/**
  ******************************************************************************
  * File Name          : CAN.c
  * Description        : This file provides code for the configuration
  *                      of the CAN instances.
  ******************************************************************************
  *
  * COPYRIGHT(c) 2017 STMicroelectronics
  *
  * Redistribution and use in source and binary forms, with or without modification,
  * are permitted provided that the following conditions are met:
  *   1. Redistributions of source code must retain the above copyright notice,
  *      this list of conditions and the following disclaimer.
  *   2. Redistributions in binary form must reproduce the above copyright notice,
  *      this list of conditions and the following disclaimer in the documentation
  *      and/or other materials provided with the distribution.
  *   3. Neither the name of STMicroelectronics nor the names of its contributors
  *      may be used to endorse or promote products derived from this software
  *      without specific prior written permission.
  *
  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
  * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
  * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
  * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
  * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
  * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
  *
  ******************************************************************************
  */

/* Includes ------------------------------------------------------------------*/
#include "can.h"

#include "gpio.h"

/* USER CODE BEGIN 0 */

/* USER CODE END 0 */

CAN_HandleTypeDef hcan;

/* CAN init function */
void MX_CAN_Init(void)
{
  hcan.Instance = CAN1;
  hcan.Init.Prescaler = 18; //波特率 = 36MHz / 18 / (1 + 6 + 1) = 250K
  hcan.Init.Mode = CAN_MODE_NORMAL;
  hcan.Init.SJW = CAN_SJW_1TQ; //采样点 = (1 + 6) / (1 + 6 + 1) = 87.5%
  hcan.Init.BS1 = CAN_BS1_6TQ;
  hcan.Init.BS2 = CAN_BS2_1TQ;
  hcan.Init.TTCM = DISABLE;
  hcan.Init.ABOM = ENABLE;
  hcan.Init.AWUM = ENABLE;
  hcan.Init.NART = DISABLE; //开启自动重传
  hcan.Init.RFLM = DISABLE;
  hcan.Init.TXFP = DISABLE;
  if (HAL_CAN_Init(&hcan) != HAL_OK)
  {
    Error_Handler();
  }
	
}

void HAL_CAN_MspInit(CAN_HandleTypeDef* canHandle)
{

  GPIO_InitTypeDef GPIO_InitStruct;
  if(canHandle->Instance==CAN1)
  {
  /* USER CODE BEGIN CAN1_MspInit 0 */
		static CanTxMsgTypeDef        TxMessage;
		static CanRxMsgTypeDef        RxMessage;
	
  /* USER CODE END CAN1_MspInit 0 */
    /* Peripheral clock enable */
    __HAL_RCC_CAN1_CLK_ENABLE();
  
    /**CAN GPIO Configuration    
    PB8     ------> CAN_RX
    PB9     ------> CAN_TX 
    */
    GPIO_InitStruct.Pin = GPIO_PIN_8;
    GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
    GPIO_InitStruct.Pull = GPIO_NOPULL;
    HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);

    GPIO_InitStruct.Pin = GPIO_PIN_9;
    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
    HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);

    __HAL_AFIO_REMAP_CAN1_2();

    /* Peripheral interrupt init */
    HAL_NVIC_SetPriority(USB_LP_CAN1_RX0_IRQn, 0, 0);
    HAL_NVIC_EnableIRQ(USB_LP_CAN1_RX0_IRQn);
  /* USER CODE BEGIN CAN1_MspInit 1 */
		hcan.pTxMsg = &TxMessage;
    hcan.pRxMsg = &RxMessage;
    Can_Filter_Config();
	  __HAL_CAN_ENABLE_IT(&hcan, CAN_IT_FMP0);
  /* USER CODE END CAN1_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_DISABLE();
  
    /**CAN GPIO Configuration    
    PB8     ------> CAN_RX
    PB9     ------> CAN_TX 
    */
    HAL_GPIO_DeInit(GPIOB, GPIO_PIN_8|GPIO_PIN_9);

    /* Peripheral interrupt Deinit*/
    HAL_NVIC_DisableIRQ(USB_LP_CAN1_RX0_IRQn);

  }
  /* USER CODE BEGIN CAN1_MspDeInit 1 */

  /* USER CODE END CAN1_MspDeInit 1 */
} 

/* USER CODE BEGIN 1 */
#define ID_TO_MC_FILTER       0x751
#define ID_TO_MC_MASK         0x7FF

void Can_Filter_Config(void)
{
	CAN_FilterConfTypeDef  sFilterConfig;
	
	//设置过滤器组0，指定接收发送给PBU的数据
  sFilterConfig.FilterNumber = 0;             
  sFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK;   
  sFilterConfig.FilterScale = CAN_FILTERSCALE_32BIT; 
	
	//设置过滤寄存器
  sFilterConfig.FilterIdHigh = (uint16_t)((((uint32_t)ID_TO_MC_FILTER << 21) & 0xFFFF0000) >> 16);   
  sFilterConfig.FilterIdLow = (uint16_t)(((uint32_t)ID_TO_MC_FILTER << 21) | CAN_ID_STD | CAN_RTR_DATA) & 0xFFFF;  
    
	//设置屏蔽寄存器
  sFilterConfig.FilterMaskIdHigh = (uint16_t)((((uint32_t)ID_TO_MC_MASK << 21) & 0xFFFF0000) >> 16);;  
  sFilterConfig.FilterMaskIdLow = 0xFFFF;       
    
  sFilterConfig.FilterFIFOAssignment = 0;    
  sFilterConfig.FilterActivation = ENABLE;   
    
  if(HAL_CAN_ConfigFilter(&hcan, &sFilterConfig) != HAL_OK)  
  {  
    Error_Handler();  
  }
}
/* USER CODE END 1 */

/**
  * @}
  */

/**
  * @}
  */

/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/