void HAL_CAN_MspInit(CAN_HandleTypeDef* hcan)
{
GPIO_InitTypeDef GPIO_InitStruct;
if(hcan->Instance==CAN1)
{
/* USER CODE BEGIN CAN1_MspInit 0 */
/* USER CODE END CAN1_MspInit 0 */
/* Peripheral clock enable */
CAN1_CLK_ENABLED++;
if(CAN1_CLK_ENABLED==1){
__CAN1_CLK_ENABLE();
}
/**CAN1 GPIO Configuration
PB8 ------> CAN1_RX
PB9 ------> CAN1_TX
*/
GPIO_InitStruct.Pin = CANRX1_Pin|CANTX1_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_LOW;
GPIO_InitStruct.Alternate = GPIO_AF9_CAN1;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
/* USER CODE BEGIN CAN1_MspInit 1 */
/* USER CODE END CAN1_MspInit 1 */
}
else if(hcan->Instance==CAN2)
{
/* USER CODE BEGIN CAN2_MspInit 0 */
/* USER CODE END CAN2_MspInit 0 */
/* Peripheral clock enable */
__CAN2_CLK_ENABLE();
CAN1_CLK_ENABLED++;
if(CAN1_CLK_ENABLED==1){
__CAN1_CLK_ENABLE();
}
/**CAN2 GPIO Configuration
PB5 ------> CAN2_RX
PB6 ------> CAN2_TX
*/
GPIO_InitStruct.Pin = CANRX2_Pin|CANTX2_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_LOW;
GPIO_InitStruct.Alternate = GPIO_AF9_CAN2;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
/* USER CODE BEGIN CAN2_MspInit 1 */
/* USER CODE END CAN2_MspInit 1 */
}
}
// assumes Init parameters have been set up correctly
STATIC bool can_init(pyb_can_obj_t *can_obj) {
CAN_TypeDef *CANx = NULL;
uint32_t sce_irq = 0;
const pin_obj_t *pins[2];
switch (can_obj->can_id) {
#if defined(MICROPY_HW_CAN1_TX)
case PYB_CAN_1:
CANx = CAN1;
sce_irq = CAN1_SCE_IRQn;
pins[0] = MICROPY_HW_CAN1_TX;
pins[1] = MICROPY_HW_CAN1_RX;
__CAN1_CLK_ENABLE();
break;
#endif
#if defined(MICROPY_HW_CAN2_TX)
case PYB_CAN_2:
CANx = CAN2;
sce_irq = CAN2_SCE_IRQn;
pins[0] = MICROPY_HW_CAN2_TX;
pins[1] = MICROPY_HW_CAN2_RX;
__CAN1_CLK_ENABLE(); // CAN2 is a "slave" and needs CAN1 enabled as well
__CAN2_CLK_ENABLE();
break;
#endif
default:
return false;
}
// init GPIO
uint32_t mode = MP_HAL_PIN_MODE_ALT;
uint32_t pull = MP_HAL_PIN_PULL_UP;
for (int i = 0; i < 2; i++) {
if (!mp_hal_pin_config_alt(pins[i], mode, pull, AF_FN_CAN, can_obj->can_id)) {
return false;
}
}
// init CANx
can_obj->can.Instance = CANx;
HAL_CAN_Init(&can_obj->can);
can_obj->is_enabled = true;
can_obj->num_error_warning = 0;
can_obj->num_error_passive = 0;
can_obj->num_bus_off = 0;
__HAL_CAN_ENABLE_IT(&can_obj->can, CAN_IT_ERR | CAN_IT_BOF | CAN_IT_EPV | CAN_IT_EWG);
HAL_NVIC_SetPriority(sce_irq, IRQ_PRI_CAN, IRQ_SUBPRI_CAN);
HAL_NVIC_EnableIRQ(sce_irq);
return true;
}
// assumes Init parameters have been set up correctly
STATIC bool can_init(pyb_can_obj_t *can_obj) {
CAN_TypeDef *CANx = NULL;
uint32_t GPIO_Pin = 0;
uint8_t GPIO_AF_CANx = 0;
GPIO_TypeDef* GPIO_Port = NULL;
switch (can_obj->can_id) {
// CAN1 is on RX,TX = Y3,Y4 = PB9,PB9
case PYB_CAN_1:
CANx = CAN1;
GPIO_AF_CANx = GPIO_AF9_CAN1;
GPIO_Port = GPIOB;
GPIO_Pin = GPIO_PIN_8 | GPIO_PIN_9;
__CAN1_CLK_ENABLE();
break;
// CAN2 is on RX,TX = Y5,Y6 = PB12,PB13
case PYB_CAN_2:
CANx = CAN2;
GPIO_AF_CANx = GPIO_AF9_CAN2;
GPIO_Port = GPIOB;
GPIO_Pin = GPIO_PIN_12 | GPIO_PIN_13;
__CAN1_CLK_ENABLE(); // CAN2 is a "slave" and needs CAN1 enabled as well
__CAN2_CLK_ENABLE();
break;
default:
return false;
}
// init GPIO
GPIO_InitTypeDef GPIO_InitStructure;
GPIO_InitStructure.Pin = GPIO_Pin;
GPIO_InitStructure.Speed = GPIO_SPEED_HIGH;
GPIO_InitStructure.Mode = GPIO_MODE_AF_PP;
GPIO_InitStructure.Pull = GPIO_PULLUP;
GPIO_InitStructure.Alternate = GPIO_AF_CANx;
HAL_GPIO_Init(GPIO_Port, &GPIO_InitStructure);
// init CANx
can_obj->can.Instance = CANx;
HAL_CAN_Init(&can_obj->can);
can_obj->is_enabled = true;
return true;
}
void HAL_CAN_MspInit(CAN_HandleTypeDef* hcan)
{
GPIO_InitTypeDef GPIO_InitStruct;
if(hcan->Instance==CAN2)
{
/* USER CODE BEGIN CAN2_MspInit 0 */
/* USER CODE END CAN2_MspInit 0 */
/* Peripheral clock enable */
__CAN2_CLK_ENABLE();
__CAN1_CLK_ENABLE();
/**CAN2 GPIO Configuration
PB5 ------> CAN2_RX
PB6 ------> CAN2_TX
*/
GPIO_InitStruct.Pin = GPIO_PIN_5|GPIO_PIN_6;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FAST;
GPIO_InitStruct.Alternate = GPIO_AF9_CAN2;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
/* USER CODE BEGIN CAN2_MspInit 1 */
/* USER CODE END CAN2_MspInit 1 */
}
}
void HAL_CAN_MspInit(CAN_HandleTypeDef* hcan)
{
GPIO_InitTypeDef GPIO_InitStruct;
if(hcan->Instance==CAN1)
{
/* USER CODE BEGIN CAN1_MspInit 0 */
/* USER CODE END CAN1_MspInit 0 */
/* Peripheral clock enable */
__CAN1_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_LOW;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/* USER CODE BEGIN CAN1_MspInit 1 */
/* USER CODE END CAN1_MspInit 1 */
}
}
void HAL_CAN_MspInit(CAN_HandleTypeDef* hcan)
{
GPIO_InitTypeDef GPIO_InitStruct;
if(hcan->Instance==CAN1)
{
/* Peripheral clock enable */
__CAN1_CLK_ENABLE();
hcan->pRxMsg = &canRxMsg1;
hcan->pTxMsg = &canTxMsg1;
hcan->Instance->MCR &= (~(uint32_t)CAN_MCR_DBF);
if (RTE_CAN1_RX_PORT==GPIOB || RTE_CAN1_TX_PORT==GPIOB)
__GPIOB_CLK_ENABLE();
if (RTE_CAN1_RX_PORT==GPIOD || RTE_CAN1_TX_PORT==GPIOD)
__GPIOD_CLK_ENABLE();
GPIO_InitStruct.Pin = 1<<RTE_CAN1_RX_BIT;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
GPIO_InitStruct.Alternate = GPIO_AF9_CAN1;
HAL_GPIO_Init(RTE_CAN1_RX_PORT, &GPIO_InitStruct);
GPIO_InitStruct.Pin = 1<<RTE_CAN1_TX_BIT;
HAL_GPIO_Init(RTE_CAN1_TX_PORT, &GPIO_InitStruct);
/* System interrupt init*/
HAL_NVIC_SetPriority(CAN1_RX0_IRQn, 1, 0);
HAL_NVIC_EnableIRQ(CAN1_RX0_IRQn);
HAL_NVIC_SetPriority(CAN1_TX_IRQn, 1, 0);
HAL_NVIC_EnableIRQ(CAN1_TX_IRQn);
HAL_NVIC_SetPriority(CAN1_SCE_IRQn, 1, 0);
HAL_NVIC_EnableIRQ(CAN1_SCE_IRQn);
}
}
/**
* @brief Enables the CAN2 interface with the current settings
* @param None
* @retval None
*/
static ErrorStatus prvEnableCan2Interface()
{
/*##-1- Enable peripheral Clocks ###########################################*/
/* CAN2 Peripheral clock enable */
__CAN1_CLK_ENABLE(); /* IMPORTANT!!! As CAN2 is a slave device we need to enable the clock for CAN1 as well */
__CAN2_CLK_ENABLE();
/*##-2- Configure the NVIC #################################################*/
/* NVIC configuration for CAN2 Reception complete interrupt */
HAL_NVIC_SetPriority(CAN2_RX0_IRQn, configLIBRARY_LOWEST_INTERRUPT_PRIORITY, 0);
HAL_NVIC_EnableIRQ(CAN2_RX0_IRQn);
HAL_NVIC_SetPriority(CAN2_TX_IRQn, configLIBRARY_LOWEST_INTERRUPT_PRIORITY, 0);
HAL_NVIC_EnableIRQ(CAN2_TX_IRQn);
/*##-3- Configure the CAN peripheral #######################################*/
if (HAL_CAN_Init(&CAN_Handle) != HAL_OK)
{
/* Initialization Error */
goto error;
}
/*##-4- Configure the CAN Filter ###########################################*/
if (HAL_CAN_ConfigFilter(&CAN_Handle, &CAN_Filter) != HAL_OK)
{
/* Filter configuration Error */
goto error;
}
/*##-5- Configure Transmission process #####################################*/
CAN_Handle.pTxMsg->StdId = 0x321;
CAN_Handle.pTxMsg->ExtId = 0x01;
CAN_Handle.pTxMsg->RTR = CAN_RTR_DATA;
CAN_Handle.pTxMsg->IDE = CAN_ID_STD;
CAN_Handle.pTxMsg->DLC = 2;
/*##-6- Start the Reception process and enable reception interrupt #########*/
if (HAL_CAN_Receive_IT(&CAN_Handle, CAN_FIFO1) != HAL_OK)
{
/* Reception Error */
goto error;
}
return SUCCESS;
error:
/* Something went wrong so disable */
prvDisableCan2Interface();
return ERROR;
}
void HAL_CAN_MspInit(CAN_HandleTypeDef* hcan)
{
GPIO_InitTypeDef GPIO_InitStruct;
if(hcan->Instance==CAN1)
{
/* USER CODE BEGIN CAN1_MspInit 0 */
/* USER CODE END CAN1_MspInit 0 */
/* Peripheral clock enable */
__CAN1_CLK_ENABLE();
/**CAN1 GPIO Configuration
PB8 ------> CAN1_RX
PB9 ------> CAN1_TX
*/
GPIO_InitStruct.Pin = GPIO_PIN_8|GPIO_PIN_9;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_PULLUP;
GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
GPIO_InitStruct.Alternate = GPIO_AF9_CAN1;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
/* Peripheral interrupt init*/
HAL_NVIC_SetPriority(CAN1_TX_IRQn, 5, 0);
HAL_NVIC_EnableIRQ(CAN1_TX_IRQn);
HAL_NVIC_SetPriority(CAN1_RX0_IRQn, 5, 0);
HAL_NVIC_EnableIRQ(CAN1_RX0_IRQn);
HAL_NVIC_SetPriority(CAN1_SCE_IRQn, 5, 0);
HAL_NVIC_EnableIRQ(CAN1_SCE_IRQn);
/* USER CODE BEGIN CAN1_MspInit 1 */
CAN_FilterConfTypeDef CAN_FilterInitStructure;
/* CAN filter init */
CAN_FilterInitStructure.FilterNumber = 0;
CAN_FilterInitStructure.FilterMode = CAN_FILTERMODE_IDMASK;
CAN_FilterInitStructure.FilterScale = CAN_FILTERSCALE_32BIT;
CAN_FilterInitStructure.FilterIdHigh = 0x0000;
CAN_FilterInitStructure.FilterIdLow = 0x0000;
CAN_FilterInitStructure.FilterMaskIdHigh = 0x0000;
CAN_FilterInitStructure.FilterMaskIdLow = 0x0000;
CAN_FilterInitStructure.FilterFIFOAssignment = 0;
CAN_FilterInitStructure.FilterActivation = ENABLE;
HAL_CAN_ConfigFilter(hcan, &CAN_FilterInitStructure);
/* USER CODE END CAN1_MspInit 1 */
}
}
/**
* @brief Enables the CAN1 interface with the current settings
* @param None
* @retval None
*/
static ErrorStatus prvEnableCan1Interface()
{
/*##-1- Enable peripheral Clocks ###########################################*/
/* CAN1 Peripheral clock enable */
__CAN1_CLK_ENABLE();
/*##-2- Configure the NVIC #################################################*/
HAL_NVIC_SetPriority(CAN1_RX0_IRQn, configLIBRARY_LOWEST_INTERRUPT_PRIORITY, 0);
HAL_NVIC_EnableIRQ(CAN1_RX0_IRQn);
HAL_NVIC_SetPriority(CAN1_TX_IRQn, configLIBRARY_LOWEST_INTERRUPT_PRIORITY, 0);
HAL_NVIC_EnableIRQ(CAN1_TX_IRQn);
/*##-3- Configure the CAN peripheral #######################################*/
if (HAL_CAN_Init(&CAN_Handle) != HAL_OK)
{
/* Initialization Error */
goto error;
}
/*##-4- Configure the CAN Filter ###########################################*/
if (HAL_CAN_ConfigFilter(&CAN_Handle, &CAN_Filter) != HAL_OK)
{
/* Filter configuration Error */
goto error;
}
/*##-6- Start the Reception process and enable reception interrupt #########*/
if (HAL_CAN_Receive_IT(&CAN_Handle, CAN_FIFO0) != HAL_OK)
{
/* Reception Error */
goto error;
}
return SUCCESS;
error:
/* Something went wrong so disable */
prvDisableCan1Interface();
return ERROR;
}
void HAL_CAN_MspInit(CAN_HandleTypeDef* hcan)
{
GPIO_InitTypeDef GPIO_InitStruct;
if(hcan->Instance==CAN1)
{
/* USER CODE BEGIN CAN1_MspInit 0 */
/* USER CODE END CAN1_MspInit 0 */
/* Peripheral clock enable */
__CAN1_CLK_ENABLE();
/**CAN1 GPIO Configuration
PD0 ------> CAN1_RX
PD1 ------> CAN1_TX
*/
GPIO_InitStruct.Pin = CANRX1_Pin|CANTX1_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
GPIO_InitStruct.Alternate = GPIO_AF9_CAN1;
HAL_GPIO_Init(GPIOD, &GPIO_InitStruct);
/* Peripheral interrupt init*/
HAL_NVIC_SetPriority(CAN1_TX_IRQn, 5, 0);
HAL_NVIC_EnableIRQ(CAN1_TX_IRQn);
HAL_NVIC_SetPriority(CAN1_RX0_IRQn, 5, 0);
HAL_NVIC_EnableIRQ(CAN1_RX0_IRQn);
HAL_NVIC_SetPriority(CAN1_RX1_IRQn, 5, 0);
HAL_NVIC_EnableIRQ(CAN1_RX1_IRQn);
HAL_NVIC_SetPriority(CAN1_SCE_IRQn, 5, 0);
HAL_NVIC_EnableIRQ(CAN1_SCE_IRQn);
/* USER CODE BEGIN CAN1_MspInit 1 */
/* USER CODE END CAN1_MspInit 1 */
}
}
/**
* @brief This function enable the CAN by enabling the peripheral clock
* @param hcan select the can handle
* @arg hcan_bsp1
* @arg hcan_bsp2
*/
static void BSP_CAN_MspInit(CAN_HandleTypeDef* hcan)
{
GPIO_InitTypeDef GPIO_InitStruct;
if(hcan == &hcan_bsp1)
{
/* Peripheral clock enable */
__CAN1_CLK_ENABLE();
/**CAN1 GPIO Configuration
PD0 ------> CAN1_RX
PD1 ------> CAN1_TX
*/
__GPIOD_CLK_ENABLE();
GPIO_InitStruct.Pin = GPIO_PIN_0|GPIO_PIN_1;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_LOW;
GPIO_InitStruct.Alternate = GPIO_AF9_CAN1;
HAL_GPIO_Init(GPIOD, &GPIO_InitStruct);
/* Peripheral interrupt init*/
HAL_NVIC_SetPriority(CAN1_RX1_IRQn, 2, 0);
HAL_NVIC_EnableIRQ(CAN1_RX1_IRQn);
HAL_NVIC_SetPriority(CAN1_RX0_IRQn, 2, 0);
HAL_NVIC_EnableIRQ(CAN1_RX0_IRQn);
HAL_NVIC_SetPriority(CAN1_TX_IRQn, 1, 0);
HAL_NVIC_EnableIRQ(CAN1_TX_IRQn);
HAL_NVIC_SetPriority(CAN1_SCE_IRQn, 1, 0);
HAL_NVIC_EnableIRQ(CAN1_SCE_IRQn);
}
else if(hcan == &hcan_bsp2)
{
/* Peripheral clock enable */
__CAN2_CLK_ENABLE();
__CAN1_CLK_ENABLE();
/**CAN2 GPIO Configuration
PB12 ------> CAN2_RX
PB13 ------> CAN2_TX
*/
__GPIOB_CLK_ENABLE();
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_LOW;
GPIO_InitStruct.Alternate = GPIO_AF9_CAN2;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
/* Peripheral interrupt init*/
HAL_NVIC_SetPriority(CAN2_RX1_IRQn, 2, 0);
HAL_NVIC_EnableIRQ(CAN2_RX1_IRQn);
HAL_NVIC_SetPriority(CAN2_RX0_IRQn, 2, 0);
HAL_NVIC_EnableIRQ(CAN2_RX0_IRQn);
HAL_NVIC_SetPriority(CAN2_TX_IRQn, 1, 0);
HAL_NVIC_EnableIRQ(CAN2_TX_IRQn);
HAL_NVIC_SetPriority(CAN2_SCE_IRQn, 1, 0);
HAL_NVIC_EnableIRQ(CAN2_SCE_IRQn);
}
}
