FDCAN with STM32H735

[hybridA]

Started porting our F4 application to H7 and found that CAN wasn't happy:

stable_21.11.x, as of today.
RT-STM32H735IG-DISCOVERY demo

halconf.h:

Code: Select all

#define HAL_USE_CAN                         TRUE

mcuconf.h:

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#define STM32_CAN_USE_FDCAN1                TRUE
#define STM32_CAN_USE_FDCAN2                TRUE

Code: Select all

../../../os/hal/ports/STM32/LLD/FDCANv1/hal_can_lld.c: In function 'can_lld_start':
../../../os/hal/ports/STM32/LLD/FDCANv1/hal_can_lld.c:309:16: error: 'FDCAN_GlobalTypeDef' has no member named 'RXGFC'; did you mean 'GFC'?
  309 |   canp->fdcan->RXGFC  = canp->config->RXGFC;
      |                ^~~~~
      |                GFC
make: *** [../../../os/common/startup/ARMCMx/compilers/GCC/mk/rules.mk:193: build/obj/hal_can_lld.o] Error 1
make: *** Waiting for unfinished jobs....

[Giovanni]

Hi,

H7 has a different FDCAN apparently, that would require creation of a FDCANv2 driver.

Giovanni

[hybridA]

Is this planned already or would this be a new implementation? Since this is pretty critical for us I don't mind paying for it. Also, the H735 has 3x CAN. Thank you

[Giovanni]

Hi,

It is not planned yet, just on the "to-do" list. Probably it is not very different from the G4 implementation.

Giovanni

[alex31]

Hello, any news on this front ?

FDCANv1 is the G4 FDCAN ?

Will take a look of the respective register maps of FDCAN G4 and FDCAN H7

Alexandre

[Giovanni]

Hi,

An implementation will be added soon, some testing will be appreciated.

Giovanni

[alex31]

No problem for the testing, thanks.

Saw that the compile problem is just for one line that copy user provided value in a register, for the H7, the register name and fields are different, will try a a stupid fix with some conditionnal compilation directive to see if the actual driver work on H7 and will report here my finding.

Alexandre

[Edoardo1982]

No problem for the testing, thanks.

Saw that the compile problem is just for one line that copy user provided value in a register, for the H7, the register name and fields are different, will try a a stupid fix with some conditionnal compilation directive to see if the actual driver work on H7 and will report here my finding.

Alexandre

I am testing the fix for H7 CAN. I will release it in the coming days.

[alex31]

I am testing the fix for H7 CAN. I will release it in the coming days.

Nice !
If you have some example code for FDCAN, that would also be handy since there is no testhal example right now

Alexandre

[Edoardo1982]

I am testing the fix for H7 CAN. I will release it in the coming days.

Nice !
If you have some example code for FDCAN, that would also be handy since there is no testhal example right now

Alexandre

I committed the FDCANv2 driver for STM32H7 to both trunk and branch 21.11.x. Additionally, I added a sample demo using events. It's also possible to receive directly using the canReceive function with TIME_INFINITE.

For any further information, please contact me.

Edoardo