原创 基于 STM32FDCAN 外设的多通道 CAN-FD 收发系统设计与实现实战

2025-6-25 13:23 46 0 分类: 通信

一、引言

STM32 自 G4 / H7 / L5 / U5 系列开始引入 FDCAN(Flexible Data-rate CAN)控制器,全面支持:

  • CAN 2.0 标准协议
  • CAN-FD 协议(含速率切换)
  • 报文过滤、FIFO 缓冲、硬件时戳等

相比早期 bxCAN(如 STM32F103),FDCAN 提供更强的 实时性、带宽与可编程性,适用于构建多通道、高带宽的 CAN 网络应用,如电池管理系统(BMS)、车载网关、数据采集平台等。


二、硬件平台与开发环境

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1. 硬件选型

模块说明
主控 MCUSTM32G474RE / STM32H743
收发器芯片TJA1051T / SN65HVD230(支持 CAN-FD)
通信拓扑双路 CAN 收发:FDCAN1 + FDCAN2

2. 开发环境

  • STM32CubeIDE / STM32CubeMX
  • HAL 驱动库(含 FDCAN HAL)
  • 可选:Keil 或 IAR + HAL

三、FDCAN 核心特性简述

特性说明
支持 CAN/CAN-FD 协议向后兼容 CAN2.0,支持 BRS/FDCAN 特性
多 FIFO 支持支持 RX FIFO0 / FIFO1,TX FIFO
报文过滤机制支持 128 条标准 ID + 128 条扩展 ID 过滤器
硬件时戳每条接收报文自动附带时间信息
多种工作模式Normal / Loopback / Silent 等

四、CubeMX 初始化配置详解

1. 启用 FDCAN 外设

  • 打开 CubeMX,启用 FDCAN1 / FDCAN2
  • 配置引脚为 Alternate Function(通常为 PD0/PD1 或 PB8/PB9)

2. 设置时钟和速率

项目配置说明
Nominal Bitrate500 kbps(兼容传统 CAN 仲裁)
Data Bitrate2 Mbps(CAN-FD 数据段传输)
Enable BRS使能速率切换
Frame FormatCAN FD mode

3. 配置接收 FIFO

  • FIFO0 → 分配 64 条接收缓存
  • FIFO1 可用于高优先报文隔离(如诊断、事件帧)

4. 报文过滤器配置

设置过滤器为 “Accept All” 或添加自定义 ID 表。

c
复制编辑
FDCAN_FilterTypeDef sFilterConfig; sFilterConfig.IdType = FDCAN_STANDARD_ID; sFilterConfig.FilterIndex = 0; sFilterConfig.FilterType = FDCAN_FILTER_MASK; sFilterConfig.FilterConfig = FDCAN_FILTER_TO_FIFO0; sFilterConfig.FilterID1 = 0x000; sFilterConfig.FilterID2 = 0x000; HAL_FDCAN_ConfigFilter(&hfdcan1, &sFilterConfig);

五、收发机制实现(中断模式)

1. 启动 FDCAN 模块

c
复制编辑
HAL_FDCAN_Start(&hfdcan1); HAL_FDCAN_ActivateNotification(&hfdcan1, FDCAN_IT_RX_FIFO0_NEW_MESSAGE, 0);

2. 发送帧函数

c
复制编辑
FDCAN_TxHeaderTypeDef TxHeader; uint8_t TxData[64]; TxHeader.Identifier = 0x123; TxHeader.IdType = FDCAN_STANDARD_ID; TxHeader.TxFrameType = FDCAN_DATA_FRAME; TxHeader.DataLength = FDCAN_DLC_BYTES_64; TxHeader.ErrorStateIndicator = FDCAN_ESI_ACTIVE; TxHeader.BitRateSwitch = FDCAN_BRS_ON; TxHeader.FDFormat = FDCAN_FD_CAN; TxHeader.TxEventFifoControl = FDCAN_NO_TX_EVENTS; TxHeader.MessageMarker = 0; HAL_FDCAN_AddMessageToTxFifoQ(&hfdcan1, &TxHeader, TxData);

3. 接收回调函数

c
复制编辑
voidHAL_FDCAN_RxFifo0Callback(FDCAN_HandleTypeDef *hfdcan, uint32_t RxFifo0ITs) { FDCAN_RxHeaderTypeDef RxHeader; uint8_t RxData[64]; HAL_FDCAN_GetRxMessage(hfdcan, FDCAN_RX_FIFO0, &RxHeader, RxData); // 解析 ID 和数据uint32_t id = RxHeader.Identifier; uint8_t dlc = RxHeader.DataLength; // 后续处理逻辑... }

六、多通道同步收发设计

场景:FDCAN1 + FDCAN2 同时通信

  • 分别配置 2 个实例的收发中断
  • 在调度层建立统一消息队列(如 ring buffer)
  • 实现消息转发、中继、冗余发送等功能

实现要点:

项目建议做法
中断处理优先级设置为高优先,避免丢包
RX FIFO 使用FIFO0 专用于数据,FIFO1 用于控制类报文
多路冗余转发接收 FDCAN1 报文 → 复制发给 FDCAN2
故障检测机制检测 FDCAN 错误帧 / 硬件错误中断处理

七、调试技巧与错误处理

1. 报文不接收常见原因

问题解决方式
报文过滤未放行检查过滤器配置是否覆盖目标 ID
没启用接收中断确保 HAL_FDCAN_ActivateNotification 启动
电平不稳定检查收发器供电、布线干扰等

2. 报文损坏或奇怪数据

  • 是否配置 BRS 正确
  • 数据段比特率是否匹配
  • 注意 CAN-FD 和传统 CAN 的混用兼容性

八、应用案例:CAN-FD 数据采集节点设计

系统目标:

  • STM32G474 采集 6 路模拟量、1 路温度、故障标志
  • 每 10ms 打包发送 CAN-FD 报文(64 字节)

报文内容规划(每帧):

数据项长度(字节)
电压(6 路)12
电流(6 路)12
温度2
故障位1
时间戳4
保留/扩展33
合计64 字节

九、优化建议与工程实践

项目优化建议
报文发送效率使用 TX FIFO(非 Mailbox),可打包多帧
多任务处理收发线程与数据计算分离,使用 RTOS 管理
报文优先级区分合理设置 ID 优先级,防止拥堵
电磁干扰问题加强滤波电容、差分布线长度等 EMC 策略

十、总结与展望

STM32 FDCAN 外设提供了强大的:

  • 多通道并发处理能力
  • CAN/CAN-FD 混发支持
  • 灵活的 FIFO 缓冲与过滤机制

结合 CubeMX 工具和 HAL 驱动库,可快速构建稳定、高效、可移植的车载 CAN-FD 通信系统。

未来可拓展方向:

  • 支持 ISO-TP 层封装(用于 OTA)
  • 与 UDS 诊断协议结合刷写控制器
  • 多 MCU CAN 网络构建(环网、中继)
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