Added CAN
This commit is contained in:
on4ip84
parent
526b689693
commit
fc1f245eb2
13 changed files with 489 additions and 183 deletions
163
Src/can.c
163
Src/can.c
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@ -24,8 +24,65 @@
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/* USER CODE END 0 */
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CAN_HandleTypeDef hcan1;
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CAN_HandleTypeDef hcan2;
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/* CAN1 init function */
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void MX_CAN1_Init(void)
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{
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/* USER CODE BEGIN CAN1_Init 0 */
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/* USER CODE END CAN1_Init 0 */
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/* USER CODE BEGIN CAN1_Init 1 */
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/* USER CODE END CAN1_Init 1 */
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hcan1.Instance = CAN1;
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hcan1.Init.Prescaler = 5;
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hcan1.Init.Mode = CAN_MODE_LOOPBACK;
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hcan1.Init.SyncJumpWidth = CAN_SJW_1TQ;
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hcan1.Init.TimeSeg1 = CAN_BS1_7TQ;
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hcan1.Init.TimeSeg2 = CAN_BS2_1TQ;
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hcan1.Init.TimeTriggeredMode = DISABLE;
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hcan1.Init.AutoBusOff = ENABLE;
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hcan1.Init.AutoWakeUp = DISABLE;
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hcan1.Init.AutoRetransmission = ENABLE;
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hcan1.Init.ReceiveFifoLocked = DISABLE;
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hcan1.Init.TransmitFifoPriority = DISABLE;
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if (HAL_CAN_Init(&hcan1) != HAL_OK)
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{
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Error_Handler();
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}
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/* USER CODE BEGIN CAN1_Init 2 */
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/*##-2- Configure the CAN Filter ###########################################*/
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CAN_FilterTypeDef sFilterConfig;
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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(&hcan1, &sFilterConfig) != HAL_OK)
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{
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/* Filter configuration Error */
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Error_Handler();
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}
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/*##-3- Start the CAN peripheral ###########################################*/
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if (HAL_CAN_Start(&hcan1) != HAL_OK)
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{
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/* Start Error */
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Error_Handler();
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}
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/* USER CODE END CAN1_Init 2 */
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}
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/* CAN2 init function */
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void MX_CAN2_Init(void)
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{
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@ -38,15 +95,15 @@ void MX_CAN2_Init(void)
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/* USER CODE END CAN2_Init 1 */
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hcan2.Instance = CAN2;
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hcan2.Init.Prescaler = 16;
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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.TimeSeg1 = CAN_BS1_7TQ;
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hcan2.Init.TimeSeg2 = CAN_BS2_1TQ;
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hcan2.Init.TimeTriggeredMode = DISABLE;
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hcan2.Init.AutoBusOff = DISABLE;
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hcan2.Init.AutoBusOff = ENABLE;
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hcan2.Init.AutoWakeUp = DISABLE;
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hcan2.Init.AutoRetransmission = DISABLE;
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hcan2.Init.AutoRetransmission = ENABLE;
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hcan2.Init.ReceiveFifoLocked = DISABLE;
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hcan2.Init.TransmitFifoPriority = DISABLE;
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if (HAL_CAN_Init(&hcan2) != HAL_OK)
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@ -54,23 +111,86 @@ void MX_CAN2_Init(void)
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Error_Handler();
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}
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/* USER CODE BEGIN CAN2_Init 2 */
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/*##-2- Configure the CAN Filter ###########################################*/
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CAN_FilterTypeDef sFilterConfig;
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sFilterConfig.FilterBank = 14;
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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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{
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/* Filter configuration Error */
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Error_Handler();
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}
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/*##-3- Start the CAN peripheral ###########################################*/
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if (HAL_CAN_Start(&hcan2) != HAL_OK)
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{
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/* Start Error */
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Error_Handler();
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}
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/* USER CODE END CAN2_Init 2 */
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}
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static uint32_t HAL_RCC_CAN1_CLK_ENABLED=0;
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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==CAN2)
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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_ENABLED++;
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if(HAL_RCC_CAN1_CLK_ENABLED==1){
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__HAL_RCC_CAN1_CLK_ENABLE();
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}
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__HAL_RCC_GPIOB_CLK_ENABLE();
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/**CAN1 GPIO Configuration
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PB8 ------> CAN1_RX
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PB9 ------> CAN1_TX
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*/
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GPIO_InitStruct.Pin = GPIO_PIN_8;
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GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
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GPIO_InitStruct.Pull = GPIO_PULLUP;
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GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
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GPIO_InitStruct.Alternate = GPIO_AF9_CAN1;
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HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
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GPIO_InitStruct.Pin = GPIO_PIN_9;
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GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
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GPIO_InitStruct.Pull = GPIO_NOPULL;
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GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
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GPIO_InitStruct.Alternate = GPIO_AF9_CAN1;
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HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
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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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else if(canHandle->Instance==CAN2)
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{
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/* USER CODE BEGIN CAN2_MspInit 0 */
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/* USER CODE END CAN2_MspInit 0 */
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/* CAN2 clock enable */
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__HAL_RCC_CAN2_CLK_ENABLE();
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__HAL_RCC_CAN1_CLK_ENABLE();
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HAL_RCC_CAN1_CLK_ENABLED++;
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if(HAL_RCC_CAN1_CLK_ENABLED==1){
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__HAL_RCC_CAN1_CLK_ENABLE();
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}
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__HAL_RCC_GPIOB_CLK_ENABLE();
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/**CAN2 GPIO Configuration
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@ -93,14 +213,38 @@ void HAL_CAN_MspInit(CAN_HandleTypeDef* canHandle)
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void HAL_CAN_MspDeInit(CAN_HandleTypeDef* canHandle)
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{
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if(canHandle->Instance==CAN2)
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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_ENABLED--;
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if(HAL_RCC_CAN1_CLK_ENABLED==0){
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__HAL_RCC_CAN1_CLK_DISABLE();
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}
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/**CAN1 GPIO Configuration
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PB8 ------> CAN1_RX
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PB9 ------> CAN1_TX
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*/
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HAL_GPIO_DeInit(GPIOB, GPIO_PIN_8|GPIO_PIN_9);
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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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else if(canHandle->Instance==CAN2)
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{
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/* USER CODE BEGIN CAN2_MspDeInit 0 */
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/* USER CODE END CAN2_MspDeInit 0 */
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/* Peripheral clock disable */
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__HAL_RCC_CAN2_CLK_DISABLE();
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__HAL_RCC_CAN1_CLK_DISABLE();
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HAL_RCC_CAN1_CLK_ENABLED--;
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if(HAL_RCC_CAN1_CLK_ENABLED==0){
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__HAL_RCC_CAN1_CLK_DISABLE();
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}
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/**CAN2 GPIO Configuration
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PB12 ------> CAN2_RX
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@ -108,9 +252,6 @@ void HAL_CAN_MspDeInit(CAN_HandleTypeDef* canHandle)
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*/
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HAL_GPIO_DeInit(GPIOB, GPIO_PIN_12|GPIO_PIN_13);
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/* CAN2 interrupt Deinit */
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HAL_NVIC_DisableIRQ(CAN2_RX0_IRQn);
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HAL_NVIC_DisableIRQ(CAN2_RX1_IRQn);
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/* USER CODE BEGIN CAN2_MspDeInit 1 */
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/* USER CODE END CAN2_MspDeInit 1 */
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