276 lines
6.8 KiB
C
276 lines
6.8 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) 2025 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 "gpio.h"
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#include "message.h"
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void CAN_filterConfig(void);
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CAN_TxHeaderTypeDef TxHeader;
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CAN_RxHeaderTypeDef RxHeader;
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CAN_FilterTypeDef sFilterConfig;
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CAN_TxHeaderTypeDef msgHeaderSend;
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uint8_t msgDataSend[8];
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uint32_t mailBoxNum = 0;
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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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uint32_t TX_box_ID = 0;
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uint32_t RX_box_ID = 0;
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uint32_t BC_box_ID = 0;
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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 = 10;
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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_13TQ;
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hcan.Init.TimeSeg2 = CAN_BS2_2TQ;
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hcan.Init.TimeTriggeredMode = DISABLE;
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hcan.Init.AutoBusOff = DISABLE;
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hcan.Init.AutoWakeUp = DISABLE;
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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_filterConfig();
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msgHeaderSend.StdId = 0x200;
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msgHeaderSend.ExtId = TX_box_ID;
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msgHeaderSend.DLC = 8;
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msgHeaderSend.TransmitGlobalTime = DISABLE;
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msgHeaderSend.RTR = CAN_RTR_DATA;
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msgHeaderSend.IDE = CAN_ID_EXT;
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// CAN start
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if (HAL_CAN_Start(&hcan) != HAL_OK)
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{
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Error_Handler();
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}
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// CAN notifications (interrupts)
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if (HAL_CAN_ActivateNotification(&hcan, CAN_IT_RX_FIFO0_MSG_PENDING | CAN_IT_TX_MAILBOX_EMPTY) != HAL_OK)
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{
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Error_Handler();
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}
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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_GPIOA_CLK_ENABLE();
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/**CAN GPIO Configuration
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PA11 ------> CAN_RX
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PA12 ------> CAN_TX
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*/
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GPIO_InitStruct.Pin = GPIO_PIN_11;
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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(GPIOA, &GPIO_InitStruct);
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GPIO_InitStruct.Pin = GPIO_PIN_12;
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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(GPIOA, &GPIO_InitStruct);
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/* CAN1 interrupt Init */
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HAL_NVIC_SetPriority(USB_HP_CAN1_TX_IRQn, 0, 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, 0, 0);
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HAL_NVIC_EnableIRQ(USB_LP_CAN1_RX0_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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PA11 ------> CAN_RX
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PA12 ------> CAN_TX
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*/
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HAL_GPIO_DeInit(GPIOA, GPIO_PIN_11|GPIO_PIN_12);
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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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/* 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 Setup_CAN_addr(uint8_t mode)
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{
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BC_box_ID = 0x1F<<20;
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RX_box_ID = mode<<20;
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TX_box_ID = RX_box_ID | (1L<<28);
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}
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void CAN_filterConfig(void)
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{
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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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Error_Handler();
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} }
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void HAL_CAN_TxMailbox0CompleteCallback(CAN_HandleTypeDef *hcan)
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{
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// HAL_GPIO_TogglePin(LED_2_GPIO_Port, LED_2_Pin);
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}
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void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan_i)
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{
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CAN_RxHeaderTypeDef msgHeader;
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uint8_t msgData[8];
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unsigned int adr,qua;
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unsigned short Data[4];
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if (HAL_CAN_GetRxMessage(hcan_i, CAN_RX_FIFO0, &msgHeader, msgData) != 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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if((msgHeader.ExtId & 0xFF00000) != RX_box_ID)
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if((msgHeader.ExtId & 0xFF00000) != BC_box_ID) return;
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adr = msgHeader.ExtId & 0xFFFF;
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qua = msgHeader.DLC/2;
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Data[0] = msgData[0]; Data[0] = (Data[0]<<8) | msgData[1];
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Data[1] = msgData[2]; Data[1] = (Data[1]<<8) | msgData[3];
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Data[2] = msgData[4]; Data[2] = (Data[2]<<8) | msgData[5];
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Data[3] = msgData[6]; Data[3] = (Data[3]<<8) | msgData[7];
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if(qua ) if(adr < Modbus_LEN) modbus[adr] = Data[0]; adr++;
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if(qua>1) if(adr < Modbus_LEN) modbus[adr] = Data[1]; adr++;
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if(qua>2) if(adr < Modbus_LEN) modbus[adr] = Data[2]; adr++;
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if(qua>3) if(adr < Modbus_LEN) modbus[adr] = Data[3];
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LED_1_TGL;
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}
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int CAN_send(uint16_t data[], int Addr, int Qua)
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{
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int wait = 1000;
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while(wait-- && (HAL_CAN_GetTxMailboxesFreeLevel(&hcan) == 0));
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if (HAL_CAN_GetTxMailboxesFreeLevel(&hcan) != 0)
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{
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msgHeaderSend.ExtId = TX_box_ID | (Addr & 0xFFFF);
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msgHeaderSend.DLC = Qua*2;
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msgDataSend[0] = (data[Addr ]>>8) & 0x00ff;
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msgDataSend[1] = (data[Addr ] ) & 0x00ff;
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msgDataSend[2] = (data[Addr+1]>>8) & 0x00ff;
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msgDataSend[3] = (data[Addr+1] ) & 0x00ff;
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msgDataSend[4] = (data[Addr+2]>>8) & 0x00ff;
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msgDataSend[5] = (data[Addr+2] ) & 0x00ff;
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msgDataSend[6] = (data[Addr+3]>>8) & 0x00ff;
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msgDataSend[7] = (data[Addr+3] ) & 0x00ff;
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HAL_CAN_AddTxMessage(&hcan, &msgHeaderSend, msgDataSend, &mailBoxNum);
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LED_0_TGL;
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return 1;
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}
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else
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{
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HAL_CAN_Stop(&hcan);
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HAL_CAN_Start(&hcan);
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return 0;
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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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