mirror of
https://gitee.com/peng_zhihui/Dummy-Robot
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208 lines
6.1 KiB
C
208 lines
6.1 KiB
C
/**
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******************************************************************************
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* @file can.c
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* @brief This file provides code for the configuration
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* of the CAN instances.
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******************************************************************************
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* @attention
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*
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* <h2><center>© Copyright (c) 2021 STMicroelectronics.
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* All rights reserved.</center></h2>
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*
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* This software component is licensed by ST under BSD 3-Clause license,
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* the "License"; You may not use this file except in compliance with the
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* License. You may obtain a copy of the License at:
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* opensource.org/licenses/BSD-3-Clause
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*
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******************************************************************************
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*/
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/* Includes ------------------------------------------------------------------*/
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#include "can.h"
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/* USER CODE BEGIN 0 */
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#include "common_inc.h"
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#include "configurations.h"
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CAN_TxHeaderTypeDef TxHeader;
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CAN_RxHeaderTypeDef RxHeader;
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uint8_t TxData[8];
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uint8_t RxData[8];
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uint32_t TxMailbox;
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/* USER CODE END 0 */
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CAN_HandleTypeDef hcan;
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/* CAN init function */
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void MX_CAN_Init(void)
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{
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/* USER CODE BEGIN CAN_Init 0 */
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/* USER CODE END CAN_Init 0 */
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/* USER CODE BEGIN CAN_Init 1 */
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/* USER CODE END CAN_Init 1 */
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hcan.Instance = CAN1;
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hcan.Init.Prescaler = 4;
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hcan.Init.Mode = CAN_MODE_NORMAL;
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hcan.Init.SyncJumpWidth = CAN_SJW_1TQ;
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hcan.Init.TimeSeg1 = CAN_BS1_5TQ;
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hcan.Init.TimeSeg2 = CAN_BS2_3TQ;
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hcan.Init.TimeTriggeredMode = DISABLE;
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hcan.Init.AutoBusOff = DISABLE;
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hcan.Init.AutoWakeUp = ENABLE;
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hcan.Init.AutoRetransmission = DISABLE;
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hcan.Init.ReceiveFifoLocked = DISABLE;
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hcan.Init.TransmitFifoPriority = DISABLE;
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if (HAL_CAN_Init(&hcan) != HAL_OK)
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{
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Error_Handler();
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}
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/* USER CODE BEGIN CAN_Init 2 */
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CAN_FilterTypeDef sFilterConfig;
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//filter one (stack light blink)
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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(&hcan, &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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HAL_CAN_Start(&hcan); //start CAN
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HAL_CAN_ActivateNotification(&hcan,
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CAN_IT_TX_MAILBOX_EMPTY |
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CAN_IT_RX_FIFO0_MSG_PENDING | CAN_IT_RX_FIFO1_MSG_PENDING |
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/* we probably only want this */
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CAN_IT_RX_FIFO0_FULL | CAN_IT_RX_FIFO1_FULL |
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CAN_IT_RX_FIFO0_OVERRUN | CAN_IT_RX_FIFO1_OVERRUN |
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CAN_IT_WAKEUP | CAN_IT_SLEEP_ACK |
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CAN_IT_ERROR_WARNING | CAN_IT_ERROR_PASSIVE |
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CAN_IT_BUSOFF | CAN_IT_LAST_ERROR_CODE |
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CAN_IT_ERROR);
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/* Configure Transmission process */
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TxHeader.StdId = boardConfig.canNodeId;
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TxHeader.ExtId = 0x00;
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TxHeader.RTR = CAN_RTR_DATA;
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TxHeader.IDE = CAN_ID_STD;
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TxHeader.DLC = 8;
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TxHeader.TransmitGlobalTime = DISABLE;
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/* USER CODE END CAN_Init 2 */
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}
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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==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_ENABLE();
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__HAL_RCC_GPIOB_CLK_ENABLE();
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/**CAN GPIO Configuration
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PB8 ------> CAN_RX
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PB9 ------> CAN_TX
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*/
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GPIO_InitStruct.Pin = GPIO_PIN_8;
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GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
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GPIO_InitStruct.Pull = GPIO_NOPULL;
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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.Speed = GPIO_SPEED_FREQ_HIGH;
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HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
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__HAL_AFIO_REMAP_CAN1_2();
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/* CAN1 interrupt Init */
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HAL_NVIC_SetPriority(USB_HP_CAN1_TX_IRQn, 3, 0);
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HAL_NVIC_EnableIRQ(USB_HP_CAN1_TX_IRQn);
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HAL_NVIC_SetPriority(USB_LP_CAN1_RX0_IRQn, 3, 0);
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HAL_NVIC_EnableIRQ(USB_LP_CAN1_RX0_IRQn);
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HAL_NVIC_SetPriority(CAN1_RX1_IRQn, 3, 0);
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HAL_NVIC_EnableIRQ(CAN1_RX1_IRQn);
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HAL_NVIC_SetPriority(CAN1_SCE_IRQn, 3, 0);
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HAL_NVIC_EnableIRQ(CAN1_SCE_IRQn);
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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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}
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void HAL_CAN_MspDeInit(CAN_HandleTypeDef* canHandle)
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{
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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_DISABLE();
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/**CAN GPIO Configuration
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PB8 ------> CAN_RX
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PB9 ------> CAN_TX
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*/
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HAL_GPIO_DeInit(GPIOB, GPIO_PIN_8|GPIO_PIN_9);
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/* CAN1 interrupt Deinit */
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HAL_NVIC_DisableIRQ(USB_HP_CAN1_TX_IRQn);
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HAL_NVIC_DisableIRQ(USB_LP_CAN1_RX0_IRQn);
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HAL_NVIC_DisableIRQ(CAN1_RX1_IRQn);
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HAL_NVIC_DisableIRQ(CAN1_SCE_IRQn);
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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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}
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/* USER CODE BEGIN 1 */
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void CAN_Send(CAN_TxHeaderTypeDef* pHeader, uint8_t* data)
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{
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if (HAL_CAN_AddTxMessage(&hcan, pHeader, data, &TxMailbox) != HAL_OK)
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{
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Error_Handler();
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}
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}
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void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef* CanHandle)
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{
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/* Get RX message */
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if (HAL_CAN_GetRxMessage(CanHandle, CAN_RX_FIFO0, &RxHeader, RxData) != 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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uint8_t id = (RxHeader.StdId >> 7); // 4Bits ID & 7Bits Msg
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uint8_t cmd = RxHeader.StdId & 0x7F; // 4Bits ID & 7Bits Msg
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if (id == 0 || id == boardConfig.canNodeId)
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{
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OnCanCmd(cmd, RxData, RxHeader.DLC);
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}
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}
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/* USER CODE END 1 */
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/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
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