225 lines
5.8 KiB
C
225 lines
5.8 KiB
C
|
/* USER CODE BEGIN Header */
|
||
|
|
/**
|
||
|
|
******************************************************************************
|
||
|
|
* @file can.c
|
||
|
|
* @brief This file provides code for the configuration
|
||
|
|
* of the CAN instances.
|
||
|
|
******************************************************************************
|
||
|
|
* @attention
|
||
|
|
*
|
||
|
|
* Copyright (c) 2023 STMicroelectronics.
|
||
|
|
* All rights reserved.
|
||
|
|
*
|
||
|
|
* This software is licensed under terms that can be found in the LICENSE file
|
||
|
|
* in the root directory of this software component.
|
||
|
|
* If no LICENSE file comes with this software, it is provided AS-IS.
|
||
|
|
*
|
||
|
|
******************************************************************************
|
||
|
|
*/
|
||
|
|
/* USER CODE END Header */
|
||
|
|
/* Includes ------------------------------------------------------------------*/
|
||
|
|
#include "can.h"
|
||
|
|
|
||
|
|
/* USER CODE BEGIN 0 */
|
||
|
|
|
||
|
|
/* USER CODE END 0 */
|
||
|
|
|
||
|
|
CAN_HandleTypeDef hcan1;
|
||
|
|
CAN_HandleTypeDef hcan2;
|
||
|
|
|
||
|
|
/* CAN1 init function */
|
||
|
|
void MX_CAN1_Init(void)
|
||
|
|
{
|
||
|
|
|
||
|
|
/* USER CODE BEGIN CAN1_Init 0 */
|
||
|
|
|
||
|
|
/* USER CODE END CAN1_Init 0 */
|
||
|
|
|
||
|
|
/* USER CODE BEGIN CAN1_Init 1 */
|
||
|
|
|
||
|
|
/* USER CODE END CAN1_Init 1 */
|
||
|
|
hcan1.Instance = CAN1;
|
||
|
|
hcan1.Init.Prescaler = 3;
|
||
|
|
hcan1.Init.Mode = CAN_MODE_NORMAL;
|
||
|
|
hcan1.Init.SyncJumpWidth = CAN_SJW_1TQ;
|
||
|
|
hcan1.Init.TimeSeg1 = CAN_BS1_10TQ;
|
||
|
|
hcan1.Init.TimeSeg2 = CAN_BS2_3TQ;
|
||
|
|
hcan1.Init.TimeTriggeredMode = DISABLE;
|
||
|
|
hcan1.Init.AutoBusOff = DISABLE;
|
||
|
|
hcan1.Init.AutoWakeUp = DISABLE;
|
||
|
|
hcan1.Init.AutoRetransmission = ENABLE;
|
||
|
|
hcan1.Init.ReceiveFifoLocked = DISABLE;
|
||
|
|
hcan1.Init.TransmitFifoPriority = ENABLE;
|
||
|
|
if (HAL_CAN_Init(&hcan1) != HAL_OK)
|
||
|
|
{
|
||
|
|
Error_Handler();
|
||
|
|
}
|
||
|
|
/* USER CODE BEGIN CAN1_Init 2 */
|
||
|
|
|
||
|
|
/* USER CODE END CAN1_Init 2 */
|
||
|
|
|
||
|
|
}
|
||
|
|
/* CAN2 init function */
|
||
|
|
void MX_CAN2_Init(void)
|
||
|
|
{
|
||
|
|
|
||
|
|
/* USER CODE BEGIN CAN2_Init 0 */
|
||
|
|
|
||
|
|
/* USER CODE END CAN2_Init 0 */
|
||
|
|
|
||
|
|
/* USER CODE BEGIN CAN2_Init 1 */
|
||
|
|
|
||
|
|
/* USER CODE END CAN2_Init 1 */
|
||
|
|
hcan2.Instance = CAN2;
|
||
|
|
hcan2.Init.Prescaler = 3;
|
||
|
|
hcan2.Init.Mode = CAN_MODE_NORMAL;
|
||
|
|
hcan2.Init.SyncJumpWidth = CAN_SJW_1TQ;
|
||
|
|
hcan2.Init.TimeSeg1 = CAN_BS1_10TQ;
|
||
|
|
hcan2.Init.TimeSeg2 = CAN_BS2_3TQ;
|
||
|
|
hcan2.Init.TimeTriggeredMode = DISABLE;
|
||
|
|
hcan2.Init.AutoBusOff = DISABLE;
|
||
|
|
hcan2.Init.AutoWakeUp = DISABLE;
|
||
|
|
hcan2.Init.AutoRetransmission = ENABLE;
|
||
|
|
hcan2.Init.ReceiveFifoLocked = DISABLE;
|
||
|
|
hcan2.Init.TransmitFifoPriority = ENABLE;
|
||
|
|
if (HAL_CAN_Init(&hcan2) != HAL_OK)
|
||
|
|
{
|
||
|
|
Error_Handler();
|
||
|
|
}
|
||
|
|
/* USER CODE BEGIN CAN2_Init 2 */
|
||
|
|
|
||
|
|
/* USER CODE END CAN2_Init 2 */
|
||
|
|
|
||
|
|
}
|
||
|
|
|
||
|
|
static uint32_t HAL_RCC_CAN1_CLK_ENABLED=0;
|
||
|
|
|
||
|
|
void HAL_CAN_MspInit(CAN_HandleTypeDef* canHandle)
|
||
|
|
{
|
||
|
|
|
||
|
|
GPIO_InitTypeDef GPIO_InitStruct = {0};
|
||
|
|
if(canHandle->Instance==CAN1)
|
||
|
|
{
|
||
|
|
/* USER CODE BEGIN CAN1_MspInit 0 */
|
||
|
|
|
||
|
|
/* USER CODE END CAN1_MspInit 0 */
|
||
|
|
/* CAN1 clock enable */
|
||
|
|
HAL_RCC_CAN1_CLK_ENABLED++;
|
||
|
|
if(HAL_RCC_CAN1_CLK_ENABLED==1){
|
||
|
|
__HAL_RCC_CAN1_CLK_ENABLE();
|
||
|
|
}
|
||
|
|
|
||
|
|
__HAL_RCC_GPIOD_CLK_ENABLE();
|
||
|
|
/**CAN1 GPIO Configuration
|
||
|
|
PD0 ------> CAN1_RX
|
||
|
|
PD1 ------> CAN1_TX
|
||
|
|
*/
|
||
|
|
GPIO_InitStruct.Pin = GPIO_PIN_0|GPIO_PIN_1;
|
||
|
|
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
|
||
|
|
GPIO_InitStruct.Pull = GPIO_NOPULL;
|
||
|
|
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
|
||
|
|
GPIO_InitStruct.Alternate = GPIO_AF9_CAN1;
|
||
|
|
HAL_GPIO_Init(GPIOD, &GPIO_InitStruct);
|
||
|
|
|
||
|
|
/* CAN1 interrupt Init */
|
||
|
|
HAL_NVIC_SetPriority(CAN1_RX0_IRQn, 5, 0);
|
||
|
|
HAL_NVIC_EnableIRQ(CAN1_RX0_IRQn);
|
||
|
|
HAL_NVIC_SetPriority(CAN1_RX1_IRQn, 5, 0);
|
||
|
|
HAL_NVIC_EnableIRQ(CAN1_RX1_IRQn);
|
||
|
|
/* USER CODE BEGIN CAN1_MspInit 1 */
|
||
|
|
|
||
|
|
/* USER CODE END CAN1_MspInit 1 */
|
||
|
|
}
|
||
|
|
else if(canHandle->Instance==CAN2)
|
||
|
|
{
|
||
|
|
/* USER CODE BEGIN CAN2_MspInit 0 */
|
||
|
|
|
||
|
|
/* USER CODE END CAN2_MspInit 0 */
|
||
|
|
/* CAN2 clock enable */
|
||
|
|
__HAL_RCC_CAN2_CLK_ENABLE();
|
||
|
|
HAL_RCC_CAN1_CLK_ENABLED++;
|
||
|
|
if(HAL_RCC_CAN1_CLK_ENABLED==1){
|
||
|
|
__HAL_RCC_CAN1_CLK_ENABLE();
|
||
|
|
}
|
||
|
|
|
||
|
|
__HAL_RCC_GPIOB_CLK_ENABLE();
|
||
|
|
/**CAN2 GPIO Configuration
|
||
|
|
PB5 ------> CAN2_RX
|
||
|
|
PB6 ------> CAN2_TX
|
||
|
|
*/
|
||
|
|
GPIO_InitStruct.Pin = GPIO_PIN_5|GPIO_PIN_6;
|
||
|
|
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
|
||
|
|
GPIO_InitStruct.Pull = GPIO_NOPULL;
|
||
|
|
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
|
||
|
|
GPIO_InitStruct.Alternate = GPIO_AF9_CAN2;
|
||
|
|
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
|
||
|
|
|
||
|
|
/* CAN2 interrupt Init */
|
||
|
|
HAL_NVIC_SetPriority(CAN2_RX0_IRQn, 5, 0);
|
||
|
|
HAL_NVIC_EnableIRQ(CAN2_RX0_IRQn);
|
||
|
|
HAL_NVIC_SetPriority(CAN2_RX1_IRQn, 5, 0);
|
||
|
|
HAL_NVIC_EnableIRQ(CAN2_RX1_IRQn);
|
||
|
|
/* USER CODE BEGIN CAN2_MspInit 1 */
|
||
|
|
|
||
|
|
/* USER CODE END CAN2_MspInit 1 */
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
void HAL_CAN_MspDeInit(CAN_HandleTypeDef* canHandle)
|
||
|
|
{
|
||
|
|
|
||
|
|
if(canHandle->Instance==CAN1)
|
||
|
|
{
|
||
|
|
/* USER CODE BEGIN CAN1_MspDeInit 0 */
|
||
|
|
|
||
|
|
/* USER CODE END CAN1_MspDeInit 0 */
|
||
|
|
/* Peripheral clock disable */
|
||
|
|
HAL_RCC_CAN1_CLK_ENABLED--;
|
||
|
|
if(HAL_RCC_CAN1_CLK_ENABLED==0){
|
||
|
|
__HAL_RCC_CAN1_CLK_DISABLE();
|
||
|
|
}
|
||
|
|
|
||
|
|
/**CAN1 GPIO Configuration
|
||
|
|
PD0 ------> CAN1_RX
|
||
|
|
PD1 ------> CAN1_TX
|
||
|
|
*/
|
||
|
|
HAL_GPIO_DeInit(GPIOD, GPIO_PIN_0|GPIO_PIN_1);
|
||
|
|
|
||
|
|
/* CAN1 interrupt Deinit */
|
||
|
|
HAL_NVIC_DisableIRQ(CAN1_RX0_IRQn);
|
||
|
|
HAL_NVIC_DisableIRQ(CAN1_RX1_IRQn);
|
||
|
|
/* USER CODE BEGIN CAN1_MspDeInit 1 */
|
||
|
|
|
||
|
|
/* USER CODE END CAN1_MspDeInit 1 */
|
||
|
|
}
|
||
|
|
else if(canHandle->Instance==CAN2)
|
||
|
|
{
|
||
|
|
/* USER CODE BEGIN CAN2_MspDeInit 0 */
|
||
|
|
|
||
|
|
/* USER CODE END CAN2_MspDeInit 0 */
|
||
|
|
/* Peripheral clock disable */
|
||
|
|
__HAL_RCC_CAN2_CLK_DISABLE();
|
||
|
|
HAL_RCC_CAN1_CLK_ENABLED--;
|
||
|
|
if(HAL_RCC_CAN1_CLK_ENABLED==0){
|
||
|
|
__HAL_RCC_CAN1_CLK_DISABLE();
|
||
|
|
}
|
||
|
|
|
||
|
|
/**CAN2 GPIO Configuration
|
||
|
|
PB5 ------> CAN2_RX
|
||
|
|
PB6 ------> CAN2_TX
|
||
|
|
*/
|
||
|
|
HAL_GPIO_DeInit(GPIOB, GPIO_PIN_5|GPIO_PIN_6);
|
||
|
|
|
||
|
|
/* CAN2 interrupt Deinit */
|
||
|
|
HAL_NVIC_DisableIRQ(CAN2_RX0_IRQn);
|
||
|
|
HAL_NVIC_DisableIRQ(CAN2_RX1_IRQn);
|
||
|
|
/* USER CODE BEGIN CAN2_MspDeInit 1 */
|
||
|
|
|
||
|
|
/* USER CODE END CAN2_MspDeInit 1 */
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
/* USER CODE BEGIN 1 */
|
||
|
|
|
||
|
|
/* USER CODE END 1 */
|