcan, FDCAN_RX_FIFO0, &RxHeader, RxData) != HAL_OK){Error_Handler();}for(int i = 0; i < (sizeof(RxData_len)/sizeof(RxData_len[0])); i++) {if (RxData_len[i].dataLength == RxHeader.DataLength) {len = RxData_len[i].datalen_num;}}#if 1printf("id: %d, DataLength: %d\r\n", RxHeader.Identifier, len);printf("Received Data: ");for (uint8_t i = 0; i < len; i++){printf("0x%02X ", RxData[i]);}printf("\n");
#endif// 可以根据需要检查其他中断标志位进行不同的处理// 如果接收FIFO0已满if ((RxFifo0ITs & FDCAN_IT_RX_FIFO0_FULL) != RESET){// 处理FIFO满的情况printf("FIFO 0 is full\n");}// 如果接收FIFO0消息丢失if ((RxFifo0ITs & FDCAN_IT_RX_FIFO0_MESSAGE_LOST) != RESET){// 处理消息丢失的情况printf("Message lost in FIFO 0\n");}
}/* USER CODE END 1 */

  fdcan.h

/* USER CODE BEGIN Header */
/********************************************************************************* @file    fdcan.h* @brief   This file contains all the function prototypes for*          the fdcan.c file******************************************************************************* @attention** Copyright (c) 2025 STMicroelectronics.* All rights reserved.** This software is licensed under terms that can be found in the LICENSE file* in the root directory of this software component.* If no LICENSE file comes with this software, it is provided AS-IS.********************************************************************************/
/* USER CODE END Header */
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __FDCAN_H__
#define __FDCAN_H__#ifdef __cplusplus
extern "C" {
#endif/* Includes ------------------------------------------------------------------*/
#include "main.h"/* USER CODE BEGIN Includes *//* USER CODE END Includes */extern FDCAN_HandleTypeDef hfdcan1;/* USER CODE BEGIN Private defines */
typedef enum {SEND_BYTES_0 = FDCAN_DLC_BYTES_0,SEND_BYTES_1 = FDCAN_DLC_BYTES_1,SEND_BYTES_2 = FDCAN_DLC_BYTES_2,SEND_BYTES_3 = FDCAN_DLC_BYTES_3,SEND_BYTES_4 = FDCAN_DLC_BYTES_4,SEND_BYTES_5 = FDCAN_DLC_BYTES_5,SEND_BYTES_6 = FDCAN_DLC_BYTES_6,SEND_BYTES_7 = FDCAN_DLC_BYTES_7,SEND_BYTES_8 = FDCAN_DLC_BYTES_8,SEND_BYTES_12 = FDCAN_DLC_BYTES_12,SEND_BYTES_16 = FDCAN_DLC_BYTES_16,SEND_BYTES_20 = FDCAN_DLC_BYTES_20,SEND_BYTES_24 = FDCAN_DLC_BYTES_24,SEND_BYTES_32 = FDCAN_DLC_BYTES_32,SEND_BYTES_48 = FDCAN_DLC_BYTES_48,SEND_BYTES_64 = FDCAN_DLC_BYTES_64
} FDCAN_DLC_T;typedef struct {FDCAN_DLC_T dataLength;uint8_t datalen_num;
} RxDataLen_t;
/* USER CODE END Private defines *//* USER CODE BEGIN Prototypes */void MX_FDCAN1_Init(void);
HAL_StatusTypeDef FDCAN_SendMessage(uint32_t id, uint8_t Txdata[], FDCAN_DLC_T dataLength);/* USER CODE END Prototypes */#ifdef __cplusplus
}
#endif#endif /* __FDCAN_H__ */

参考文章：

CAN总线采样点原理与测试方法详解-CSDN博客

嵌入式Linux中的CAN(FD)总线——驱动配置 - 知乎 (zhihu.com)