UKSVEP_23550.2/Core/Src/can.c
2025-06-11 17:15:08 +03:00

276 lines
6.8 KiB
C

/**
******************************************************************************
* @file can.c
* @brief This file provides code for the configuration
* of the CAN instances.
******************************************************************************
* @attention
*
* <h2><center>&copy; Copyright (c) 2025 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"
/* USER CODE BEGIN 0 */
#include "gpio.h"
#include "message.h"
void CAN_filterConfig(void);
CAN_TxHeaderTypeDef TxHeader;
CAN_RxHeaderTypeDef RxHeader;
CAN_FilterTypeDef sFilterConfig;
CAN_TxHeaderTypeDef msgHeaderSend;
uint8_t msgDataSend[8];
uint32_t mailBoxNum = 0;
uint8_t TxData[8];
uint8_t RxData[8];
uint32_t TxMailbox;
uint32_t TX_box_ID = 0;
uint32_t RX_box_ID = 0;
uint32_t BC_box_ID = 0;
/* USER CODE END 0 */
CAN_HandleTypeDef hcan;
/* CAN init function */
void MX_CAN_Init(void)
{
/* USER CODE BEGIN CAN_Init 0 */
/* USER CODE END CAN_Init 0 */
/* USER CODE BEGIN CAN_Init 1 */
/* USER CODE END CAN_Init 1 */
hcan.Instance = CAN1;
hcan.Init.Prescaler = 10;
hcan.Init.Mode = CAN_MODE_NORMAL;
hcan.Init.SyncJumpWidth = CAN_SJW_1TQ;
hcan.Init.TimeSeg1 = CAN_BS1_13TQ;
hcan.Init.TimeSeg2 = CAN_BS2_2TQ;
hcan.Init.TimeTriggeredMode = DISABLE;
hcan.Init.AutoBusOff = DISABLE;
hcan.Init.AutoWakeUp = DISABLE;
hcan.Init.AutoRetransmission = DISABLE;
hcan.Init.ReceiveFifoLocked = DISABLE;
hcan.Init.TransmitFifoPriority = DISABLE;
if (HAL_CAN_Init(&hcan) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN CAN_Init 2 */
CAN_filterConfig();
msgHeaderSend.StdId = 0x200;
msgHeaderSend.ExtId = TX_box_ID;
msgHeaderSend.DLC = 8;
msgHeaderSend.TransmitGlobalTime = DISABLE;
msgHeaderSend.RTR = CAN_RTR_DATA;
msgHeaderSend.IDE = CAN_ID_EXT;
// CAN start
if (HAL_CAN_Start(&hcan) != HAL_OK)
{
Error_Handler();
}
// CAN notifications (interrupts)
if (HAL_CAN_ActivateNotification(&hcan, CAN_IT_RX_FIFO0_MSG_PENDING | CAN_IT_TX_MAILBOX_EMPTY) != HAL_OK)
{
Error_Handler();
}
/* USER CODE END CAN_Init 2 */
}
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_ENABLE();
__HAL_RCC_GPIOA_CLK_ENABLE();
/**CAN GPIO Configuration
PA11 ------> CAN_RX
PA12 ------> CAN_TX
*/
GPIO_InitStruct.Pin = GPIO_PIN_11;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
GPIO_InitStruct.Pin = GPIO_PIN_12;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/* CAN1 interrupt Init */
HAL_NVIC_SetPriority(USB_HP_CAN1_TX_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(USB_HP_CAN1_TX_IRQn);
HAL_NVIC_SetPriority(USB_LP_CAN1_RX0_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(USB_LP_CAN1_RX0_IRQn);
/* USER CODE BEGIN CAN1_MspInit 1 */
/* 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
PA11 ------> CAN_RX
PA12 ------> CAN_TX
*/
HAL_GPIO_DeInit(GPIOA, GPIO_PIN_11|GPIO_PIN_12);
/* CAN1 interrupt Deinit */
HAL_NVIC_DisableIRQ(USB_HP_CAN1_TX_IRQn);
HAL_NVIC_DisableIRQ(USB_LP_CAN1_RX0_IRQn);
/* USER CODE BEGIN CAN1_MspDeInit 1 */
/* USER CODE END CAN1_MspDeInit 1 */
}
}
/* USER CODE BEGIN 1 */
void Setup_CAN_addr(uint8_t mode)
{
BC_box_ID = 0x1F<<20;
RX_box_ID = mode<<20;
TX_box_ID = RX_box_ID | (1L<<28);
}
void CAN_filterConfig(void)
{
sFilterConfig.FilterBank = 0;
sFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK;
sFilterConfig.FilterScale = CAN_FILTERSCALE_32BIT;
sFilterConfig.FilterIdHigh = 0x0000;
sFilterConfig.FilterIdLow = 0x0000;
sFilterConfig.FilterMaskIdHigh = 0x0000;
sFilterConfig.FilterMaskIdLow = 0x0000;
sFilterConfig.FilterFIFOAssignment = CAN_RX_FIFO0;
sFilterConfig.FilterActivation = ENABLE;
sFilterConfig.SlaveStartFilterBank = 14;
if (HAL_CAN_ConfigFilter(&hcan, &sFilterConfig) != HAL_OK)
{
Error_Handler();
} }
void HAL_CAN_TxMailbox0CompleteCallback(CAN_HandleTypeDef *hcan)
{
// HAL_GPIO_TogglePin(LED_2_GPIO_Port, LED_2_Pin);
}
void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan_i)
{
CAN_RxHeaderTypeDef msgHeader;
uint8_t msgData[8];
unsigned int adr,qua;
unsigned short Data[4];
if (HAL_CAN_GetRxMessage(hcan_i, CAN_RX_FIFO0, &msgHeader, msgData) != HAL_OK)
{
/* Reception Error */
Error_Handler();
}
if((msgHeader.ExtId & 0xFF00000) != RX_box_ID)
if((msgHeader.ExtId & 0xFF00000) != BC_box_ID) return;
adr = msgHeader.ExtId & 0xFFFF;
qua = msgHeader.DLC/2;
Data[0] = msgData[0]; Data[0] = (Data[0]<<8) | msgData[1];
Data[1] = msgData[2]; Data[1] = (Data[1]<<8) | msgData[3];
Data[2] = msgData[4]; Data[2] = (Data[2]<<8) | msgData[5];
Data[3] = msgData[6]; Data[3] = (Data[3]<<8) | msgData[7];
if(qua ) if(adr < Modbus_LEN) modbus[adr] = Data[0]; adr++;
if(qua>1) if(adr < Modbus_LEN) modbus[adr] = Data[1]; adr++;
if(qua>2) if(adr < Modbus_LEN) modbus[adr] = Data[2]; adr++;
if(qua>3) if(adr < Modbus_LEN) modbus[adr] = Data[3];
LED_1_TGL;
}
int CAN_send(uint16_t data[], int Addr, int Qua)
{
int wait = 1000;
while(wait-- && (HAL_CAN_GetTxMailboxesFreeLevel(&hcan) == 0));
if (HAL_CAN_GetTxMailboxesFreeLevel(&hcan) != 0)
{
msgHeaderSend.ExtId = TX_box_ID | (Addr & 0xFFFF);
msgHeaderSend.DLC = Qua*2;
msgDataSend[0] = (data[Addr ]>>8) & 0x00ff;
msgDataSend[1] = (data[Addr ] ) & 0x00ff;
msgDataSend[2] = (data[Addr+1]>>8) & 0x00ff;
msgDataSend[3] = (data[Addr+1] ) & 0x00ff;
msgDataSend[4] = (data[Addr+2]>>8) & 0x00ff;
msgDataSend[5] = (data[Addr+2] ) & 0x00ff;
msgDataSend[6] = (data[Addr+3]>>8) & 0x00ff;
msgDataSend[7] = (data[Addr+3] ) & 0x00ff;
HAL_CAN_AddTxMessage(&hcan, &msgHeaderSend, msgDataSend, &mailBoxNum);
LED_0_TGL;
return 1;
}
else
{
HAL_CAN_Stop(&hcan);
HAL_CAN_Start(&hcan);
return 0;
} }
/* USER CODE END 1 */
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/