AG_WEIGHT/hardware/can.c

/* USER CODE BEGIN Header */
/**
 ******************************************************************************
 * @file    can.c
 * @brief   This file provides code for the configuration
 *          of the CAN instances.
 ******************************************************************************
 * @attention
 *
 * Copyright (c) 2022 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 */

/* USER CODE END 0 */

CAN_HandleTypeDef hcan;

/* CAN init function */
void MX_CAN_Init(uint32_t Prescaler)
{

    /* 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 = 4;
    hcan.Init.Prescaler = Prescaler;
    hcan.Init.Mode = CAN_MODE_NORMAL;
    hcan.Init.SyncJumpWidth = CAN_SJW_1TQ;
    hcan.Init.TimeSeg1 = CAN_BS1_7TQ; // 100K
    hcan.Init.TimeSeg2 = CAN_BS2_1TQ;
    hcan.Init.TimeTriggeredMode = DISABLE;
    hcan.Init.AutoBusOff = ENABLE;
    hcan.Init.AutoWakeUp = DISABLE;
    hcan.Init.AutoRetransmission = DISABLE;
    hcan.Init.ReceiveFifoLocked = DISABLE;
    hcan.Init.TransmitFifoPriority = ENABLE;
    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
        PB8     ------> CAN_RX
        PB9     ------> CAN_TX
        */
        GPIO_InitStruct.Pin = GPIO_PIN_11;
        GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
        GPIO_InitStruct.Pull = GPIO_PULLUP;
        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);

        // __HAL_AFIO_REMAP_CAN1_1();

        /* 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);
        HAL_NVIC_SetPriority(CAN1_SCE_IRQn, 0, 0);
        HAL_NVIC_EnableIRQ(CAN1_SCE_IRQn);
        /* USER CODE BEGIN CAN1_MspInit 1 */
        CLEAR_BIT(canHandle->Instance->MCR, CAN_MCR_SLEEP);
        /* 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
        PB8     ------> CAN_RX
        PB9     ------> 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);
        HAL_NVIC_DisableIRQ(CAN1_RX1_IRQn);
        /* USER CODE BEGIN CAN1_MspDeInit 1 */

        /* USER CODE END CAN1_MspDeInit 1 */
    }
}

/* USER CODE BEGIN 1 */

/* USER CODE END 1 */