From faca03ab2a389a5554ba48393ef117da115edb66 Mon Sep 17 00:00:00 2001
From: TuxMonkey <nqx_2004@qq.com>
Date: Fri, 24 Oct 2025 15:30:40 +0800
Subject: [PATCH] add bsp_fdcan.c/.h

---
 .idea/editor.xml                |  97 ++++++++++++++
 .idea/misc.xml                  |  10 ++
 User_Code/bsp/fdcan/bsp_fdcan.c | 216 ++++++++++++++++++++++++++++++++
 User_Code/bsp/fdcan/bsp_fdcan.h |  32 +++++
 4 files changed, 355 insertions(+)
 create mode 100644 User_Code/bsp/fdcan/bsp_fdcan.c
 create mode 100644 User_Code/bsp/fdcan/bsp_fdcan.h

diff --git a/.idea/editor.xml b/.idea/editor.xml
index 510869e..17f50d3 100644
--- a/.idea/editor.xml
+++ b/.idea/editor.xml
@@ -248,5 +248,102 @@
     <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=IfStdIsConstantEvaluatedCanBeReplaced/@EntryIndexedValue" value="SUGGESTION" type="string" />
     <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=StdIsConstantEvaluatedWillAlwaysEvaluateToConstant/@EntryIndexedValue" value="WARNING" type="string" />
     <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=StringLiteralTypo/@EntryIndexedValue" value="DO_NOT_SHOW" type="string" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppClangFormat/EnableClangFormatSupport/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_MULTILINE_ARGUMENT/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_MULTILINE_BINARY_EXPRESSIONS_CHAIN/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_MULTILINE_CALLS_CHAIN/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_MULTILINE_EXPRESSION/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_MULTILINE_EXTENDS_LIST/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_MULTILINE_FOR_STMT/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_MULTILINE_PARAMETER/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_MULTILINE_TYPE_ARGUMENT/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_MULTILINE_TYPE_PARAMETER/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_MULTIPLE_DECLARATION/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_TERNARY/@EntryValue" value="ALIGN_ALL" type="string" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ANONYMOUS_METHOD_DECLARATION_BRACES/@EntryValue" value="END_OF_LINE" type="string" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/BLANK_LINES_AROUND_CLASS_DEFINITION/@EntryValue" value="1" type="int" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/BLANK_LINES_AROUND_DECLARATIONS/@EntryValue" value="0" type="int" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/BLANK_LINES_AROUND_FUNCTION_DECLARATION/@EntryValue" value="1" type="int" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/BLANK_LINES_AROUND_FUNCTION_DEFINITION/@EntryValue" value="1" type="int" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/BREAK_TEMPLATE_DECLARATION/@EntryValue" value="LINE_BREAK" type="string" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/CASE_BLOCK_BRACES/@EntryValue" value="END_OF_LINE" type="string" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/CONTINUOUS_LINE_INDENT/@EntryValue" value="Double" type="string" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/FREE_BLOCK_BRACES/@EntryValue" value="END_OF_LINE" type="string" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/INDENT_ACCESS_SPECIFIERS_FROM_CLASS/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/INDENT_CASE_FROM_SWITCH/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/INDENT_CLASS_MEMBERS_FROM_ACCESS_SPECIFIERS/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/INDENT_COMMENT/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/INDENT_SIZE/@EntryValue" value="4" type="int" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/INDENT_STYLE/@EntryValue" value="Space" type="string" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/INITIALIZER_BRACES/@EntryValue" value="END_OF_LINE_NO_SPACE" type="string" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/INT_ALIGN_EQ/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/INVOCABLE_DECLARATION_BRACES/@EntryValue" value="END_OF_LINE" type="string" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/KEEP_BLANK_LINES_IN_CODE/@EntryValue" value="2" type="int" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/KEEP_BLANK_LINES_IN_DECLARATIONS/@EntryValue" value="2" type="int" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/KEEP_USER_LINEBREAKS/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/LINE_BREAK_AFTER_COLON_IN_MEMBER_INITIALIZER_LISTS/@EntryValue" value="ON_SINGLE_LINE" type="string" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/MEMBER_INITIALIZER_LIST_STYLE/@EntryValue" value="DO_NOT_CHANGE" type="string" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/NAMESPACE_DECLARATION_BRACES/@EntryValue" value="END_OF_LINE" type="string" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/NAMESPACE_INDENTATION/@EntryValue" value="All" type="string" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/OTHER_BRACES/@EntryValue" value="END_OF_LINE" type="string" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/PLACE_CATCH_ON_NEW_LINE/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/PLACE_ELSE_ON_NEW_LINE/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/PLACE_NAMESPACE_DEFINITIONS_ON_SAME_LINE/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/PLACE_WHILE_ON_NEW_LINE/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SIMPLE_BLOCK_STYLE/@EntryValue" value="DO_NOT_CHANGE" type="string" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_CAST_EXPRESSION_PARENTHESES/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_COLON_IN_BITFIELD_DECLARATOR/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_COMMA_IN_TEMPLATE_ARGS/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_COMMA_IN_TEMPLATE_PARAMS/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_EXTENDS_COLON/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_FOR_COLON/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_FOR_SEMICOLON/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_PTR_IN_DATA_MEMBER/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_PTR_IN_DATA_MEMBERS/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_PTR_IN_METHOD/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_PTR_IN_NESTED_DECLARATOR/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_REF_IN_DATA_MEMBER/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_REF_IN_DATA_MEMBERS/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_REF_IN_METHOD/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_UNARY_OPERATOR/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_COLON_IN_BITFIELD_DECLARATOR/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_EXTENDS_COLON/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_FOR_COLON/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_FOR_SEMICOLON/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_PTR_IN_ABSTRACT_DECL/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_PTR_IN_DATA_MEMBER/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_PTR_IN_DATA_MEMBERS/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_PTR_IN_METHOD/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_REF_IN_ABSTRACT_DECL/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_REF_IN_DATA_MEMBER/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_REF_IN_DATA_MEMBERS/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_REF_IN_METHOD/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_TEMPLATE_ARGS/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_TEMPLATE_PARAMS/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BETWEEN_CLOSING_ANGLE_BRACKETS_IN_TEMPLATE_ARGS/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_WITHIN_ARRAY_ACCESS_BRACKETS/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_WITHIN_CAST_EXPRESSION_PARENTHESES/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_WITHIN_DECLARATION_PARENTHESES/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_WITHIN_EMPTY_BLOCKS/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_WITHIN_EMPTY_INITIALIZER_BRACES/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_WITHIN_EMPTY_METHOD_PARENTHESES/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_WITHIN_EMPTY_TEMPLATE_PARAMS/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_WITHIN_INITIALIZER_BRACES/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_WITHIN_TEMPLATE_ARGS/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_WITHIN_TEMPLATE_PARAMS/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPECIAL_ELSE_IF_TREATMENT/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/TAB_WIDTH/@EntryValue" value="4" type="int" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/TYPE_DECLARATION_BRACES/@EntryValue" value="END_OF_LINE" type="string" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/WRAP_AFTER_BINARY_OPSIGN/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/WRAP_AFTER_DECLARATION_LPAR/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/WRAP_AFTER_INVOCATION_LPAR/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/WRAP_ARGUMENTS_STYLE/@EntryValue" value="WRAP_IF_LONG" type="string" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/WRAP_BEFORE_DECLARATION_LPAR/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/WRAP_BEFORE_DECLARATION_RPAR/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/WRAP_BEFORE_INVOCATION_LPAR/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/WRAP_BEFORE_INVOCATION_RPAR/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/WRAP_BEFORE_TERNARY_OPSIGNS/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/WRAP_PARAMETERS_STYLE/@EntryValue" value="WRAP_IF_LONG" type="string" />
+    <option name="/Default/CodeStyle/EditorConfig/EnableClangFormatSupport/@EntryValue" value="false" type="bool" />
   </component>
 </project>
\ No newline at end of file
diff --git a/.idea/misc.xml b/.idea/misc.xml
index 3d93c2e..7cf1be8 100644
--- a/.idea/misc.xml
+++ b/.idea/misc.xml
@@ -4,6 +4,16 @@
     <option name="pythonIntegrationState" value="YES" />
   </component>
   <component name="CMakeWorkspace" PROJECT_DIR="$PROJECT_DIR$" />
+  <component name="CidrRootsConfiguration">
+    <sourceRoots>
+      <file path="$PROJECT_DIR$" />
+      <file path="$PROJECT_DIR$/User_Code" />
+      <file path="$PROJECT_DIR$/User_Code/app" />
+      <file path="$PROJECT_DIR$/User_Code/bsp" />
+      <file path="$PROJECT_DIR$/User_Code/module" />
+      <file path="$PROJECT_DIR$/User_Code/user_task" />
+    </sourceRoots>
+  </component>
   <component name="MaterialThemeProjectNewConfig">
     <option name="metadata">
       <MTProjectMetadataState>
diff --git a/User_Code/bsp/fdcan/bsp_fdcan.c b/User_Code/bsp/fdcan/bsp_fdcan.c
new file mode 100644
index 0000000..a6788c7
--- /dev/null
+++ b/User_Code/bsp/fdcan/bsp_fdcan.c
@@ -0,0 +1,216 @@
+#include "bsp_fdcan.h"
+#include "fdcan.h"
+/**
+************************************************************************
+* @brief:      	bsp_can_init(void)
+* @param:       void
+* @retval:     	void
+* @details:    	CAN 使能
+************************************************************************
+**/
+void bsp_can_init(void)
+{
+	can_filter_init();
+	HAL_FDCAN_Start(&hfdcan1);                               //开启FDCAN
+	HAL_FDCAN_Start(&hfdcan2);
+	HAL_FDCAN_Start(&hfdcan3);
+	HAL_FDCAN_ActivateNotification(&hfdcan1, FDCAN_IT_RX_FIFO0_WATERMARK, 0);
+	HAL_FDCAN_ActivateNotification(&hfdcan1, FDCAN_IT_RX_FIFO1_WATERMARK, 0);
+	HAL_FDCAN_ActivateNotification(&hfdcan1, FDCAN_IT_RX_BUFFER_NEW_MESSAGE, 0);
+	HAL_FDCAN_ActivateNotification(&hfdcan1,
+                                       0 | FDCAN_IT_RX_FIFO0_WATERMARK | FDCAN_IT_RX_FIFO0_WATERMARK
+                                           | FDCAN_IT_TX_COMPLETE | FDCAN_IT_TX_FIFO_EMPTY | FDCAN_IT_BUS_OFF
+                                           | FDCAN_IT_ARB_PROTOCOL_ERROR | FDCAN_IT_DATA_PROTOCOL_ERROR
+                                           | FDCAN_IT_ERROR_PASSIVE | FDCAN_IT_ERROR_WARNING,
+                                       0x00000F00);
+}
+/**
+************************************************************************
+* @brief:      	can_filter_init(void)
+* @param:       void
+* @retval:     	void
+* @details:    	CAN滤波器初始化
+************************************************************************
+**/
+void can_filter_init(void)
+{
+	FDCAN_FilterTypeDef fdcan_filter;
+
+	fdcan_filter.IdType = FDCAN_STANDARD_ID;                       //标准ID
+	fdcan_filter.FilterIndex = 0;                                  //滤波器索引
+	fdcan_filter.FilterType = FDCAN_FILTER_MASK;
+	fdcan_filter.FilterConfig = FDCAN_FILTER_TO_RXFIFO0;           //过滤器0关联到FIFO0
+	fdcan_filter.FilterID1 = 0x00;
+	fdcan_filter.FilterID2 = 0x00;
+
+	HAL_FDCAN_ConfigFilter(&hfdcan1,&fdcan_filter); 		 				  //接收ID2
+	//拒绝接收匹配不成功的标准ID和扩展ID,不接受远程帧
+	HAL_FDCAN_ConfigGlobalFilter(&hfdcan1,FDCAN_REJECT,FDCAN_REJECT,FDCAN_REJECT_REMOTE,FDCAN_REJECT_REMOTE);
+	HAL_FDCAN_ConfigFifoWatermark(&hfdcan1, FDCAN_CFG_RX_FIFO0, 1);
+	HAL_FDCAN_ConfigFifoWatermark(&hfdcan1, FDCAN_CFG_RX_FIFO1, 1);
+	HAL_FDCAN_ActivateNotification(&hfdcan1, FDCAN_IT_TX_COMPLETE, FDCAN_TX_BUFFER0);
+}
+
+void bsp_fdcan_set_baud(hcan_t *hfdcan, uint8_t mode, uint8_t baud)
+{
+	uint32_t nom_brp=0, nom_seg1=0, nom_seg2=0, nom_sjw=0;
+	uint32_t dat_brp=0, dat_seg1=0, dat_seg2=0, dat_sjw=0;
+
+	/*	nominal_baud = 80M/brp/(1+seg1+seg2)
+		sample point = (1+seg1)/(1+seg1+sjw)  */
+	if(mode == CAN_CLASS)
+	{
+		switch (baud)
+		{
+			case CAN_BR_125K: 	nom_brp=4 ; nom_seg1=139; nom_seg2=20; nom_sjw=20; break; // sample point 87.5%
+			case CAN_BR_200K: 	nom_brp=2 ; nom_seg1=174; nom_seg2=25; nom_sjw=25; break; // sample point 87.5%
+			case CAN_BR_250K: 	nom_brp=2 ; nom_seg1=139; nom_seg2=20; nom_sjw=20; break; // sample point 87.5%
+			case CAN_BR_500K: 	nom_brp=1 ; nom_seg1=139; nom_seg2=20; nom_sjw=20; break; // sample point 87.5%
+			case CAN_BR_1M:		nom_brp=1 ; nom_seg1=59 ; nom_seg2=20; nom_sjw=20; break; // sample point 75%
+		}
+		dat_brp=1 ; dat_seg1=29; dat_seg2=10; dat_sjw=10;	// 仲裁域默认1M
+		hfdcan->Init.FrameFormat = FDCAN_FRAME_CLASSIC;
+	}
+	/*	data_baud	 = 80M/brp/(1+seg1+seg2)
+		sample point = (1+seg1)/(1+seg1+sjw)  */
+	if(mode == CAN_FD_BRS)
+	{
+		switch (baud)
+		{
+			case CAN_BR_2M: 	dat_brp=1 ; dat_seg1=29; dat_seg2=10; dat_sjw=10; break;	// sample point 75%
+			case CAN_BR_2M5: 	dat_brp=1 ; dat_seg1=25; dat_seg2=6 ; dat_sjw=6 ; break;	// sample point 81.25%
+			case CAN_BR_3M2: 	dat_brp=1 ; dat_seg1=19; dat_seg2=5 ; dat_sjw=5 ; break;	// sample point 80%
+			case CAN_BR_4M: 	dat_brp=1 ; dat_seg1=14; dat_seg2=5 ; dat_sjw=5 ; break;	// sample point 75%
+			case CAN_BR_5M:		dat_brp=1 ; dat_seg1=13; dat_seg2=2 ; dat_sjw=2 ; break;	// sample point 87.5%
+		}
+		nom_brp=1 ; nom_seg1=59 ; nom_seg2=20; nom_sjw=20; // 数据域默认1M
+		hfdcan->Init.FrameFormat = FDCAN_FRAME_FD_BRS;
+	}
+
+	HAL_FDCAN_DeInit(hfdcan);
+
+	hfdcan->Init.NominalPrescaler = nom_brp;
+	hfdcan->Init.NominalTimeSeg1  = nom_seg1;
+	hfdcan->Init.NominalTimeSeg2  = nom_seg2;
+	hfdcan->Init.NominalSyncJumpWidth = nom_sjw;
+
+	hfdcan->Init.DataPrescaler = dat_brp;
+	hfdcan->Init.DataTimeSeg1  = dat_seg1;
+	hfdcan->Init.DataTimeSeg2  = dat_seg2;
+	hfdcan->Init.DataSyncJumpWidth = dat_sjw;
+
+	HAL_FDCAN_Init(hfdcan);
+}
+
+
+/**
+************************************************************************
+* @brief:      	fdcanx_send_data(FDCAN_HandleTypeDef *hfdcan, uint16_t id, uint8_t *data, uint32_t len)
+* @param:       hfdcan：FDCAN句柄
+* @param:       id：CAN设备ID
+* @param:       data：发送的数据
+* @param:       len：发送的数据长度
+* @retval:     	void
+* @details:    	发送数据
+************************************************************************
+**/
+uint8_t fdcanx_send_data(hcan_t *hfdcan, uint16_t id, uint8_t *data, uint32_t len)
+{
+    FDCAN_TxHeaderTypeDef pTxHeader;
+    pTxHeader.Identifier=id;
+    pTxHeader.IdType=FDCAN_STANDARD_ID;
+    pTxHeader.TxFrameType=FDCAN_DATA_FRAME;
+
+	if(len<=8)
+		pTxHeader.DataLength = len;
+	else if(len==12)
+		pTxHeader.DataLength = FDCAN_DLC_BYTES_12;
+	else if(len==16)
+		pTxHeader.DataLength = FDCAN_DLC_BYTES_16;
+	else if(len==20)
+		pTxHeader.DataLength = FDCAN_DLC_BYTES_20;
+	else if(len==24)
+		pTxHeader.DataLength = FDCAN_DLC_BYTES_24;
+	else if(len==32)
+		pTxHeader.DataLength = FDCAN_DLC_BYTES_32;
+	else if(len==48)
+		pTxHeader.DataLength = FDCAN_DLC_BYTES_48;
+	else if(len==64)
+		pTxHeader.DataLength = FDCAN_DLC_BYTES_64;
+
+    pTxHeader.ErrorStateIndicator=FDCAN_ESI_ACTIVE;
+    pTxHeader.BitRateSwitch=FDCAN_BRS_ON;
+    pTxHeader.FDFormat=FDCAN_FD_CAN;
+    pTxHeader.TxEventFifoControl=FDCAN_NO_TX_EVENTS;
+    pTxHeader.MessageMarker=0;
+
+	if(HAL_FDCAN_AddMessageToTxFifoQ(hfdcan, &pTxHeader, data)!=HAL_OK)
+		return 1;//发送
+	return 0;
+}
+/**
+************************************************************************
+* @brief:      	fdcanx_receive(FDCAN_HandleTypeDef *hfdcan, uint8_t *buf)
+* @param:       hfdcan：FDCAN句柄
+* @param:       buf：接收数据缓存
+* @retval:     	接收的数据长度
+* @details:    	接收数据
+************************************************************************
+**/
+uint8_t fdcanx_receive(hcan_t *hfdcan, uint16_t *rec_id, uint8_t *buf)
+{
+	FDCAN_RxHeaderTypeDef pRxHeader;
+	uint8_t len;
+
+	if(HAL_FDCAN_GetRxMessage(hfdcan,FDCAN_RX_FIFO0, &pRxHeader, buf)==HAL_OK)
+	{
+		*rec_id = pRxHeader.Identifier;
+		if(pRxHeader.DataLength<=FDCAN_DLC_BYTES_8)
+			len = pRxHeader.DataLength;
+		else if(pRxHeader.DataLength==FDCAN_DLC_BYTES_12)
+			len = 12;
+		else if(pRxHeader.DataLength==FDCAN_DLC_BYTES_16)
+			len = 16;
+		else if(pRxHeader.DataLength==FDCAN_DLC_BYTES_20)
+			len = 20;
+		else if(pRxHeader.DataLength==FDCAN_DLC_BYTES_24)
+			len = 24;
+		else if(pRxHeader.DataLength==FDCAN_DLC_BYTES_32)
+			len = 32;
+		else if(pRxHeader.DataLength==FDCAN_DLC_BYTES_48)
+			len = 48;
+		else if(pRxHeader.DataLength==FDCAN_DLC_BYTES_64)
+			len = 64;
+
+		return len;//接收数据
+	}
+	return 0;
+}
+
+
+
+__weak void fdcan1_rx_callback(void)
+{
+
+}
+
+void HAL_FDCAN_RxFifo0Callback(FDCAN_HandleTypeDef *hfdcan, uint32_t RxFifo0ITs)
+{
+    if (hfdcan == &hfdcan1)
+    {
+		fdcan1_rx_callback();
+    }
+}
+
+void HAL_FDCAN_ErrorStatusCallback(FDCAN_HandleTypeDef *hfdcan, uint32_t ErrorStatusITs)
+{
+	if(ErrorStatusITs & FDCAN_IR_BO)
+	{
+		CLEAR_BIT(hfdcan->Instance->CCCR, FDCAN_CCCR_INIT);
+	}
+	if(ErrorStatusITs & FDCAN_IR_EP)
+	{
+		// MX_FDCAN1_Init();
+		// bsp_can_init();
+	}
+}
diff --git a/User_Code/bsp/fdcan/bsp_fdcan.h b/User_Code/bsp/fdcan/bsp_fdcan.h
new file mode 100644
index 0000000..a8decdb
--- /dev/null
+++ b/User_Code/bsp/fdcan/bsp_fdcan.h
@@ -0,0 +1,32 @@
+#ifndef __BSP_FDCAN_H__
+#define __BSP_FDCAN_H__
+#include "main.h"
+#include "fdcan.h"
+
+#define hcan_t FDCAN_HandleTypeDef
+
+#define CAN_CLASS   0
+#define CAN_FD_BRS  1
+
+#define CAN_BR_125K 0
+#define CAN_BR_200K 1
+#define CAN_BR_250K 2
+#define CAN_BR_500K 3
+#define CAN_BR_1M   4
+#define CAN_BR_2M   5
+#define CAN_BR_2M5  6
+#define CAN_BR_3M2  7
+#define CAN_BR_4M   8
+#define CAN_BR_5M   9
+
+void bsp_can_init(void);
+void can_filter_init(void);
+void bsp_fdcan_set_baud(hcan_t *hfdcan, uint8_t mode, uint8_t baud);
+uint8_t fdcanx_send_data(hcan_t *hfdcan, uint16_t id, uint8_t *data, uint32_t len);
+uint8_t fdcanx_receive(hcan_t *hfdcan, uint16_t *rec_id, uint8_t *buf);
+void fdcan1_rx_callback(void);
+void fdcan2_rx_callback(void);
+void fdcan3_rx_callback(void);
+
+#endif /* __BSP_FDCAN_H_ */
+