UKSVEP_K1921/Core/Src/can.c

/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file    can.c
  * @brief   This file provides code for the configuration
  *          of the CAN instances.
  ******************************************************************************
  * @attention
  *
  * Copyright (c) 2025 STMicroelectronics.
  * All rights reserved.
  *
  * This software is licensed under terms that can be found in the LICENSE file
  * in the root directory of this software component.
  * If no LICENSE file comes with this software, it is provided AS-IS.
  *
  ******************************************************************************
  */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "can.h"

/* USER CODE BEGIN 0 */

CAN_TxHeaderTypeDef TxHeader;
CAN_RxHeaderTypeDef RxHeader;
CAN_FilterTypeDef sFilterConfig;
uint8_t msgDataSend[8];
uint32_t mailBoxNum = 0;


/* USER CODE END 0 */

CAN_HandleTypeDef hcan2;

/* CAN2 init function */
void MX_CAN2_Init(void)
{

  /* USER CODE BEGIN CAN2_Init 0 */

  /* USER CODE END CAN2_Init 0 */

  /* USER CODE BEGIN CAN2_Init 1 */

  /* USER CODE END CAN2_Init 1 */
  hcan2.Instance = CAN2;
  hcan2.Init.Prescaler = 20;
  hcan2.Init.Mode = CAN_MODE_NORMAL;
  hcan2.Init.SyncJumpWidth = CAN_SJW_1TQ;
  hcan2.Init.TimeSeg1 = CAN_BS1_10TQ;
  hcan2.Init.TimeSeg2 = CAN_BS2_5TQ;
  hcan2.Init.TimeTriggeredMode = DISABLE;
  hcan2.Init.AutoBusOff = DISABLE;
  hcan2.Init.AutoWakeUp = DISABLE;
  hcan2.Init.AutoRetransmission = DISABLE;
  hcan2.Init.ReceiveFifoLocked = DISABLE;
  hcan2.Init.TransmitFifoPriority = DISABLE;
  if (HAL_CAN_Init(&hcan2) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN CAN2_Init 2 */
  
  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(&hcan2, &sFilterConfig) != HAL_OK)
  {
  Error_Handler();
  }
  
  TxHeader.StdId = 0x300;
  TxHeader.ExtId = 0x11000BE4;
  TxHeader.DLC = 8;
  TxHeader.TransmitGlobalTime = DISABLE;
  TxHeader.RTR = CAN_RTR_DATA;
  TxHeader.IDE = CAN_ID_EXT;
  
  if(HAL_CAN_ActivateNotification(&hcan2, CAN_IT_RX_FIFO0_MSG_PENDING) != HAL_OK)
  {
  Error_Handler();
  }

  if(HAL_CAN_ActivateNotification(&hcan2, CAN_IT_TX_MAILBOX_EMPTY) != HAL_OK)
  {
  Error_Handler();
  }
  

  /* USER CODE END CAN2_Init 2 */

}

void HAL_CAN_MspInit(CAN_HandleTypeDef* canHandle)
{

  GPIO_InitTypeDef GPIO_InitStruct = {0};
  if(canHandle->Instance==CAN2)
  {
  /* USER CODE BEGIN CAN2_MspInit 0 */

  /* USER CODE END CAN2_MspInit 0 */
    /* CAN2 clock enable */
    __HAL_RCC_CAN2_CLK_ENABLE();
    __HAL_RCC_CAN1_CLK_ENABLE();

    __HAL_RCC_GPIOB_CLK_ENABLE();
    /**CAN2 GPIO Configuration
    PB12     ------> CAN2_RX
    PB13     ------> CAN2_TX
    */
    GPIO_InitStruct.Pin = GPIO_PIN_12|GPIO_PIN_13;
    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_CAN2;
    HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);

    /* CAN2 interrupt Init */
    HAL_NVIC_SetPriority(CAN2_TX_IRQn, 0, 0);
    HAL_NVIC_EnableIRQ(CAN2_TX_IRQn);
    HAL_NVIC_SetPriority(CAN2_RX0_IRQn, 0, 0);
    HAL_NVIC_EnableIRQ(CAN2_RX0_IRQn);
  /* USER CODE BEGIN CAN2_MspInit 1 */

  /* USER CODE END CAN2_MspInit 1 */
  }
}

void HAL_CAN_MspDeInit(CAN_HandleTypeDef* canHandle)
{

  if(canHandle->Instance==CAN2)
  {
  /* USER CODE BEGIN CAN2_MspDeInit 0 */

  /* USER CODE END CAN2_MspDeInit 0 */
    /* Peripheral clock disable */
    __HAL_RCC_CAN2_CLK_DISABLE();
    __HAL_RCC_CAN1_CLK_DISABLE();

    /**CAN2 GPIO Configuration
    PB12     ------> CAN2_RX
    PB13     ------> CAN2_TX
    */
    HAL_GPIO_DeInit(GPIOB, GPIO_PIN_12|GPIO_PIN_13);

    /* CAN2 interrupt Deinit */
    HAL_NVIC_DisableIRQ(CAN2_TX_IRQn);
    HAL_NVIC_DisableIRQ(CAN2_RX0_IRQn);
  /* USER CODE BEGIN CAN2_MspDeInit 1 */

  /* USER CODE END CAN2_MspDeInit 1 */
  }
}

/* USER CODE BEGIN 1 */

int CAN_send(uint16_t data[], int Addr)
{	
  int wait = 1000;

	while(wait-- && (HAL_CAN_GetTxMailboxesFreeLevel(&hcan2) == 0));

	if (HAL_CAN_GetTxMailboxesFreeLevel(&hcan2) != 0)
	{
		msgDataSend[4] = 0xE0|(Addr   >>8) & 0x001f;
		msgDataSend[5] = (     Addr      ) & 0x00ff;
		msgDataSend[6] = (data[Addr  ]>>8) & 0x00ff;
		msgDataSend[7] = (data[Addr  ]   ) & 0x00ff;
		msgDataSend[0] = (data[Addr+1]>>8) & 0x00ff;
		msgDataSend[1] = (data[Addr+1]   ) & 0x00ff;
		msgDataSend[2] = (data[Addr+2]>>8) & 0x00ff;
		msgDataSend[3] = (data[Addr+2]   ) & 0x00ff;
		
		HAL_CAN_AddTxMessage(&hcan2, &TxHeader, msgDataSend, &mailBoxNum);
		
		return 1;
	}
	else 
	{	
		HAL_CAN_Stop(&hcan2);
		HAL_CAN_Start(&hcan2);
		return 0;
	}
}

void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan_i)
{
  CAN_RxHeaderTypeDef msgHeader;
  uint8_t msgData[8];

  HAL_CAN_GetRxMessage(&hcan2, CAN_RX_FIFO0, &msgHeader, msgData);

	Led_1_TGL;
	
}

void HAL_CAN_TxMailbox0CompleteCallback(CAN_HandleTypeDef *hcan)
{
	
//	HAL_CAN_ERROR_TX_ALST0 & HAL_CAN_ERROR_TX_TERR0;

	hcan->ErrorCode &= ~(HAL_CAN_ERROR_TX_ALST0|HAL_CAN_ERROR_TX_TERR0);
	
	if(fif0_cownt)
	{
		fif0_cownt--;
		CAN_send((uint16_t *)pissa, 0);
}	}
void HAL_CAN_TxMailbox1CompleteCallback(CAN_HandleTypeDef *hcan)
{
	if(fif0_cownt)
	{
		fif0_cownt--;
		CAN_send((uint16_t *)pissa, 0);
}	}
void HAL_CAN_TxMailbox2CompleteCallback(CAN_HandleTypeDef *hcan)
{
	if(fif0_cownt)
	{
		fif0_cownt--;
		CAN_send((uint16_t *)pissa, 0);
}	}


/* USER CODE END 1 */