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Bare Metal FDCAN on STM32G491



I am trying to implement the FDCAN in classic mode on the STM32G491 without the HAL. But I am havin trouble understanding how to configure and then use the CAN SRAM. I am not using the HAL nor CMSIS nor anyting else. Just the basic register definitions in a single h file. The bxCAN was way more simple and works great on a F103 (also bare metal). But the FDCAN on the G491 is somwhat more complex.

I have setup a sample in STMCubeIDE and tryed to extract the information from there. But I just dont get how the configuration of the CAN SRAM section works and how I can then send or receive any messages through this SRAM. 

Does anyone have a working example of this in bare metal C?