motor_bootloader/Core/Src/can.c

/**
  ******************************************************************************
  * File Name          : CAN.c
  * Description        : This file provides code for the configuration
  *                      of the CAN instances.
  ******************************************************************************
  * @attention
  *
  * <h2><center>&copy; Copyright (c) 2022 STMicroelectronics.
  * All rights reserved.</center></h2>
  *
  * This software component is licensed by ST under BSD 3-Clause license,
  * the "License"; You may not use this file except in compliance with the
  * License. You may obtain a copy of the License at:
  *                        opensource.org/licenses/BSD-3-Clause
  *
  ******************************************************************************
  */

/* Includes ------------------------------------------------------------------*/
#include "can.h"
CAN_HandleTypeDef hcan;
/* USER CODE BEGIN 0 */
#define ID_TO_MC_FILTER       0x701
#define ID_TO_MC_MASK         0x70F

#define ID_BC_FILTER          0x700
#define ID_BC_MASK            0x70F

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();  
  }
	
	//设置过滤器组1，指定接收广播数据
  sFilterConfig.FilterNumber = 1;             
  sFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK;   
  sFilterConfig.FilterScale = CAN_FILTERSCALE_32BIT; 
	
	//设置过滤寄存器
  sFilterConfig.FilterIdHigh = (uint16_t)((((uint32_t)ID_BC_FILTER << 21) & 0xFFFF0000) >> 16);   
  sFilterConfig.FilterIdLow = (uint16_t)(((uint32_t)ID_BC_FILTER << 21) | CAN_ID_STD | CAN_RTR_DATA) & 0xFFFF;  
    
	//设置屏蔽寄存器
  sFilterConfig.FilterMaskIdHigh = (uint16_t)((((uint32_t)ID_BC_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 0 */

/* CAN init function */
void MX_CAN_Init(void)
{

  hcan.Instance = CAN;
  hcan.Init.Prescaler = 24;
  hcan.Init.Mode = CAN_MODE_NORMAL;
  hcan.Init.SJW = CAN_SJW_1TQ;
  hcan.Init.BS1 = CAN_BS1_4TQ;
  hcan.Init.BS2 = CAN_BS2_1TQ;
  hcan.Init.TTCM = DISABLE;
  hcan.Init.ABOM = ENABLE;
  hcan.Init.AWUM = ENABLE;
  hcan.Init.NART = DISABLE;
  hcan.Init.RFLM = DISABLE;
  hcan.Init.TXFP = DISABLE;
  if (HAL_CAN_Init(&hcan) != HAL_OK)
  {
    Error_Handler();
  }
  CLEAR_BIT(hcan.Instance->MCR, CAN_MCR_DBF);
}

void HAL_CAN_MspInit(CAN_HandleTypeDef* canHandle)
{

  GPIO_InitTypeDef GPIO_InitStruct = {0};
  if(canHandle->Instance==CAN)
  {
  /* USER CODE BEGIN CAN_MspInit 0 */
		static CanTxMsgTypeDef        TxMessage;
		static CanRxMsgTypeDef        RxMessage;
  /* USER CODE END CAN_MspInit 0 */
    /* CAN clock enable */
    __HAL_RCC_CAN1_CLK_ENABLE();

    __HAL_RCC_GPIOB_CLK_ENABLE();
    /**CAN GPIO Configuration
    PB8     ------> CAN_RX
    PB9     ------> CAN_TX
    */		
    GPIO_InitStruct.Pin = GPIO_PIN_8|GPIO_PIN_9;	
    GPIO_InitStruct.Mode = GPIO_MODE_AF_OD;
    GPIO_InitStruct.Pull = GPIO_NOPULL;
    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
    GPIO_InitStruct.Alternate = GPIO_AF9_CAN;
    HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);

    /* CAN interrupt Init */
		
    HAL_NVIC_SetPriority(USB_LP_CAN_RX0_IRQn, 0, 0);
    HAL_NVIC_EnableIRQ(USB_LP_CAN_RX0_IRQn);	
  /* USER CODE BEGIN CAN_MspInit 1 */
		hcan.pTxMsg = &TxMessage;
    hcan.pRxMsg = &RxMessage;
    Can_Filter_Config();
	  __HAL_CAN_ENABLE_IT(&hcan, CAN_IT_FMP0);
  /* USER CODE END CAN_MspInit 1 */
  }
}

void HAL_CAN_MspDeInit(CAN_HandleTypeDef* canHandle)
{

  if(canHandle->Instance==CAN)
  {
  /* USER CODE BEGIN CAN_MspDeInit 0 */

  /* USER CODE END CAN_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);

    /* CAN interrupt Deinit */
    HAL_NVIC_DisableIRQ(USB_LP_CAN_RX0_IRQn);
  /* USER CODE BEGIN CAN_MspDeInit 1 */

  /* USER CODE END CAN_MspDeInit 1 */
  }
}

/* USER CODE BEGIN 1 */

/* USER CODE END 1 */

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