Add NMEA2000 TX RX Simple Test without filter : Settings To be tested

App/Main/autotest.c

@@ -141,6 +141,9 @@ void AutotestPooling(void) {
                     printf("TX on COM5, RX on COM2 !!!!Error !!!!\n\r");
                 }
             } else printf("TX on COM5, RX on COM2 !!!!Error !!!!\n\r");
+
+            // AUTOTEST : Send a CANbus sentence
+            TransmitCAN_Test(&hfdcan1);
         }
     }
 }

App/Main/canbus.c

@@ -0,0 +1,129 @@
+#include "common.h"
+
+FDCAN_TxHeaderTypeDef   TxHeader;
+FDCAN_RxHeaderTypeDef   RxHeader;
+uint8_t                 TxData[8];
+uint8_t                 RxData[8];
+
+/**
+  * @brief FDCAN1 Initialization Function : Rapid Testing without CubeMX Code generation
+  * @param None
+  * @retval None
+  * https://github.com/STMicroelectronics/STM32CubeH7/blob/master/Projects/STM32H743I-EVAL/Examples/FDCAN/FDCAN_Classic_Frame_Networking/Src/main.c
+  * Line 218
+  */
+static void MX_FDCAN1_Init2(void)
+{
+/* Bit time configuration:
+    fdcan_ker_ck               = 40 MHz  -> 10Mhz
+    Time_quantum (tq)          = 25 ns -> 100ns
+    Synchronization_segment    = 1 tq
+    Propagation_segment        = 23 tq
+    Phase_segment_1            = 8 tq
+    Phase_segment_2            = 8 tq
+    Synchronization_Jump_width = 8 tq
+    Bit_length                 = 40 tq = 1 µs -> 4us
+    Bit_rate                   = 1 MBit/s -> 250Kb
+  */
+
+  hfdcan1.Instance = FDCAN1;
+  hfdcan1.Init.FrameFormat = FDCAN_FRAME_CLASSIC;
+  hfdcan1.Init.Mode = FDCAN_MODE_NORMAL;
+  hfdcan1.Init.AutoRetransmission = ENABLE;         // DISABLE;
+  hfdcan1.Init.TransmitPause = DISABLE;
+  hfdcan1.Init.ProtocolException = ENABLE;          // DISABLE;
+  hfdcan1.Init.NominalPrescaler = 0x1;              // tq = NominalPrescaler x (1/fdcan_ker_ck)
+  hfdcan1.Init.NominalSyncJumpWidth = 0x8;          // 2;
+  hfdcan1.Init.NominalTimeSeg1 = 0x1F;              // 37; NominalTimeSeg1 = Propagation_segment + Phase_segment_1
+  hfdcan1.Init.NominalTimeSeg2 = 0x8;               // 2;
+
+  hfdcan1.Init.DataPrescaler = 1;
+  hfdcan1.Init.DataSyncJumpWidth = 9;
+  hfdcan1.Init.DataTimeSeg1 = 30;
+  hfdcan1.Init.DataTimeSeg2 = 9;
+
+  hfdcan1.Init.MessageRAMOffset = 0;
+  hfdcan1.Init.StdFiltersNbr = 1;                   //0;
+  hfdcan1.Init.ExtFiltersNbr = 0;
+  hfdcan1.Init.RxFifo0ElmtsNbr = 1;
+  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;
+  hfdcan1.Init.TxEventsNbr = 0;
+  hfdcan1.Init.TxBuffersNbr = 0;
+  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();
+  }
+}
+
+
+bool InitCAN(void){
+    MX_FDCAN1_Init2();
+    if(HAL_FDCAN_Start(&hfdcan1)!= HAL_OK)
+    {
+        return false;
+    }
+    if (HAL_FDCAN_ActivateNotification(&hfdcan1, FDCAN_IT_RX_FIFO0_NEW_MESSAGE, 0) != HAL_OK)
+    {
+        return false;
+    }
+    TxHeader.IdType = FDCAN_EXTENDED_ID;                        // FDCAN_STANDARD_ID;
+    TxHeader.TxFrameType = FDCAN_DATA_FRAME;
+    TxHeader.DataLength = FDCAN_DLC_BYTES_8;
+    TxHeader.ErrorStateIndicator = FDCAN_ESI_ACTIVE;            // FDCAN_ESI_PASSIVE
+    TxHeader.BitRateSwitch = FDCAN_BRS_OFF;
+    TxHeader.FDFormat = FDCAN_CLASSIC_CAN;                      // FDCAN_FD_CAN;
+    TxHeader.TxEventFifoControl = FDCAN_NO_TX_EVENTS;
+    TxHeader.MessageMarker = 0;
+
+    return true;
+}
+
+// Test sending an NMEA2000 Heading sentence @ 250KB
+
+bool TransmitCAN_Test(FDCAN_HandleTypeDef *hfdcan){
+    TxData[1]=1;		                // Vessel Heading data high
+    TxData[2]=0xEA;
+    TxData[3]=0x00;
+    TxData[4]=0x00;
+    TxData[5]=0xFF;
+    TxData[6]=0x7F;
+    TxData[7]=0xFD;
+    TxHeader.Identifier = 0x9F11261;	// Vessel Heading PGN + Source
+    TxHeader.DataLength = 8;
+    if (HAL_FDCAN_AddMessageToTxFifoQ(hfdcan, &TxHeader, TxData)!= HAL_OK)
+    {
+        // Error_Handler();
+        return false;
+    }
+
+    return true;
+}
+
+
+void HAL_FDCAN_RxFifo0Callback(FDCAN_HandleTypeDef *hfdcan, uint32_t RxFifo0ITs)
+{
+  if((RxFifo0ITs & FDCAN_IT_RX_FIFO0_NEW_MESSAGE) != RESET)
+  {
+    HAL_GPIO_TogglePin(CMD_LED_GPIO_Port, CMD_LED_Pin);     // Toggle backlight
+
+    /* Retreive Rx messages from RX FIFO0 */
+    if (HAL_FDCAN_GetRxMessage(hfdcan, FDCAN_RX_FIFO0, &RxHeader, RxData) != HAL_OK)
+    {
+      /* Reception Error */
+    //   Error_Handler();
+    }
+
+    if (HAL_FDCAN_ActivateNotification(hfdcan, FDCAN_IT_RX_FIFO0_NEW_MESSAGE, 0) != HAL_OK)
+    {
+      /* Notification Error */
+    //   Error_Handler();
+    }
+  }
+}

App/Main/canbus.h

@@ -0,0 +1,13 @@
+#ifndef CANBUS_H
+#define CANBUS_H
+
+#include <stdint.h>
+#include <stdbool.h>
+#include "stm32h7xx_hal.h"
+
+extern FDCAN_HandleTypeDef hfdcan1;
+
+bool InitCAN(void);
+bool TransmitCAN_Test(FDCAN_HandleTypeDef *hfdcan);
+
+#endif

App/Main/common.h

@@ -32,5 +32,6 @@
 #include "fram.h"
 #include "retarget_stdio.h"
 #include "http_cgi_ssi.h"
+#include "canbus.h"
 
 #endif

Core/Src/main.c

@@ -165,6 +165,7 @@ int main(void)
   /* USER CODE BEGIN 2 */
 
     http_server_init();
+    InitCAN();
     AutotestFram();
 
   /* USER CODE END 2 */

Makefile

@@ -40,6 +40,7 @@ C_SOURCES =  \
 App/Web/http_cgi_ssi.c \
 App/Main/autotest.c \
 App/Main/boot.c \
+App/Main/canbus.c \
 App/Main/fram.c \
 App/Main/retarget_stdio.c \
 Core/Src/main.c \