CAN.c
CAN_HandleTypeDef hcan1;
void CAN1_User_Init(CAN_HandleTypeDef* hcan );
void MX_CAN1_Init(void)
{
hcan1.Instance = CAN1;
hcan1.Init.Prescaler = 6;
hcan1.Init.Mode = CAN_MODE_NORMAL;
hcan1.Init.SyncJumpWidth = CAN_SJW_1TQ;
hcan1.Init.TimeSeg1 = CAN_BS1_3TQ;
hcan1.Init.TimeSeg2 = CAN_BS2_3TQ;
hcan1.Init.TimeTriggeredMode = DISABLE;
hcan1.Init.AutoBusOff = DISABLE;
hcan1.Init.AutoWakeUp = DISABLE;
hcan1.Init.AutoRetransmission = DISABLE;
hcan1.Init.ReceiveFifoLocked = DISABLE;
hcan1.Init.TransmitFifoPriority = DISABLE;
if (HAL_CAN_Init(&hcan1) != HAL_OK)
{
Error_Handler();
}
CAN1_User_Init(&hcan1);
}
void HAL_CAN_MspInit(CAN_HandleTypeDef* canHandle)
{
GPIO_InitTypeDef GPIO_InitStruct = {0};
if(canHandle->Instance==CAN1)
{
__HAL_RCC_CAN1_CLK_ENABLE();
__HAL_RCC_GPIOD_CLK_ENABLE();
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);
HAL_NVIC_SetPriority(CAN1_TX_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(CAN1_TX_IRQn);
HAL_NVIC_SetPriority(CAN1_RX0_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(CAN1_RX0_IRQn);
}
}
void HAL_CAN_MspDeInit(CAN_HandleTypeDef* canHandle)
{
if(canHandle->Instance==CAN1)
{
__HAL_RCC_CAN1_CLK_DISABLE();
HAL_GPIO_DeInit(GPIOD, GPIO_PIN_0|GPIO_PIN_1);
HAL_NVIC_DisableIRQ(CAN1_TX_IRQn);
HAL_NVIC_DisableIRQ(CAN1_RX0_IRQn);
}
}
void CAN1_User_Init(CAN_HandleTypeDef* hcan )
{
CAN_FilterTypeDef sFilterConfig;
HAL_StatusTypeDef HAL_Status;
sFilterConfig. FilterIdHigh = 0;
sFilterConfig. FilterIdLow = 0;
sFilterConfig. FilterMaskIdHigh = 0;
sFilterConfig. FilterMaskIdLow = 0;
sFilterConfig. FilterFIFOAssignment = CAN_FILTER_FIFO0;
sFilterConfig. FilterBank = 0;
sFilterConfig. FilterMode = CAN_FILTERMODE_IDMASK;
sFilterConfig. FilterScale = CAN_FILTERSCALE_32BIT;
sFilterConfig. FilterActivation = ENABLE;
sFilterConfig. SlaveStartFilterBank = 14;
HAL_Status = HAL_CAN_ConfigFilter(hcan, &sFilterConfig);
HAL_Status = HAL_CAN_Start(hcan);
if(HAL_Status != HAL_OK){
Error_Handler();
}
HAL_Status = HAL_CAN_ActivateNotification(hcan, CAN_IT_RX_FIFO0_MSG_PENDING | CAN_IT_TX_MAILBOX_EMPTY);
if(HAL_Status != HAL_OK){
Error_Handler();
}
}