Setup CANFD on Riverdi 12.1 display

[bet-naga]

I'm trying to receive some data over CAN (using Kvaser CanKing 500 kbit/s) and display it on a Riverdi 12.1" display. In fdcan.c, I have:

void MX_FDCAN1_Init(void)
{

  /* USER CODE BEGIN FDCAN1_Init 0 */
	FDCAN_FilterTypeDef sFilterConfig; // the required filter ID can be found in the struct
  /* USER CODE END FDCAN1_Init 0 */

  /* USER CODE BEGIN FDCAN1_Init 1 */

  /* USER CODE END FDCAN1_Init 1 */
	hfdcan1.Instance = FDCAN1;
	  hfdcan1.Init.FrameFormat = FDCAN_FRAME_CLASSIC;
	  hfdcan1.Init.Mode = FDCAN_MODE_NORMAL; // FDCAN_MODE_INTERNAL_LOOPBACK; // FDCAN_MODE_NORMAL;
	  hfdcan1.Init.AutoRetransmission = DISABLE;
	  hfdcan1.Init.TransmitPause = DISABLE;
	  hfdcan1.Init.ProtocolException = DISABLE;
	  hfdcan1.Init.NominalPrescaler = 1;
	  hfdcan1.Init.NominalSyncJumpWidth = 32;
	  hfdcan1.Init.NominalTimeSeg1 = 127;
	  hfdcan1.Init.NominalTimeSeg2 = 32;
	  hfdcan1.Init.DataPrescaler = 1;
	  hfdcan1.Init.DataSyncJumpWidth = 10;
	  hfdcan1.Init.DataTimeSeg1 = 29;
	  hfdcan1.Init.DataTimeSeg2 = 10;
	  hfdcan1.Init.MessageRAMOffset = 0;
	  hfdcan1.Init.StdFiltersNbr = 1;
	  hfdcan1.Init.ExtFiltersNbr = 0;
	  hfdcan1.Init.RxFifo0ElmtsNbr = 32;
	  hfdcan1.Init.RxFifo0ElmtSize = FDCAN_DATA_BYTES_64;
	  hfdcan1.Init.RxFifo1ElmtsNbr = 0;
	  hfdcan1.Init.RxFifo1ElmtSize = FDCAN_DATA_BYTES_8;
	  hfdcan1.Init.RxBuffersNbr = 1;
	  hfdcan1.Init.RxBufferSize = FDCAN_DATA_BYTES_8;
	  hfdcan1.Init.TxEventsNbr = 0;
	  hfdcan1.Init.TxBuffersNbr = 1;
	  hfdcan1.Init.TxFifoQueueElmtsNbr = 1;
	  hfdcan1.Init.TxFifoQueueMode = FDCAN_TX_FIFO_OPERATION;
	  hfdcan1.Init.TxElmtSize = FDCAN_DATA_BYTES_8;
	  if (HAL_FDCAN_Init(&hfdcan1) != HAL_OK)
	  {
		Error_Handler();
	  }
	  HAL_GPIO_TogglePin(USR_LED_1_GPIO_Port, USR_LED_1_Pin);
	  /* USER CODE BEGIN FDCAN1_Init 2 */
	  FDCAN_FilterTypeDef sFilter = {0};

	  // Route standard ID 0x123 to FIFO0
	  sFilter.IdType = FDCAN_STANDARD_ID;
	  sFilter.FilterIndex = 0;
	  sFilter.FilterType = FDCAN_FILTER_MASK;
	  sFilter.FilterConfig = FDCAN_FILTER_TO_RXFIFO0;
	  sFilter.FilterID1 = 0x111;   // ID
	  sFilter.FilterID2 = 0x000;   // mask: all bits must match

	  if (HAL_FDCAN_ConfigFilter(&hfdcan1, &sFilter) != HAL_OK)
	  {
		Error_Handler();
	  }
	  HAL_FDCAN_ConfigGlobalFilter(
	      &hfdcan1,
	      FDCAN_ACCEPT_IN_RX_FIFO0,  // Non-matching standard IDs
	      FDCAN_ACCEPT_IN_RX_FIFO0,  // Non-matching extended IDs
	      FDCAN_REJECT_REMOTE,       // Standard remote
	      FDCAN_REJECT_REMOTE        // Extended remote
	  );
	  if (HAL_FDCAN_Start(&hfdcan1) != HAL_OK)
	  {
		Error_Handler();
	  }
	  HAL_FDCAN_ActivateNotification(&hfdcan1, FDCAN_IT_RX_FIFO0_NEW_MESSAGE, 0);
	  FDCAN_TxHeaderTypeDef txh = {0};
	  uint8_t txd[8] = {0};

	  txh.Identifier = 0x123;
	  txh.IdType = FDCAN_STANDARD_ID;
	  txh.TxFrameType = FDCAN_DATA_FRAME;
	  txh.DataLength = FDCAN_DLC_BYTES_8;
	  txh.ErrorStateIndicator = FDCAN_ESI_ACTIVE;
	  txh.BitRateSwitch = FDCAN_BRS_OFF;
	  txh.FDFormat = FDCAN_CLASSIC_CAN;
	  txh.TxEventFifoControl = FDCAN_NO_TX_EVENTS;
	  txh.MessageMarker = 0;

	  uint32_t value = 424242; // whatever you want to see
	  txd[0] = (uint8_t)(value);
	  txd[1] = (uint8_t)(value >> 8);
	  txd[2] = (uint8_t)(value >> 16);
	  txd[3] = (uint8_t)(value >> 24);
	   //rest bytes can be 0

	  HAL_FDCAN_ActivateNotification(&hfdcan1,
	      FDCAN_IT_TX_COMPLETE | FDCAN_IT_BUS_OFF | FDCAN_IT_ERROR_PASSIVE | FDCAN_IT_ERROR_WARNING,
	      0);

	  if (HAL_FDCAN_AddMessageToTxFifoQ(&hfdcan1, &txh, txd) != HAL_OK)
	  {
		Error_Handler();
	  }
  /* USER CODE END FDCAN1_Init 2 */

}

If I use FDCAN_INTERNAL_LOOPBACK, I can see "424242" as expected on the display. But in FDCAN_MODE_NORMAL, I cannot send anything. On CanKing, I simply see an error frame received from the display. Is there any documentation or sample code I can refer to, to make this work? IF needed, I can share the Git repo for the project.

Also, is it possible to debug the code from the CubeIDE?