STM32G474 fdcan 接收中断与发送例程及代码实现

以下是STM32G474 FDCAN的发送和接收中断例程，其中包含了FDCAN的中断处理函数和数据处理函数。请注意，此处仅提供参考代码，具体实现过程中需要根据实际情况进行相应的修改。

发送中断例程：

#include "stm32g4xx_hal.h"

FDCAN_HandleTypeDef hfdcan1;

void FDCAN_Config(void)
{
  /* Configure the FDCAN peripheral */
  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 = 1;
  hfdcan1.Init.ExtFiltersNbr = 0;
  hfdcan1.Init.TxFifoQueueMode = FDCAN_TX_FIFO_OPERATION;
  hfdcan1.Init.TxFifoQueueSize = 2;
  hfdcan1.Init.RxFifo0QueueSize = 2;
  hfdcan1.Init.RxFifo1QueueSize = 2;
  hfdcan1.Init.RxBuffersNbr = 0;
  hfdcan1.Init.TxEventsNbr = 0;
  if (HAL_FDCAN_Init(&hfdcan1) != HAL_OK)
  {
    Error_Handler();
  }

  /* Configure the FDCAN filter */
  FDCAN_FilterTypeDef sFilterConfig;
  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();
  }

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

void HAL_FDCAN_TxBufferCompleteCallback(FDCAN_HandleTypeDef* hfdcan, uint32_t BufferIndexes)
{
  /* Handle the transmission complete event here */
}

void FDCAN_Send(uint32_t id, uint8_t* data, uint32_t len)
{
  FDCAN_TxHeaderTypeDef txHeader;
  txHeader.Identifier = id;
  txHeader.IdType = FDCAN_STANDARD_ID;
  txHeader.TxFrameType = FDCAN_DATA_FRAME;
  txHeader.DataLength = len;
  txHeader.ErrorStateIndicator = FDCAN_ESI_ACTIVE;
  txHeader.BitRateSwitch = FDCAN_BRS_OFF;
  txHeader.FDFormat = FDCAN_CLASSIC_CAN;
  txHeader.TxEventFifoControl = FDCAN_NO_TX_EVENTS;
  txHeader.MessageMarker = 0;
  if (HAL_FDCAN_AddMessageToTxFifoQ(&hfdcan1, &txHeader, data) != HAL_OK)
  {
    Error_Handler();
  }
}

接收中断例程：

#include "stm32g4xx_hal.h"

FDCAN_HandleTypeDef hfdcan1;

void FDCAN_Config(void)
{
  /* Configure the FDCAN peripheral */
  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 = 1;
  hfdcan1.Init.ExtFiltersNbr = 0;
  hfdcan1.Init.TxFifoQueueMode = FDCAN_TX_FIFO_OPERATION;
  hfdcan1.Init.TxFifoQueueSize = 2;
  hfdcan1.Init.RxFifo0QueueSize = 2;
  hfdcan1.Init.RxFifo1QueueSize = 2;
  hfdcan1.Init.RxBuffersNbr = 0;
  hfdcan1.Init.TxEventsNbr = 0;
  if (HAL_FDCAN_Init(&hfdcan1) != HAL_OK)
  {
    Error_Handler();
  }

  /* Configure the FDCAN filter */
  FDCAN_FilterTypeDef sFilterConfig;
  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();
  }

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

void HAL_FDCAN_RxFifo0MsgPendingCallback(FDCAN_HandleTypeDef* hfdcan)
{
  FDCAN_RxHeaderTypeDef rxHeader;
  uint8_t rxData[8];
  uint32_t len;
  if (HAL_FDCAN_GetRxMessage(&hfdcan1, FDCAN_RX_FIFO0, &rxHeader, rxData) != HAL_OK)
  {
    Error_Handler();
  }
  /* Handle the received message here */
}

void FDCAN_Receive(uint32_t* id, uint8_t* data, uint32_t* len)
{
  /* Not used in this example */
}

在上述代码中，发送中断处理函数为`HAL_FDCAN_TxBufferCompleteCallback`，接收中断处理函数为`HAL_FDCAN_RxFifo0MsgPendingCallback`。同时，发送函数为`FDCAN_Send`，接收函数为`FDCAN_Receive`（此处未实现）。

在实现过程中，您需要将以上代码集成到您的工程中，并根据实际情况进行相应的修改。同时，您需要在主函数中使能相应的中断，如下所示：

/* Enable FDCAN interrupts */
HAL_NVIC_SetPriority(FDCAN_IT_TX_COMPLETE, 0, 0);
HAL_NVIC_EnableIRQ(FDCAN_IT_TX_COMPLETE);
HAL_NVIC_SetPriority(FDCAN_IT_RX_FIFO0, 0, 0);
HAL_NVIC_EnableIRQ(FDCAN_IT_RX_FIFO0);

以上代码中，使能了发送完成和接收FIFO0消息挂起两个中断。