105 lines
2.6 KiB
C
105 lines
2.6 KiB
C
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/*
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* CanCallBacks.c
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*
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* Created on: 23 авг. 2023 г.
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* Author: on4ip
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*/
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#include "CAN_API.h"
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void initCAN(enum CAN_API_BAUD baud) {
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CAN_FilterTypeDef sFilterConfig;
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hcan2.Instance = CAN2;
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hcan2.Init.Prescaler = 5;
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hcan2.Init.Mode = CAN_MODE_NORMAL;
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hcan2.Init.SyncJumpWidth = CAN_SJW_1TQ;
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hcan2.Init.TimeSeg1 = CAN_BS1_1TQ;
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hcan2.Init.TimeSeg2 = CAN_BS2_7TQ;
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hcan2.Init.TimeTriggeredMode = DISABLE;
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hcan2.Init.AutoBusOff = DISABLE;
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hcan2.Init.AutoWakeUp = DISABLE;
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hcan2.Init.AutoRetransmission = DISABLE;
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hcan2.Init.ReceiveFifoLocked = DISABLE;
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hcan2.Init.TransmitFifoPriority = DISABLE;
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switch(baud)
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{
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case CAN_BAUD_125:
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hcan2.Init.Prescaler = 20;
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hcan2.Init.TimeSeg1 = CAN_BS1_15TQ;
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hcan2.Init.TimeSeg2 = CAN_BS2_2TQ;
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break;
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case CAN_BAUD_250:
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hcan2.Init.Prescaler = 10;
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hcan2.Init.TimeSeg1 = CAN_BS1_15TQ;
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hcan2.Init.TimeSeg2 = CAN_BS2_2TQ;
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break;
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case CAN_BAUD_500:
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hcan2.Init.Prescaler = 10;
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hcan2.Init.TimeSeg1 = CAN_BS1_1TQ;
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hcan2.Init.TimeSeg2 = CAN_BS2_7TQ;
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break;
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case CAN_BAUD_1000:
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hcan2.Init.Prescaler = 5;
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hcan2.Init.TimeSeg1 = CAN_BS1_1TQ;
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hcan2.Init.TimeSeg2 = CAN_BS2_7TQ;
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break;
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default:
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hcan2.Init.Prescaler = 5;
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hcan2.Init.TimeSeg1 = CAN_BS1_1TQ;
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hcan2.Init.TimeSeg2 = CAN_BS2_7TQ;
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break;
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}
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if (HAL_CAN_Init(&hcan2) != HAL_OK) {
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Error_Handler();
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}
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sFilterConfig.FilterBank = 0;
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sFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK;
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sFilterConfig.FilterScale = CAN_FILTERSCALE_32BIT;
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sFilterConfig.FilterIdHigh = 0x0000;
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sFilterConfig.FilterIdLow = 0x0000;
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sFilterConfig.FilterMaskIdHigh = 0x0000;
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sFilterConfig.FilterMaskIdLow = 0x0000;
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sFilterConfig.FilterFIFOAssignment = CAN_RX_FIFO0;
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sFilterConfig.FilterActivation = ENABLE;
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sFilterConfig.SlaveStartFilterBank = 14;
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if (HAL_CAN_ConfigFilter(&hcan2, &sFilterConfig) != HAL_OK) {
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/* Filter configuration Error */
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Error_Handler();
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}
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HAL_CAN_Start(&hcan2);
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/*##-4- Activate CAN RX notification #######################################*/
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if (HAL_CAN_ActivateNotification(&hcan2, CAN_IT_RX_FIFO0_MSG_PENDING)
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!= HAL_OK) {
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/* Notification Error */
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Error_Handler();
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}
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}
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CAN_RxHeaderTypeDef RxHeader1;
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uint8_t RxData1[8];
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void HAL_CAN_RxFifo1MsgPendingCallback(CAN_HandleTypeDef *hcan) {
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/* Get RX message */
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if (HAL_CAN_GetRxMessage(hcan, CAN_RX_FIFO1, &RxHeader1, RxData1) != HAL_OK)
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{
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/* Reception Error */
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Error_Handler();
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}
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}
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CAN_RxHeaderTypeDef RxHeader0;
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uint8_t RxData0[8];
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void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan)
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{
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/* Get RX message */
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if (HAL_CAN_GetRxMessage(hcan, CAN_RX_FIFO0, &RxHeader0, RxData0) != HAL_OK)
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{
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/* Reception Error */
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Error_Handler();
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}
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}
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