stm32cubemx fdcan回环通信

对于STM32CubeMX FDCAN回环通信，您需要进行以下步骤：

1. 在STM32CubeMX中配置FDCAN模块，并启用回环模式。
2. 在代码中初始化FDCAN，并设置回环模式。
3. 使用FDCAN发送数据，并在接收到数据后进行处理。

以下是一个简单的示例代码，用于在FDCAN1上进行回环通信：

#include "main.h"
#include "stm32h7xx_hal.h"

FDCAN_HandleTypeDef hfdcan1;

void SystemClock_Config(void);
static void MX_GPIO_Init(void);
static void MX_FDCAN1_Init(void);

int main(void)
{
  HAL_Init();
  SystemClock_Config();
  MX_GPIO_Init();
  MX_FDCAN1_Init();

  uint8_t tx_data[8] = {0x01, 0x02, 0x03, 0x04, 0x05, 0x06, 0x07, 0x08};
  uint8_t rx_data[8];

  FDCAN_TxHeaderTypeDef tx_header;
  tx_header.Identifier = 0x123;
  tx_header.IdType = FDCAN_STANDARD_ID;
  tx_header.TxFrameType = FDCAN_DATA_FRAME;
  tx_header.DataLength = FDCAN_DLC_BYTES_8;
  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;

  while (1)
  {
    HAL_FDCAN_AddMessageToTxFifoQ(&hfdcan1, &tx_header, tx_data);
    HAL_FDCAN_GetRxMessage(&hfdcan1, FDCAN_RX_FIFO0, &rx_header, rx_data);
  }
}

void MX_FDCAN1_Init(void)
{
  hfdcan1.Instance = FDCAN1;
  hfdcan1.Init.FrameFormat = FDCAN_FRAME_CLASSIC;
  hfdcan1.Init.Mode = FDCAN_MODE_NORMAL;
  hfdcan1.Init.AutoRetransmission = ENABLE;
  hfdcan1.Init.TransmitPause = DISABLE;
  hfdcan1.Init.ProtocolException = DISABLE;
  hfdcan1.Init.NominalPrescaler = 1;
  hfdcan1.Init.NominalSyncJumpWidth = 1;
  hfdcan1.Init.NominalTimeSeg1 = 6;
  hfdcan1.Init.NominalTimeSeg2 = 3;
  hfdcan1.Init.DataPrescaler = 1;
  hfdcan1.Init.DataSyncJumpWidth = 1;
  hfdcan1.Init.DataTimeSeg1 = 6;
  hfdcan1.Init.DataTimeSeg2 = 3;
  hfdcan1.Init.StdFiltersNbr = 0;
  hfdcan1.Init.ExtFiltersNbr = 0;
  hfdcan1.Init.TxFifoQueueMode = FDCAN_TX_FIFO_OPERATION;
  hfdcan1.Init.TxFifoQueueSize = 8;
  hfdcan1.Init.RxFifo0ElmtsNbr = 8;
  hfdcan1.Init.RxFifo0ElmtSize = FDCAN_DATA_BYTES_8;
  hfdcan1.Init.RxFifo1ElmtsNbr = 0;
  hfdcan1.Init.RxFifo1ElmtSize = FDCAN_DATA_BYTES_8;
  hfdcan1.Init.RxBuffersNbr = 0;
  hfdcan1.Init.RxBufferSize = FDCAN_DATA_BYTES_8;

  if (HAL_FDCAN_Init(&hfdcan1) != HAL_OK)
  {
    Error_Handler();
  }

  FDCAN_FilterTypeDef filter;
  filter.IdType = FDCAN_STANDARD_ID;
  filter.FilterIndex = 0;
  filter.FilterType = FDCAN_FILTER_MASK;
  filter.FilterConfig = FDCAN_FILTER_TO_RXFIFO0;
  filter.FilterID1 = 0x7FF;
  filter.FilterID2 = 0x7FF;
  HAL_FDCAN_ConfigFilter(&hfdcan1, &filter);
}

void Error_Handler(void)
{
}

void SystemClock_Config(void)
{
}

static void MX_GPIO_Init(void)
{
  __HAL_RCC_GPIOA_CLK_ENABLE();
}

FDCAN_RxHeaderTypeDef rx_header;