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Added CAN

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on4ip84 2023-10-06 17:55:56 +03:00
parent 526b689693
commit fc1f245eb2
13 changed files with 489 additions and 183 deletions
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104
App/CAN_API.c Normal file
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/*
* 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();
}
}