FDCAN 数据段波特率为 8Mbps 时发送失败

开启 BRS 后需要配置并使能 Tx Delay Compensation。

    /*  Configure and enable Tx Delay Compensation, required for BRS mode.
        TdcOffset default recommended value: DataTimeSeg1 * DataPrescaler
        TdcFilter default recommended value: 0  */
    if (HAL_FDCAN_ConfigTxDelayCompensation(&hfdcan1, 0x0C, 0x00) != HAL_OK)
    {
        Error_Handler();
    }

    if (HAL_FDCAN_EnableTxDelayCompensation(&hfdcan1) != HAL_OK)
    {
        Error_Handler();
    }

    // Start FDCAN1
    if (HAL_FDCAN_Start(&hfdcan1) != HAL_OK)
    {
        Error_Handler();
    }

    if (HAL_FDCAN_ActivateNotification(&hfdcan1, FDCAN_IT_RX_FIFO0_NEW_MESSAGE, 0) != HAL_OK)
    {
        Error_Handler();
    }