proximity_uavcan_converter/Core/Src/can.c

/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file    can.c
  * @brief   This file provides code for the configuration
  *          of the CAN instances.
  ******************************************************************************
  * @attention
  *
  * Copyright (c) 2021 STMicroelectronics.
  * All rights reserved.
  *
  * This software is licensed under terms that can be found in the LICENSE file
  * in the root directory of this software component.
  * If no LICENSE file comes with this software, it is provided AS-IS.
  *
  ******************************************************************************
  */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "can.h"

/* USER CODE BEGIN 0 */

/* USER CODE END 0 */

CAN_HandleTypeDef hcan;

/* CAN init function */
void MX_CAN_Init(void)
{

  /* USER CODE BEGIN CAN_Init 0 */

  /* USER CODE END CAN_Init 0 */

  /* USER CODE BEGIN CAN_Init 1 */

  /* USER CODE END CAN_Init 1 */
  hcan.Instance = CAN1;
  hcan.Init.Prescaler = 4;
  hcan.Init.Mode = CAN_MODE_NORMAL;
  hcan.Init.SyncJumpWidth = CAN_SJW_1TQ;
  hcan.Init.TimeSeg1 = CAN_BS1_7TQ;
  hcan.Init.TimeSeg2 = CAN_BS2_1TQ;
  hcan.Init.TimeTriggeredMode = DISABLE;
  hcan.Init.AutoBusOff = ENABLE;
  hcan.Init.AutoWakeUp = ENABLE;
  hcan.Init.AutoRetransmission = DISABLE;
  hcan.Init.ReceiveFifoLocked = DISABLE;
  hcan.Init.TransmitFifoPriority = DISABLE;
  if (HAL_CAN_Init(&hcan) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN CAN_Init 2 */

  /* USER CODE END CAN_Init 2 */

}

void HAL_CAN_MspInit(CAN_HandleTypeDef* canHandle)
{

  GPIO_InitTypeDef GPIO_InitStruct = {0};
  if(canHandle->Instance==CAN1)
  {
  /* USER CODE BEGIN CAN1_MspInit 0 */

  /* USER CODE END CAN1_MspInit 0 */
    /* CAN1 clock enable */
    __HAL_RCC_CAN1_CLK_ENABLE();

    __HAL_RCC_GPIOA_CLK_ENABLE();
    /**CAN GPIO Configuration
    PA11     ------> CAN_RX
    PA12     ------> CAN_TX
    */
    GPIO_InitStruct.Pin = GPIO_PIN_11;
    GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
    GPIO_InitStruct.Pull = GPIO_NOPULL;
    HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);

    GPIO_InitStruct.Pin = GPIO_PIN_12;
    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
    HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);

    /* CAN1 interrupt Init */
    HAL_NVIC_SetPriority(USB_LP_CAN1_RX0_IRQn, 7, 0);
    HAL_NVIC_EnableIRQ(USB_LP_CAN1_RX0_IRQn);
    HAL_NVIC_SetPriority(CAN1_RX1_IRQn, 7, 0);
    HAL_NVIC_EnableIRQ(CAN1_RX1_IRQn);
  /* USER CODE BEGIN CAN1_MspInit 1 */

  /* USER CODE END CAN1_MspInit 1 */
  }
}

void HAL_CAN_MspDeInit(CAN_HandleTypeDef* canHandle)
{

  if(canHandle->Instance==CAN1)
  {
  /* USER CODE BEGIN CAN1_MspDeInit 0 */

  /* USER CODE END CAN1_MspDeInit 0 */
    /* Peripheral clock disable */
    __HAL_RCC_CAN1_CLK_DISABLE();

    /**CAN GPIO Configuration
    PA11     ------> CAN_RX
    PA12     ------> CAN_TX
    */
    HAL_GPIO_DeInit(GPIOA, GPIO_PIN_11|GPIO_PIN_12);

    /* CAN1 interrupt Deinit */
    HAL_NVIC_DisableIRQ(USB_LP_CAN1_RX0_IRQn);
    HAL_NVIC_DisableIRQ(CAN1_RX1_IRQn);
  /* USER CODE BEGIN CAN1_MspDeInit 1 */

  /* USER CODE END CAN1_MspDeInit 1 */
  }
}

/* USER CODE BEGIN 1 */
void can_init_irq(void)
{
    HAL_NVIC_EnableIRQ(CAN1_RX1_IRQn);
    HAL_CAN_Start(&hcan);
    HAL_CAN_ActivateNotification(&hcan, CAN_IT_RX_FIFO1_MSG_PENDING);
    
    HAL_NVIC_EnableIRQ(USB_LP_CAN1_RX0_IRQn);
    HAL_CAN_Start(&hcan);
    HAL_CAN_ActivateNotification(&hcan, CAN_IT_RX_FIFO0_MSG_PENDING);
}

HAL_StatusTypeDef can_filter_init_with_mask(uint32_t bank, uint32_t id, uint32_t mask, uint8_t fifo_index)
{
  HAL_StatusTypeDef state = HAL_ERROR;
  CAN_FilterTypeDef filter1;
  filter1.FilterBank = bank;
  filter1.FilterMode = CAN_FILTERMODE_IDMASK;
  filter1.FilterScale = CAN_FILTERSCALE_32BIT;
  filter1.FilterIdHigh = (id >> 16);
  filter1.FilterIdLow = id & 0x00FF;
  filter1.FilterMaskIdHigh = (id >> 16);
  filter1.FilterMaskIdLow = id & 0x00FF;
  if (fifo_index == 0)
  {
    filter1.FilterFIFOAssignment = CAN_FILTER_FIFO0; //FIFO0
  }
  else
  {
    filter1.FilterFIFOAssignment = CAN_FILTER_FIFO1; //FIFO0
  }
  filter1.FilterActivation = ENABLE;

  state = HAL_CAN_ConfigFilter(&hcan, &filter1);

  return state;
}

HAL_StatusTypeDef can_filter_none(void)
{
  CAN_FilterTypeDef filter1;
  filter1.FilterBank = 1;
  filter1.FilterMode = CAN_FILTERMODE_IDMASK;
  filter1.FilterScale = CAN_FILTERSCALE_32BIT;
  filter1.FilterIdHigh = 0;
  filter1.FilterIdLow = 0;
  filter1.FilterMaskIdHigh = 0;
  filter1.FilterMaskIdLow = 0;
  filter1.FilterFIFOAssignment = CAN_FILTER_FIFO0; //FIFO0
  filter1.FilterActivation = ENABLE;

  return HAL_CAN_ConfigFilter(&hcan, &filter1);
}
/* USER CODE END 1 */