修改FDCAN波特率

Core/Src/fdcan.c

@@ -47,7 +47,7 @@ void MX_FDCAN1_Init(void)
   hfdcan1.Init.NominalPrescaler = 20;
   hfdcan1.Init.NominalSyncJumpWidth = 1;
   hfdcan1.Init.NominalTimeSeg1 = 5;
-  hfdcan1.Init.NominalTimeSeg2 = 1;
+  hfdcan1.Init.NominalTimeSeg2 = 2;
   hfdcan1.Init.DataPrescaler = 1;
   hfdcan1.Init.DataSyncJumpWidth = 1;
   hfdcan1.Init.DataTimeSeg1 = 1;
@@ -95,7 +95,7 @@ void MX_FDCAN2_Init(void)
   hfdcan2.Init.NominalPrescaler = 20;
   hfdcan2.Init.NominalSyncJumpWidth = 1;
   hfdcan2.Init.NominalTimeSeg1 = 5;
-  hfdcan2.Init.NominalTimeSeg2 = 1;
+  hfdcan2.Init.NominalTimeSeg2 = 2;
   hfdcan2.Init.DataPrescaler = 1;
   hfdcan2.Init.DataSyncJumpWidth = 1;
   hfdcan2.Init.DataTimeSeg1 = 1;

cmake/stm32cubemx/CMakeLists.txt

@@ -203,8 +203,7 @@ set(MX_LINK_DIRS
 set(MX_LINK_LIBS 
     STM32_Drivers
     ${TOOLCHAIN_LINK_LIBRARIES}
-    FreeRTOS
+    FreeRTOS
	LwIP
	
-	LwIP
	
 )
 # Interface library for includes and symbols
 add_library(stm32cubemx INTERFACE)

robot

@@ -1 +1 @@
-Subproject commit 2b68578a946d91386e7ff70c84a04b1bc8c3f608
+Subproject commit 778a14c63b91f62ea8b058caf330792cfc4050cc

robot_h743.ioc

@@ -183,21 +183,23 @@ ETH.RxBuffAddress=0x30040400
 ETH.RxBuffLen=1528
 ETH.RxDescAddress=0x30040000
 ETH.TxDescAddress=0x30040200
-FDCAN1.CalculateBaudRateNominal=285714
+FDCAN1.CalculateBaudRateNominal=250000
-FDCAN1.CalculateTimeBitNominal=3500
+FDCAN1.CalculateTimeBitNominal=4000
 FDCAN1.CalculateTimeQuantumNominal=500.0
-FDCAN1.IPParameters=NominalPrescaler,NominalTimeSeg1,RxFifo0ElmtsNbr,TxFifoQueueElmtsNbr,CalculateTimeQuantumNominal,CalculateTimeBitNominal,CalculateBaudRateNominal
+FDCAN1.IPParameters=NominalPrescaler,NominalTimeSeg1,RxFifo0ElmtsNbr,TxFifoQueueElmtsNbr,CalculateTimeQuantumNominal,CalculateTimeBitNominal,CalculateBaudRateNominal,NominalTimeSeg2
 FDCAN1.NominalPrescaler=20
 FDCAN1.NominalTimeSeg1=5
+FDCAN1.NominalTimeSeg2=2
 FDCAN1.RxFifo0ElmtsNbr=32
 FDCAN1.TxFifoQueueElmtsNbr=32
-FDCAN2.CalculateBaudRateNominal=285714
+FDCAN2.CalculateBaudRateNominal=250000
-FDCAN2.CalculateTimeBitNominal=3500
+FDCAN2.CalculateTimeBitNominal=4000
 FDCAN2.CalculateTimeQuantumNominal=500.0
-FDCAN2.IPParameters=NominalPrescaler,NominalTimeSeg1,RxFifo0ElmtsNbr,TxFifoQueueElmtsNbr,CalculateTimeQuantumNominal,CalculateTimeBitNominal,CalculateBaudRateNominal,MessageRAMOffset
+FDCAN2.IPParameters=NominalPrescaler,NominalTimeSeg1,RxFifo0ElmtsNbr,TxFifoQueueElmtsNbr,CalculateTimeQuantumNominal,CalculateTimeBitNominal,CalculateBaudRateNominal,MessageRAMOffset,NominalTimeSeg2
 FDCAN2.MessageRAMOffset=0x500
 FDCAN2.NominalPrescaler=20
 FDCAN2.NominalTimeSeg1=5
+FDCAN2.NominalTimeSeg2=2
 FDCAN2.RxFifo0ElmtsNbr=32
 FDCAN2.TxFifoQueueElmtsNbr=32
 FREERTOS.FootprintOK=true