Recipient is epos4 module which work on standard can (bitrate is 1mbps) .
the following is the configuration i have made in my code to set the can in classic mode with 1mbps.please check and verify if any wrong
void MX_FDCAN2_Init(void)
{
FDCAN_FilterTypeDef sFilterConfig;
hfdcan2.Instance = FDCAN2;
hfdcan2.Init.FrameFormat = FDCAN_FRAME_CLASSIC;
hfdcan2.Init.Mode = FDCAN_MODE_NORMAL;
hfdcan2.Init.AutoRetransmission = ENABLE;
hfdcan2.Init.TransmitPause = DISABLE;
hfdcan2.Init.ProtocolException = ENABLE;
hfdcan2.Init.NominalPrescaler = 0x2; /* tq = NominalPrescaler x (1/fdcan_ker_ck) */
hfdcan2.Init.NominalSyncJumpWidth = 0x8;
hfdcan2.Init.NominalTimeSeg1 = 0x1F; /* NominalTimeSeg1 = Propagation_segment + Phase_segment_1 */
hfdcan2.Init.NominalTimeSeg2 = 0x8;
hfdcan2.Init.DataPrescaler = 0x1;
hfdcan2.Init.DataSyncJumpWidth = 0x4;
hfdcan2.Init.DataTimeSeg1 = 0x5; /* DataTimeSeg1 = Propagation_segment + Phase_segment_1 */
hfdcan2.Init.DataTimeSeg2 = 0x4;
hfdcan2.Init.MessageRAMOffset = 0;
hfdcan2.Init.StdFiltersNbr = 1;
hfdcan2.Init.ExtFiltersNbr = 1;
hfdcan2.Init.RxFifo0ElmtsNbr = 1;
hfdcan2.Init.RxFifo0ElmtSize = FDCAN_DATA_BYTES_8;
hfdcan2.Init.RxFifo1ElmtsNbr = 2;
hfdcan2.Init.RxFifo1ElmtSize = FDCAN_DATA_BYTES_8;
hfdcan2.Init.RxBuffersNbr = 1;
hfdcan2.Init.RxBufferSize = FDCAN_DATA_BYTES_8;
hfdcan2.Init.TxEventsNbr = 2;
hfdcan2.Init.TxBuffersNbr = 1;
hfdcan2.Init.TxFifoQueueElmtsNbr = 2;
hfdcan2.Init.TxFifoQueueMode = FDCAN_TX_FIFO_OPERATION;
hfdcan2.Init.TxElmtSize = FDCAN_DATA_BYTES_8;
if (HAL_FDCAN_Init(&hfdcan2) != HAL_OK)
{
Error_Handler();
HAL_Delay(100);
}
///* Configure Rx filter */
sFilterConfig.IdType = FDCAN_STANDARD_ID;
sFilterConfig.FilterIndex = 0;
sFilterConfig.FilterType = FDCAN_FILTER_MASK;
sFilterConfig.FilterConfig = FDCAN_FILTER_TO_RXFIFO0;
sFilterConfig.FilterID1 = 0x00;
sFilterConfig.FilterID2 = 0x00;
if (HAL_FDCAN_ConfigFilter(&hfdcan2, &sFilterConfig) != HAL_OK)
{
/* Filter configuration Error */
HAL_Delay(100);
Error_Handler();
}
HAL_FDCAN_ConfigFifoWatermark(&hfdcan2,FDCAN_FILTER_TO_RXFIFO0,2);
if (HAL_FDCAN_ActivateNotification(&hfdcan2, FDCAN_IT_RX_FIFO0_NEW_MESSAGE, 0) != HAL_OK)
{
/* Notification Error */
Error_Handler();
HAL_Delay(100);
}
/* Start the FDCAN module */
if (HAL_FDCAN_Start(&hfdcan2) != HAL_OK)
{
/* Start Error */
Error_Handler();
HAL_Delay(100);
}
// /* Configure Tx buffer message */
TxHeader.Identifier = 0x601;
TxHeader.IdType = FDCAN_STANDARD_ID;
TxHeader.TxFrameType = FDCAN_DATA_FRAME;
TxHeader.DataLength = FDCAN_DLC_BYTES_8;
TxHeader.ErrorStateIndicator = FDCAN_ESI_ACTIVE;
TxHeader.BitRateSwitch = FDCAN_BRS_OFF;
TxHeader.FDFormat = FDCAN_CLASSIC_CAN;
TxHeader.TxEventFifoControl = FDCAN_NO_TX_EVENTS;
TxHeader.MessageMarker =0x00; //0x52;
}
