203 lines
5.1 KiB
C
203 lines
5.1 KiB
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 */
|
|
#include "message.h"
|
|
#include "gpio.h"
|
|
|
|
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 = 16;
|
|
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 */
|
|
|
|
/* 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 */
|
|
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.IDE = 1;
|
|
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);
|
|
|
|
return 1;
|
|
}
|
|
else
|
|
{
|
|
HAL_CAN_Stop(&hcan);
|
|
HAL_CAN_Start(&hcan);
|
|
HAL_CAN_ActivateNotification(&hcan, CAN_IT_TX_MAILBOX_EMPTY|CAN_IT_ERROR);
|
|
return 0;
|
|
} }
|
|
void Setup_CAN_addr(uint8_t mode)
|
|
{
|
|
BC_box_ID = 0x9F<<20;
|
|
RX_box_ID = (0x80+mode)<<20;
|
|
TX_box_ID = RX_box_ID | (1L<<28);
|
|
}
|
|
// Успешная отправка - моргание диодом
|
|
void HAL_CAN_TxMailbox0CompleteCallback(CAN_HandleTypeDef *hcan)
|
|
{
|
|
LED_0_TGL;
|
|
}
|
|
void HAL_CAN_TxMailbox1CompleteCallback(CAN_HandleTypeDef *hcan)
|
|
{
|
|
LED_0_TGL;
|
|
}
|
|
void HAL_CAN_TxMailbox2CompleteCallback(CAN_HandleTypeDef *hcan)
|
|
{
|
|
LED_0_TGL;
|
|
}
|
|
// Ошибки: выключение диода
|
|
void HAL_CAN_ErrorCallback(CAN_HandleTypeDef *hcan)
|
|
{
|
|
LED_0_OFF;
|
|
}
|
|
/* USER CODE END 1 */
|