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179 lines
4.7 KiB
179 lines
4.7 KiB
/* USER CODE BEGIN Header */ |
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/** |
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****************************************************************************** |
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* @file can.c |
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* @brief This file provides code for the configuration |
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* of the CAN instances. |
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****************************************************************************** |
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* @attention |
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* |
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* Copyright (c) 2021 STMicroelectronics. |
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* All rights reserved. |
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* |
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* This software is licensed under terms that can be found in the LICENSE file |
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* in the root directory of this software component. |
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* If no LICENSE file comes with this software, it is provided AS-IS. |
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* |
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****************************************************************************** |
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*/ |
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/* USER CODE END Header */ |
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/* Includes ------------------------------------------------------------------*/ |
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#include "can.h" |
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/* USER CODE BEGIN 0 */ |
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/* USER CODE END 0 */ |
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CAN_HandleTypeDef hcan; |
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/* CAN init function */ |
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void MX_CAN_Init(void) |
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{ |
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/* USER CODE BEGIN CAN_Init 0 */ |
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/* USER CODE END CAN_Init 0 */ |
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/* USER CODE BEGIN CAN_Init 1 */ |
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/* USER CODE END CAN_Init 1 */ |
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hcan.Instance = CAN1; |
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hcan.Init.Prescaler = 4; |
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hcan.Init.Mode = CAN_MODE_NORMAL; |
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hcan.Init.SyncJumpWidth = CAN_SJW_1TQ; |
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hcan.Init.TimeSeg1 = CAN_BS1_7TQ; |
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hcan.Init.TimeSeg2 = CAN_BS2_1TQ; |
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hcan.Init.TimeTriggeredMode = DISABLE; |
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hcan.Init.AutoBusOff = ENABLE; |
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hcan.Init.AutoWakeUp = ENABLE; |
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hcan.Init.AutoRetransmission = DISABLE; |
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hcan.Init.ReceiveFifoLocked = DISABLE; |
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hcan.Init.TransmitFifoPriority = DISABLE; |
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if (HAL_CAN_Init(&hcan) != HAL_OK) |
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{ |
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Error_Handler(); |
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} |
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/* USER CODE BEGIN CAN_Init 2 */ |
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/* USER CODE END CAN_Init 2 */ |
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} |
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void HAL_CAN_MspInit(CAN_HandleTypeDef* canHandle) |
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{ |
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GPIO_InitTypeDef GPIO_InitStruct = {0}; |
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if(canHandle->Instance==CAN1) |
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{ |
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/* USER CODE BEGIN CAN1_MspInit 0 */ |
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/* USER CODE END CAN1_MspInit 0 */ |
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/* CAN1 clock enable */ |
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__HAL_RCC_CAN1_CLK_ENABLE(); |
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__HAL_RCC_GPIOA_CLK_ENABLE(); |
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/**CAN GPIO Configuration |
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PA11 ------> CAN_RX |
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PA12 ------> CAN_TX |
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*/ |
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GPIO_InitStruct.Pin = GPIO_PIN_11; |
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GPIO_InitStruct.Mode = GPIO_MODE_INPUT; |
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GPIO_InitStruct.Pull = GPIO_NOPULL; |
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HAL_GPIO_Init(GPIOA, &GPIO_InitStruct); |
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GPIO_InitStruct.Pin = GPIO_PIN_12; |
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GPIO_InitStruct.Mode = GPIO_MODE_AF_PP; |
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GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH; |
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HAL_GPIO_Init(GPIOA, &GPIO_InitStruct); |
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/* CAN1 interrupt Init */ |
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HAL_NVIC_SetPriority(USB_LP_CAN1_RX0_IRQn, 7, 0); |
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HAL_NVIC_EnableIRQ(USB_LP_CAN1_RX0_IRQn); |
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HAL_NVIC_SetPriority(CAN1_RX1_IRQn, 7, 0); |
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HAL_NVIC_EnableIRQ(CAN1_RX1_IRQn); |
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/* USER CODE BEGIN CAN1_MspInit 1 */ |
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/* USER CODE END CAN1_MspInit 1 */ |
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} |
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} |
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void HAL_CAN_MspDeInit(CAN_HandleTypeDef* canHandle) |
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{ |
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if(canHandle->Instance==CAN1) |
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{ |
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/* USER CODE BEGIN CAN1_MspDeInit 0 */ |
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/* USER CODE END CAN1_MspDeInit 0 */ |
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/* Peripheral clock disable */ |
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__HAL_RCC_CAN1_CLK_DISABLE(); |
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/**CAN GPIO Configuration |
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PA11 ------> CAN_RX |
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PA12 ------> CAN_TX |
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*/ |
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HAL_GPIO_DeInit(GPIOA, GPIO_PIN_11|GPIO_PIN_12); |
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/* CAN1 interrupt Deinit */ |
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HAL_NVIC_DisableIRQ(USB_LP_CAN1_RX0_IRQn); |
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HAL_NVIC_DisableIRQ(CAN1_RX1_IRQn); |
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/* USER CODE BEGIN CAN1_MspDeInit 1 */ |
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/* USER CODE END CAN1_MspDeInit 1 */ |
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} |
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} |
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/* USER CODE BEGIN 1 */ |
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void can_init_irq(void) |
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{ |
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HAL_NVIC_EnableIRQ(CAN1_RX1_IRQn); |
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HAL_CAN_Start(&hcan); |
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HAL_CAN_ActivateNotification(&hcan, CAN_IT_RX_FIFO1_MSG_PENDING); |
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HAL_NVIC_EnableIRQ(USB_LP_CAN1_RX0_IRQn); |
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HAL_CAN_Start(&hcan); |
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HAL_CAN_ActivateNotification(&hcan, CAN_IT_RX_FIFO0_MSG_PENDING); |
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} |
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HAL_StatusTypeDef can_filter_init_with_mask(uint32_t bank, uint32_t id, uint32_t mask, uint8_t fifo_index) |
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{ |
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HAL_StatusTypeDef state = HAL_ERROR; |
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CAN_FilterTypeDef filter1; |
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filter1.FilterBank = bank; |
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filter1.FilterMode = CAN_FILTERMODE_IDMASK; |
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filter1.FilterScale = CAN_FILTERSCALE_32BIT; |
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filter1.FilterIdHigh = (id >> 16); |
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filter1.FilterIdLow = id & 0x00FF; |
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filter1.FilterMaskIdHigh = (id >> 16); |
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filter1.FilterMaskIdLow = id & 0x00FF; |
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if (fifo_index == 0) |
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{ |
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filter1.FilterFIFOAssignment = CAN_FILTER_FIFO0; //FIFO0 |
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} |
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else |
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{ |
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filter1.FilterFIFOAssignment = CAN_FILTER_FIFO1; //FIFO0 |
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} |
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filter1.FilterActivation = ENABLE; |
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state = HAL_CAN_ConfigFilter(&hcan, &filter1); |
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return state; |
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} |
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HAL_StatusTypeDef can_filter_none(void) |
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{ |
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CAN_FilterTypeDef filter1; |
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filter1.FilterBank = 1; |
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filter1.FilterMode = CAN_FILTERMODE_IDMASK; |
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filter1.FilterScale = CAN_FILTERSCALE_32BIT; |
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filter1.FilterIdHigh = 0; |
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filter1.FilterIdLow = 0; |
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filter1.FilterMaskIdHigh = 0; |
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filter1.FilterMaskIdLow = 0; |
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filter1.FilterFIFOAssignment = CAN_FILTER_FIFO0; //FIFO0 |
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filter1.FilterActivation = ENABLE; |
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return HAL_CAN_ConfigFilter(&hcan, &filter1); |
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} |
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/* USER CODE END 1 */
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