/**
* @brief Initializes the CAN peripheral according to the specified
* parameters in the CAN_FilterInitStruct.
* @param CAN_FilterInitStruct: pointer to a CAN_FilterInitTypeDef
* structure that contains the configuration information.
* @retval : None.
*/
void CAN_FilterInit(CAN_FilterInitTypeDef* CAN_FilterInitStruct)
{
uint32_t filter_number_bit_pos = 0;
/* Check the parameters */
assert_param(IS_CAN_FILTER_NUMBER(CAN_FilterInitStruct->CAN_FilterNumber));
assert_param(IS_CAN_FILTER_MODE(CAN_FilterInitStruct->CAN_FilterMode));
assert_param(IS_CAN_FILTER_SCALE(CAN_FilterInitStruct->CAN_FilterScale));
assert_param(IS_CAN_FILTER_FIFO(CAN_FilterInitStruct->CAN_FilterFIFOAssignment));
assert_param(IS_FUNCTIONAL_STATE(CAN_FilterInitStruct->CAN_FilterActivation));
filter_number_bit_pos =
(uint32_t)(((uint32_t)0x00000001) << ((uint32_t)CAN_FilterInitStruct->CAN_FilterNumber));
/* Initialisation mode for the filter */
CAN1->FMR |= FMR_FINIT;
/* Filter Deactivation */
CAN1->FA1R &= ~(uint32_t)filter_number_bit_pos;
/* Filter Scale */
if (CAN_FilterInitStruct->CAN_FilterScale == CAN_FilterScale_16bit)
{
/* 16-bit scale for the filter */
CAN1->FS1R &= ~(uint32_t)filter_number_bit_pos;
/* First 16-bit identifier and First 16-bit mask */
/* Or First 16-bit identifier and Second 16-bit identifier */
CAN1->sFilterRegister[CAN_FilterInitStruct->CAN_FilterNumber].FR1 =
((uint32_t)((uint32_t)0x0000FFFF & CAN_FilterInitStruct->CAN_FilterMaskIdLow) << 16) |
((uint32_t)0x0000FFFF & CAN_FilterInitStruct->CAN_FilterIdLow);
/* Second 16-bit identifier and Second 16-bit mask */
/* Or Third 16-bit identifier and Fourth 16-bit identifier */
CAN1->sFilterRegister[CAN_FilterInitStruct->CAN_FilterNumber].FR2 =
((uint32_t)((uint32_t)0x0000FFFF & CAN_FilterInitStruct->CAN_FilterMaskIdHigh) << 16) |
((uint32_t)0x0000FFFF & CAN_FilterInitStruct->CAN_FilterIdHigh);
}
if (CAN_FilterInitStruct->CAN_FilterScale == CAN_FilterScale_32bit)
{
/* 32-bit scale for the filter */
CAN1->FS1R |= filter_number_bit_pos;
/* 32-bit identifier or First 32-bit identifier */
CAN1->sFilterRegister[CAN_FilterInitStruct->CAN_FilterNumber].FR1 =
((uint32_t)((uint32_t)0x0000FFFF & CAN_FilterInitStruct->CAN_FilterIdHigh) << 16) |
((uint32_t)0x0000FFFF & CAN_FilterInitStruct->CAN_FilterIdLow);
/* 32-bit mask or Second 32-bit identifier */
CAN1->sFilterRegister[CAN_FilterInitStruct->CAN_FilterNumber].FR2 =
((uint32_t)((uint32_t)0x0000FFFF & CAN_FilterInitStruct->CAN_FilterMaskIdHigh) << 16) |
((uint32_t)0x0000FFFF & CAN_FilterInitStruct->CAN_FilterMaskIdLow);
}
/* Filter Mode */
if (CAN_FilterInitStruct->CAN_FilterMode == CAN_FilterMode_IdMask)
{
/*Id/Mask mode for the filter*/
CAN1->FM1R &= ~(uint32_t)filter_number_bit_pos;
}
else /* CAN_FilterInitStruct->CAN_FilterMode == CAN_FilterMode_IdList */
{
/*Identifier list mode for the filter*/
CAN1->FM1R |= (uint32_t)filter_number_bit_pos;
}
/* Filter FIFO assignment */
if (CAN_FilterInitStruct->CAN_FilterFIFOAssignment == CAN_FilterFIFO0)
{
/* FIFO 0 assignation for the filter */
CAN1->FFA1R &= ~(uint32_t)filter_number_bit_pos;
}
if (CAN_FilterInitStruct->CAN_FilterFIFOAssignment == CAN_FilterFIFO1)
{
/* FIFO 1 assignation for the filter */
CAN1->FFA1R |= (uint32_t)filter_number_bit_pos;
}
/* Filter activation */
if (CAN_FilterInitStruct->CAN_FilterActivation == ENABLE)
{
CAN1->FA1R |= filter_number_bit_pos;
}
/* Leave the initialisation mode for the filter */
CAN1->FMR &= ~FMR_FINIT;
}
/**
* @brief Configures the CAN reception filter according to the specified
* parameters in the CAN_FilterInitStruct.
* @param hcan: pointer to a CAN_HandleTypeDef structure that contains
* the configuration information for the specified CAN.
* @param sFilterConfig: pointer to a CAN_FilterConfTypeDef structure that
* contains the filter configuration information.
* @retval None
*/
HAL_StatusTypeDef HAL_CAN_ConfigFilter(CAN_HandleTypeDef* hcan, CAN_FilterConfTypeDef* sFilterConfig)
{
uint32_t filternbrbitpos = 0;
/* Check the parameters */
assert_param(IS_CAN_FILTER_NUMBER(sFilterConfig->FilterNumber));
assert_param(IS_CAN_FILTER_MODE(sFilterConfig->FilterMode));
assert_param(IS_CAN_FILTER_SCALE(sFilterConfig->FilterScale));
assert_param(IS_CAN_FILTER_FIFO(sFilterConfig->FilterFIFOAssignment));
assert_param(IS_FUNCTIONAL_STATE(sFilterConfig->FilterActivation));
assert_param(IS_CAN_BANKNUMBER(sFilterConfig->BankNumber));
filternbrbitpos = ((uint32_t)1) << sFilterConfig->FilterNumber;
/* Initialisation mode for the filter */
hcan->Instance->FMR |= (uint32_t)CAN_FMR_FINIT;
/* Filter Deactivation */
hcan->Instance->FA1R &= ~(uint32_t)filternbrbitpos;
/* Filter Scale */
if (sFilterConfig->FilterScale == CAN_FILTERSCALE_16BIT)
{
/* 16-bit scale for the filter */
hcan->Instance->FS1R &= ~(uint32_t)filternbrbitpos;
/* First 16-bit identifier and First 16-bit mask */
/* Or First 16-bit identifier and Second 16-bit identifier */
hcan->Instance->sFilterRegister[sFilterConfig->FilterNumber].FR1 =
((0x0000FFFF & (uint32_t)sFilterConfig->FilterMaskIdLow) << 16) |
(0x0000FFFF & (uint32_t)sFilterConfig->FilterIdLow);
/* Second 16-bit identifier and Second 16-bit mask */
/* Or Third 16-bit identifier and Fourth 16-bit identifier */
hcan->Instance->sFilterRegister[sFilterConfig->FilterNumber].FR2 =
((0x0000FFFF & (uint32_t)sFilterConfig->FilterMaskIdHigh) << 16) |
(0x0000FFFF & (uint32_t)sFilterConfig->FilterIdHigh);
}
if (sFilterConfig->FilterScale == CAN_FILTERSCALE_32BIT)
{
/* 32-bit scale for the filter */
hcan->Instance->FS1R |= filternbrbitpos;
/* 32-bit identifier or First 32-bit identifier */
hcan->Instance->sFilterRegister[sFilterConfig->FilterNumber].FR1 =
((0x0000FFFF & (uint32_t)sFilterConfig->FilterIdHigh) << 16) |
(0x0000FFFF & (uint32_t)sFilterConfig->FilterIdLow);
/* 32-bit mask or Second 32-bit identifier */
hcan->Instance->sFilterRegister[sFilterConfig->FilterNumber].FR2 =
((0x0000FFFF & (uint32_t)sFilterConfig->FilterMaskIdHigh) << 16) |
(0x0000FFFF & (uint32_t)sFilterConfig->FilterMaskIdLow);
}
/* Filter Mode */
if (sFilterConfig->FilterMode == CAN_FILTERMODE_IDMASK)
{
/*Id/Mask mode for the filter*/
hcan->Instance->FM1R &= ~(uint32_t)filternbrbitpos;
}
else /* CAN_FilterInitStruct->CAN_FilterMode == CAN_FilterMode_IdList */
{
/*Identifier list mode for the filter*/
hcan->Instance->FM1R |= (uint32_t)filternbrbitpos;
}
/* Filter FIFO assignment */
if (sFilterConfig->FilterFIFOAssignment == CAN_FILTER_FIFO0)
{
/* FIFO 0 assignation for the filter */
hcan->Instance->FFA1R &= ~(uint32_t)filternbrbitpos;
}
if (sFilterConfig->FilterFIFOAssignment == CAN_FILTER_FIFO1)
{
/* FIFO 1 assignation for the filter */
hcan->Instance->FFA1R |= (uint32_t)filternbrbitpos;
}
/* Filter activation */
if (sFilterConfig->FilterActivation == ENABLE)
{
hcan->Instance->FA1R |= filternbrbitpos;
}
/* Leave the initialisation mode for the filter */
hcan->Instance->FMR &= ~((uint32_t)CAN_FMR_FINIT);
/* Return function status */
return HAL_OK;
}
/*******************************************************************************
* 函数名称: CAN_FilterInit
* 功能描述: 根据CAN_FilterInitStruct中指定的参数初始化CAN外围模块。
* 输入参数: CAN_FilterInitStruct: 指向结构体CAN_FilterInitTypeDef的指针，它包含了配置信息。
* 输出参数: 无.
* 返回参数: 无.
*******************************************************************************/
void CAN_FilterInit(CAN_FilterInitTypeDef* CAN_FilterInitStruct)
{
u16 FilterNumber_BitPos = 0;
/* Check the parameters [检查参数]*/
assert_param(IS_CAN_FILTER_NUMBER(CAN_FilterInitStruct->CAN_FilterNumber));
assert_param(IS_CAN_FILTER_MODE(CAN_FilterInitStruct->CAN_FilterMode));
assert_param(IS_CAN_FILTER_SCALE(CAN_FilterInitStruct->CAN_FilterScale));
assert_param(IS_CAN_FILTER_FIFO(CAN_FilterInitStruct->CAN_FilterFIFOAssignment));
assert_param(IS_FUNCTIONAL_STATE(CAN_FilterInitStruct->CAN_FilterActivation));
FilterNumber_BitPos =
(u16)((u16)0x0001 << ((u16)CAN_FilterInitStruct->CAN_FilterNumber));
/* Initialisation mode for the filter [初始化滤波器模式]*/
CAN->FMR |= CAN_FMR_FINIT;
/* Filter Deactivation [禁止滤波器]*/
CAN->FA1R &= ~(u32)FilterNumber_BitPos;
/* Filter Scale [滤波器尺度]*/
if (CAN_FilterInitStruct->CAN_FilterScale == CAN_FilterScale_16bit)
{
/* 16-bit scale for the filter [16位的滤波器尺]*/
CAN->FS1R &= ~(u32)FilterNumber_BitPos;
/* First 16-bit identifier and First 16-bit mask [第一个16位标示符和第一个16位的屏蔽]*/
/* Or First 16-bit identifier and Second 16-bit identifier [或第一个16位标示符和第二个16位的标示符]*/
CAN->sFilterRegister[CAN_FilterInitStruct->CAN_FilterNumber].FR1 =
((u32)((u32)0x0000FFFF & CAN_FilterInitStruct->CAN_FilterMaskIdLow) << 16) |
((u32)0x0000FFFF & CAN_FilterInitStruct->CAN_FilterIdLow);
/* Second 16-bit identifier and Second 16-bit mask [第二个16位标示符和第一个16位的屏蔽]*/
/* Or Third 16-bit identifier and Fourth 16-bit identifier [或第三个16位标示符和第四个16位的标示符]*/
CAN->sFilterRegister[CAN_FilterInitStruct->CAN_FilterNumber].FR2 =
((u32)((u32)0x0000FFFF & CAN_FilterInitStruct->CAN_FilterMaskIdHigh) << 16) |
((u32)0x0000FFFF & CAN_FilterInitStruct->CAN_FilterIdHigh);
}
if (CAN_FilterInitStruct->CAN_FilterScale == CAN_FilterScale_32bit)
{
/* 32-bit scale for the filter [32位的滤波器尺]*/
CAN->FS1R |= FilterNumber_BitPos;
/* 32-bit identifier or First 32-bit identifier [32位标示符和第一个32位的标示符]*/
CAN->sFilterRegister[CAN_FilterInitStruct->CAN_FilterNumber].FR1 =
((u32)((u32)0x0000FFFF & CAN_FilterInitStruct->CAN_FilterIdHigh) << 16) |
((u32)0x0000FFFF & CAN_FilterInitStruct->CAN_FilterIdLow);
/* 32-bit mask or Second 32-bit identifier [32位的屏蔽或第二个32位标示符]*/
CAN->sFilterRegister[CAN_FilterInitStruct->CAN_FilterNumber].FR2 =
((u32)((u32)0x0000FFFF & CAN_FilterInitStruct->CAN_FilterMaskIdHigh) << 16) |
((u32)0x0000FFFF & CAN_FilterInitStruct->CAN_FilterMaskIdLow);
}
/* Filter Mode [滤波器模式]*/
if (CAN_FilterInitStruct->CAN_FilterMode == CAN_FilterMode_IdMask)
{
/*Id/Mask mode for the filter[滤波器Id/Mask模式]*/
CAN->FM1R &= ~(u32)FilterNumber_BitPos;
}
else /* CAN_FilterInitStruct->CAN_FilterMode == CAN_FilterMode_IdList */
{
/*Identifier list mode for the filter滤波器标示符列表模式*/
CAN->FM1R |= (u32)FilterNumber_BitPos;
}
/* Filter FIFO assignment [滤波器FIFO分配]*/
if (CAN_FilterInitStruct->CAN_FilterFIFOAssignment == CAN_FilterFIFO0)
{
/* FIFO 0 assignation for the filter [FIFO 0分配给滤波器]*/
CAN->FFA1R &= ~(u32)FilterNumber_BitPos;
}
if (CAN_FilterInitStruct->CAN_FilterFIFOAssignment == CAN_FilterFIFO1)
{
/* FIFO 1 assignation for the filter [FIFO 1分配给滤波器]*/
CAN->FFA1R |= (u32)FilterNumber_BitPos;
}
/* Filter activation [激活滤波器]*/
if (CAN_FilterInitStruct->CAN_FilterActivation == ENABLE)
{
CAN->FA1R |= FilterNumber_BitPos;
}
/* Leave the initialisation mode for the filter [退出滤波器初始化模式]*/
CAN->FMR &= ~CAN_FMR_FINIT;
}
