FDCAN_TxHeaderTypeDef   TxHeader1;
	FDCAN_TxHeaderTypeDef   TxHeader2;
	FDCAN_RxHeaderTypeDef   RxHeader;
	uint8_t                 TxData1[12];
	uint8_t                 TxData2[] = {0x9, 0x33, 0x45, 0x67, 0x98, 0x3, 0x1, 0x0, 0x88, 0x66, 0x22, 0x33};
	uint8_t                 RxData[12];
	uint8_t 				SPACE = 32;
	char 					buffer[32];
	int indx = 0;

	
	
	void HAL_FDCAN_RxFifo0Callback(FDCAN_HandleTypeDef *hfdcan, uint32_t RxFifo0ITs)
		{
		  if((RxFifo0ITs & FDCAN_IT_RX_FIFO0_NEW_MESSAGE) != RESET)
		  {
		    /* Retreive Rx messages from RX FIFO0 */
		    if (HAL_FDCAN_GetRxMessage(hfdcan, FDCAN_RX_FIFO0, &RxHeader, RxData) != HAL_OK)
		    {
		    /* Reception Error */
		    Error_Handler();
		    }
		    if (HAL_FDCAN_ActivateNotification(hfdcan, FDCAN_IT_RX_FIFO0_NEW_MESSAGE, 0) != HAL_OK)
		    {
		      /* Notification Error */
		      Error_Handler();
		    }
		  }
		}


 /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_FDCAN1_Init();
  MX_USART3_UART_Init();
  MX_FDCAN2_Init();
  /* USER CODE BEGIN 2 */


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


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

  TxHeader1.Identifier = 0x11;
  TxHeader1.IdType = FDCAN_STANDARD_ID;
  TxHeader1.TxFrameType = FDCAN_DATA_FRAME;
  TxHeader1.DataLength = FDCAN_DLC_BYTES_12;
  TxHeader1.ErrorStateIndicator = FDCAN_ESI_ACTIVE;
  TxHeader1.BitRateSwitch = FDCAN_BRS_OFF;
  TxHeader1.FDFormat = FDCAN_FD_CAN;
  TxHeader1.TxEventFifoControl = FDCAN_NO_TX_EVENTS;
  TxHeader1.MessageMarker = 0;

  TxHeader2.Identifier = 0x139;
  TxHeader2.IdType = FDCAN_STANDARD_ID;
  TxHeader2.TxFrameType = FDCAN_DATA_FRAME;
  TxHeader2.DataLength = FDCAN_DLC_BYTES_12;
  TxHeader2.ErrorStateIndicator = FDCAN_ESI_ACTIVE;
  TxHeader2.BitRateSwitch = FDCAN_BRS_OFF;
  TxHeader2.FDFormat = FDCAN_FD_CAN;
  TxHeader2.TxEventFifoControl = FDCAN_NO_TX_EVENTS;
  TxHeader2.MessageMarker = 0;


while (1)
  {
    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */




	  //Message generieren
	  for (int i=0; i<12; i++)
	   {
		  TxData1[i] = indx++;
	   }


	  //Message 2 senden (dieser Identifier soll gefiltert in FIFO0 ankommen)
	   if (HAL_FDCAN_AddMessageToTxFifoQ(&hfdcan1, &TxHeader2, TxData2)!= HAL_OK)
	   {
		   Error_Handler();
	   }
	   HAL_Delay(100);

	  //Message 1 senden
	   if (HAL_FDCAN_AddMessageToTxFifoQ(&hfdcan1, &TxHeader1, TxData1)!= HAL_OK)
	   {
		   Error_Handler();
	   }
	   HAL_Delay(100);


	   for (int i=0; i<11; i++)
	   {
		   HAL_UART_Transmit(&huart3, (uint8_t*)buffer, sprintf(buffer, "%X%c", RxData[i], SPACE), TIMEOUT);
	   }
	   HAL_UART_Transmit(&huart3, (uint8_t*)buffer, sprintf(buffer, "%X\r\n", RxData[11]), TIMEOUT);

	   HAL_Delay(250);
  }







static void MX_FDCAN1_Init(void)
{

  /* USER CODE BEGIN FDCAN1_Init 0 */

  /* USER CODE END FDCAN1_Init 0 */

  /* USER CODE BEGIN FDCAN1_Init 1 */

  /* USER CODE END FDCAN1_Init 1 */
  hfdcan1.Instance = FDCAN1;
  hfdcan1.Init.FrameFormat = FDCAN_FRAME_FD_BRS;
  hfdcan1.Init.Mode = FDCAN_MODE_INTERNAL_LOOPBACK;
  hfdcan1.Init.AutoRetransmission = ENABLE;
  hfdcan1.Init.TransmitPause = DISABLE;
  hfdcan1.Init.ProtocolException = DISABLE;
  hfdcan1.Init.NominalPrescaler = 2;
  hfdcan1.Init.NominalSyncJumpWidth = 10;
  hfdcan1.Init.NominalTimeSeg1 = 39;
  hfdcan1.Init.NominalTimeSeg2 = 10;
  hfdcan1.Init.DataPrescaler = 1;
  hfdcan1.Init.DataSyncJumpWidth = 7;
  hfdcan1.Init.DataTimeSeg1 = 17;
  hfdcan1.Init.DataTimeSeg2 = 7;
  hfdcan1.Init.MessageRAMOffset = 0;
  hfdcan1.Init.StdFiltersNbr = 1;
  hfdcan1.Init.ExtFiltersNbr = 0;
  hfdcan1.Init.RxFifo0ElmtsNbr = 1;
  hfdcan1.Init.RxFifo0ElmtSize = FDCAN_DATA_BYTES_12;
  hfdcan1.Init.RxFifo1ElmtsNbr = 0;
  hfdcan1.Init.RxFifo1ElmtSize = FDCAN_DATA_BYTES_8;
  hfdcan1.Init.RxBuffersNbr = 0;
  hfdcan1.Init.RxBufferSize = FDCAN_DATA_BYTES_12;
  hfdcan1.Init.TxEventsNbr = 0;
  hfdcan1.Init.TxBuffersNbr = 0;
  hfdcan1.Init.TxFifoQueueElmtsNbr = 1;
  hfdcan1.Init.TxFifoQueueMode = FDCAN_TX_FIFO_OPERATION;
  hfdcan1.Init.TxElmtSize = FDCAN_DATA_BYTES_12;
  if (HAL_FDCAN_Init(&hfdcan1) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN FDCAN1_Init 2 */

  FDCAN_FilterTypeDef sFilterConfig;

    sFilterConfig.IdType = FDCAN_STANDARD_ID;
    sFilterConfig.FilterIndex = 0;
    sFilterConfig.FilterType = FDCAN_FILTER_DUAL;
    sFilterConfig.FilterConfig = FDCAN_FILTER_TO_RXFIFO0;
    sFilterConfig.FilterID1 = 0x139;
    sFilterConfig.FilterID2 = 0x14A;
    sFilterConfig.RxBufferIndex = 0;
    if (HAL_FDCAN_ConfigFilter(&hfdcan1, &sFilterConfig) != HAL_OK)
    {
    	/* Filter configuration Error */
    	Error_Handler();
    }
    //if(HAL_FDCAN_ConfigGlobalFilter(&hfdcan1, FDCAN_REJECT, FDCAN_REJECT, FDCAN_REJECT_REMOTE, FDCAN_REJECT_REMOTE) != HAL_OK)
    //{
    //	Error_Handler();
    //}