/////////////////////////////////////////////////////////////////////////////////////////
// Turn off motor drives
void DriveOff()
{
for (int ch = 0; ch < CAN_Ch_COUNT; ch++)
{
if (!CAN_Ch_Enabled[ch]) continue;
for (int node = 0; node < NODE_COUNT; node++)
{
if (!NODE_Enabled[ch][node]) continue;
// set communication mode PREPARED:
printf("set communication mode STOPPED...\n");
can_nmt_node_stop(CAN_Ch[ch], JointNodeID[ch][node]);
// flush can messages:
printf("flush can messages...\n");
can_flush(CAN_Ch[ch], JointNodeID[ch][node]);
}
}
}
static int can_init(const can_cfg_t *cfg)
{
GPIO_InitTypeDef GPIO_InitStructure;
RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE);
CAN_InitTypeDef CAN_InitStructure;
CAN_FilterInitTypeDef CAN_FilterInitStructure;
RCC_ClocksTypeDef RCC_Clocks;
#ifdef CONFIG_CAN1_REMAP
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO, ENABLE);
/*RX = PB8, TX = PB9 */
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
GPIO_Init(GPIOB, &GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_9;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOB, &GPIO_InitStructure);
GPIO_PinRemapConfig(GPIO_Remap1_CAN1 , ENABLE);
#else
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);
/*RX = PA11 TX = PA12 */
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_11;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
GPIO_Init(GPIOA, &GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOA, &GPIO_InitStructure);
#endif
/* CAN register init */
CAN_DeInit(CAN1);
CAN_StructInit(&CAN_InitStructure);
//get apb clock
RCC_GetClocksFreq(&RCC_Clocks);
/* CAN cell init */
CAN_InitStructure.CAN_TTCM = DISABLE;
CAN_InitStructure.CAN_ABOM = ENABLE;
CAN_InitStructure.CAN_AWUM = DISABLE;
CAN_InitStructure.CAN_NART = DISABLE;
CAN_InitStructure.CAN_RFLM = DISABLE;
CAN_InitStructure.CAN_TXFP = ENABLE;
CAN_InitStructure.CAN_Mode = (cfg -> silent) ? CAN_Mode_Silent : CAN_Mode_Normal;
CAN_InitStructure.CAN_SJW = CAN_SJW_1tq;
CAN_InitStructure.CAN_BS1 = CAN_BS1_3tq;
CAN_InitStructure.CAN_BS2 = CAN_BS2_5tq;
CAN_InitStructure.CAN_Prescaler = RCC_Clocks.PCLK1_Frequency/cfg->baud/(1+3+5);
CAN_Init(CAN1, &CAN_InitStructure);
/* CAN filter init */
CAN_FilterInitStructure.CAN_FilterNumber=0;
CAN_FilterInitStructure.CAN_FilterMode=CAN_FilterMode_IdMask;
CAN_FilterInitStructure.CAN_FilterScale=CAN_FilterScale_32bit;
CAN_FilterInitStructure.CAN_FilterIdHigh=0x0000;
CAN_FilterInitStructure.CAN_FilterIdLow=0x0000;
CAN_FilterInitStructure.CAN_FilterMaskIdHigh=0x0000;
CAN_FilterInitStructure.CAN_FilterMaskIdLow=0x0000;
CAN_FilterInitStructure.CAN_FilterFIFOAssignment=0 ;
CAN_FilterInitStructure.CAN_FilterActivation=ENABLE;
CAN_FilterInit(&CAN_FilterInitStructure);
#if ENABLE_CAN_INT
NVIC_InitTypeDef NVIC_InitStructure;
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_0);
#ifndef STM32F10X_CL
NVIC_InitStructure.NVIC_IRQChannel = USB_LP_CAN1_RX0_IRQn;
#else
NVIC_InitStructure.NVIC_IRQChannel = CAN1_RX0_IRQn;
#endif
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0x0;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0x0;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
CAN_ClearITPendingBit(CAN1, CAN_IT_FMP0);
CAN_ITConfig(CAN1, CAN_IT_FMP0, ENABLE);
circle_header = 0;
circle_tailer = 0;
circle_number = 0;
#endif
can_flush();
return 0;
}
