Added CAN

App/CAN_API.c

@@ -0,0 +1,104 @@
+/*
+ * CanCallBacks.c
+ *
+ *  Created on: 23 авг. 2023 г.
+ *      Author: on4ip
+ */
+#include "CAN_API.h"
+
+void initCAN(enum CAN_API_BAUD baud) {
+
+
+	CAN_FilterTypeDef sFilterConfig;
+	hcan2.Instance = CAN2;
+	hcan2.Init.Prescaler = 5;
+	hcan2.Init.Mode = CAN_MODE_NORMAL;
+	hcan2.Init.SyncJumpWidth = CAN_SJW_1TQ;
+	hcan2.Init.TimeSeg1 = CAN_BS1_1TQ;
+	hcan2.Init.TimeSeg2 = CAN_BS2_7TQ;
+	hcan2.Init.TimeTriggeredMode = DISABLE;
+	hcan2.Init.AutoBusOff = DISABLE;
+	hcan2.Init.AutoWakeUp = DISABLE;
+	hcan2.Init.AutoRetransmission = DISABLE;
+	hcan2.Init.ReceiveFifoLocked = DISABLE;
+	hcan2.Init.TransmitFifoPriority = DISABLE;
+
+	switch(baud)
+	{
+	case CAN_BAUD_125:
+		hcan2.Init.Prescaler = 20;
+		hcan2.Init.TimeSeg1 = CAN_BS1_15TQ;
+		hcan2.Init.TimeSeg2 = CAN_BS2_2TQ;
+		break;
+	case CAN_BAUD_250:
+		hcan2.Init.Prescaler = 10;
+		hcan2.Init.TimeSeg1 = CAN_BS1_15TQ;
+		hcan2.Init.TimeSeg2 = CAN_BS2_2TQ;
+		break;
+	case CAN_BAUD_500:
+		hcan2.Init.Prescaler = 10;
+		hcan2.Init.TimeSeg1 = CAN_BS1_1TQ;
+		hcan2.Init.TimeSeg2 = CAN_BS2_7TQ;
+		break;
+	case CAN_BAUD_1000:
+		hcan2.Init.Prescaler = 5;
+		hcan2.Init.TimeSeg1 = CAN_BS1_1TQ;
+		hcan2.Init.TimeSeg2 = CAN_BS2_7TQ;
+		break;
+	default:
+		hcan2.Init.Prescaler = 5;
+		hcan2.Init.TimeSeg1 = CAN_BS1_1TQ;
+		hcan2.Init.TimeSeg2 = CAN_BS2_7TQ;
+		break;
+	}
+
+	if (HAL_CAN_Init(&hcan2) != HAL_OK) {
+		Error_Handler();
+	}
+
+	sFilterConfig.FilterBank = 0;
+	sFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK;
+	sFilterConfig.FilterScale = CAN_FILTERSCALE_32BIT;
+	sFilterConfig.FilterIdHigh = 0x0000;
+	sFilterConfig.FilterIdLow = 0x0000;
+	sFilterConfig.FilterMaskIdHigh = 0x0000;
+	sFilterConfig.FilterMaskIdLow = 0x0000;
+	sFilterConfig.FilterFIFOAssignment = CAN_RX_FIFO0;
+	sFilterConfig.FilterActivation = ENABLE;
+	sFilterConfig.SlaveStartFilterBank = 14;
+	if (HAL_CAN_ConfigFilter(&hcan2, &sFilterConfig) != HAL_OK) {
+		/* Filter configuration Error */
+		Error_Handler();
+	}
+
+	HAL_CAN_Start(&hcan2);
+
+	/*##-4- Activate CAN RX notification #######################################*/
+	if (HAL_CAN_ActivateNotification(&hcan2, CAN_IT_RX_FIFO0_MSG_PENDING)
+			!= HAL_OK) {
+		/* Notification Error */
+		Error_Handler();
+	}
+}
+CAN_RxHeaderTypeDef RxHeader1;
+uint8_t RxData1[8];
+void HAL_CAN_RxFifo1MsgPendingCallback(CAN_HandleTypeDef *hcan) {
+	  /* Get RX message */
+	  if (HAL_CAN_GetRxMessage(hcan, CAN_RX_FIFO1, &RxHeader1, RxData1) != HAL_OK)
+	  {
+	    /* Reception Error */
+	    Error_Handler();
+	  }
+
+}
+CAN_RxHeaderTypeDef RxHeader0;
+uint8_t RxData0[8];
+void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan)
+{
+	  /* Get RX message */
+	  if (HAL_CAN_GetRxMessage(hcan, CAN_RX_FIFO0, &RxHeader0, RxData0) != HAL_OK)
+	  {
+	    /* Reception Error */
+	    Error_Handler();
+	  }
+}

App/CAN_API.h

@@ -0,0 +1,22 @@
+/*
+ * CAN_API.h
+ *
+ *  Created on: 23 авг. 2023 г.
+ *      Author: on4ip
+ */
+
+#ifndef CAN_API_H_
+#define CAN_API_H_
+#include "main.h"
+//#include "can.h"
+enum CAN_API_BAUD
+{
+	CAN_BAUD_125,
+	CAN_BAUD_250,
+	CAN_BAUD_500,
+	CAN_BAUD_1000,
+	CAN_BUAD_END
+};
+void initCAN(enum CAN_API_BAUD baud );
+
+#endif /* CAN_API_H_ */

App/appIsrCallBacks.c

@@ -30,7 +30,7 @@ void adcIsrCallBack(void) {
 	}
 	update_IO_ADC(SYSTEMobj_1.IO, ADC_array,SYSTEMobj_1.DRIVE->STAT.stat.bit_ENABLED);
 	/*Calling of Application control function with Fast update rate*/
-	FAST_loop(&SYSTEMobj_1);
+	//FAST_loop(&SYSTEMobj_1);
 	stop_ADC_isr = SysTick->VAL;
 	ADC_ISR_time = ISR_TIME_CALC(start_ADC_isr, stop_ADC_isr);
 	LL_GPIO_TogglePin(LED1_GPIO_Port, LED1_Pin);