int CAN_device_init(uint8_t channel, uint32_t baud)
{
pr_info("Initializing CAN");
pr_info_int(channel);
pr_info_int_msg(" with baud rate ", baud);
if (!initQueues()) {
pr_info("CAN init queues failed\r\n");
return 0;
}
switch (channel) {
case 0:
CAN_device_init_1(baud);
break;
case 1:
CAN_device_init_2(baud);
break;
default:
pr_info("CAN init device failed\r\n");
return 0;
}
/* Clear out all filter values except 0. It accepts all. */
CAN_device_set_filter(channel, 0, 1, 0, 0, true);
for (size_t i = 1; i < CAN_FILTER_COUNT; ++i)
CAN_device_set_filter(channel, i, 0, 0, 0, false);
pr_info("CAN init success!\r\n");
return 1;
}
static void CAN_device_init_1(int baud)
{
CAN_DeInit(CAN1);
/* CAN GPIOs configuration ************************************************* */
/* Enable GPIO clock */
RCC_AHBPeriphClockCmd(RCC_AHBPeriph_GPIOB, ENABLE);
/* Connect CAN pins to Alternate Function */
GPIO_PinAFConfig(GPIOB, GPIO_PinSource8, GPIO_AF_9);
GPIO_PinAFConfig(GPIOB, GPIO_PinSource9, GPIO_AF_9);
initGPIO(GPIOB, GPIO_Pin_8 | GPIO_Pin_9);
/* CAN configuration ******************************************************* */
/* Enable CAN clock */
RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE);
initCAN(CAN1, baud);
//set default filter
CAN_device_set_filter(0, 0, 0, 0, 0);
/* Enable FIFO 0 message pending Interrupt */
CAN_ITConfig(CAN1, CAN_IT_FMP0, ENABLE);
initCANInterrupts(CAN1, USB_LP_CAN1_RX0_IRQn);
}
int CAN_set_filter(uint8_t channel, uint8_t id, uint8_t extended,
uint32_t filter, uint32_t mask, const bool enabled)
{
return CAN_device_set_filter(channel, id, extended, filter,
mask, enabled);
}
