EXPORT Std_ReturnType Can_Hw_InitController(uint8 controller,const Can_ControllerConfigType* config)
{
CAN_HW_t *canHw;
uint8_t tq;
uint8_t tqSync;
uint8_t tq1;
uint8_t tq2;
uint32_t clock;
Can_UnitType *canUnit;
uint8 cId = controller;
const Can_ControllerConfigType *canHwConfig;
const Can_HardwareObjectType *hohObj;
canUnit = CAN_GET_PRIVATE_DATA(controller);
canHw = GetController(cId);
canHwConfig = CAN_GET_CONTROLLER_CONFIG(Can_Global.channelMap[cId]);
// Start this baby up
CAN_DeInit(canHw);
/* CAN filter init. We set up two filters - one for the master (CAN1) and
* one for the slave (CAN2)
*
* CAN_SlaveStartBank(n) denotes which filter is the first of the slave.
*
* The filter registers reside in CAN1 and is shared to CAN2, so we only need
* to set up this once.
*/
// We let all frames in and do the filtering in software.
CAN_FilterInitTypeDef CAN_FilterInitStructure;
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=CAN_FIFO0;
CAN_FilterInitStructure.CAN_FilterActivation=ENABLE;
// Init filter 0 (CAN1/master)
CAN_FilterInitStructure.CAN_FilterNumber=0;
CAN_FilterInit(&CAN_FilterInitStructure);
// Init filter 1 (CAN2/slave)
CAN_FilterInitStructure.CAN_FilterNumber=1;
CAN_FilterInit(&CAN_FilterInitStructure);
// Set which filter to use for CAN2.
CAN_SlaveStartBank(1);
// acceptance filters
hohObj = canHwConfig->Can_Hoh;
--hohObj;
do {
++hohObj;
if (hohObj->CanObjectType == CAN_OBJECT_TYPE_RECEIVE)
{
// TODO Hw filtering
}
}while( !hohObj->Can_EOL );
// Clock calucation
// -------------------------------------------------------------------
//
// * 1 TQ = Sclk period( also called SCK )
// * Ftq = Fcanclk / ( PRESDIV + 1 ) = Sclk
// ( Fcanclk can come from crystal or from the peripheral dividers )
//
// -->
// TQ = 1/Ftq = (PRESDIV+1)/Fcanclk --> PRESDIV = (TQ * Fcanclk - 1 )
// TQ is between 8 and 25
clock = McuE_GetSystemClock()/2;
tqSync = config->CanControllerPropSeg + 1;
tq1 = config->CanControllerSeg1 + 1;
tq2 = config->CanControllerSeg2 + 1;
tq = tqSync + tq1 + tq2;
CAN_InitTypeDef CAN_InitStructure;
CAN_StructInit(&CAN_InitStructure);
/* CAN cell init */
CAN_InitStructure.CAN_TTCM=DISABLE;
CAN_InitStructure.CAN_ABOM=ENABLE;
CAN_InitStructure.CAN_AWUM=ENABLE;
CAN_InitStructure.CAN_NART=DISABLE;
CAN_InitStructure.CAN_RFLM=DISABLE;
CAN_InitStructure.CAN_TXFP=DISABLE;
if(config->Can_Loopback){
CAN_InitStructure.CAN_Mode=CAN_Mode_LoopBack;
}else{
CAN_InitStructure.CAN_Mode=CAN_Mode_Normal;
}
CAN_InitStructure.CAN_SJW=config->CanControllerPropSeg;
CAN_InitStructure.CAN_BS1=config->CanControllerSeg1;
CAN_InitStructure.CAN_BS2=config->CanControllerSeg2;
CAN_InitStructure.CAN_Prescaler= clock/(config->CanControllerBaudRate*1000*tq);
if(CANINITOK != CAN_Init(canHw,&CAN_InitStructure))
{
return E_NOT_OK;
}
canUnit->state = CANIF_CS_STOPPED;
Can_EnableControllerInterrupts(cId);
return E_OK;
}
void BWM_5S_CanBus_Config(void)
{
CAN_InitTypeDef CAN_InitStructure;
CAN_FilterInitTypeDef CAN_FilterInitStructure;
/* CAN register init */
// CAN_DeInit();
/* CAN1 and CAN2 register init */
CAN_DeInit(CAN1);
CAN_DeInit(CAN2);
/* Struct init*/
CAN_StructInit(&CAN_InitStructure);
CAN_FilterInit(&CAN_FilterInitStructure); //初始化CAN_FilterInitStructrue结构体变量
/* CAN cell init */
CAN_InitStructure.CAN_TTCM = DISABLE; //禁止时间触发通信模式
CAN_InitStructure.CAN_ABOM = DISABLE;
CAN_InitStructure.CAN_AWUM = DISABLE;
CAN_InitStructure.CAN_NART = DISABLE;
//CAN报文只被发送1次，不管发送的结果如何（成功、出错或仲裁丢失）
CAN_InitStructure.CAN_RFLM = DISABLE;
CAN_InitStructure.CAN_TXFP = DISABLE;
CAN_InitStructure.CAN_Mode = CAN_Mode_Normal;
CAN_InitStructure.CAN_SJW = CAN_SJW_1tq;
CAN_InitStructure.CAN_BS1 = CAN_BS1_13tq; //1--16
CAN_InitStructure.CAN_BS2 = CAN_BS2_2tq; //1--8
CAN_InitStructure.CAN_Prescaler = 4;
////(pclk1/((1+8+7)*16)) = 32Mhz/16/20 = 100Kbits
//CAN_Init(&CAN_InitStructure);
/*Initializes the CAN1 and CAN2 */
CAN_Init(CAN1, &CAN_InitStructure);
/* CAN cell init */
CAN_InitStructure.CAN_TTCM = DISABLE; //禁止时间触发通信模式
CAN_InitStructure.CAN_ABOM = DISABLE;
CAN_InitStructure.CAN_AWUM = DISABLE;
CAN_InitStructure.CAN_NART = DISABLE;
//CAN报文只被发送1次，不管发送的结果如何（成功、出错或仲裁丢失）
CAN_InitStructure.CAN_RFLM = DISABLE;
CAN_InitStructure.CAN_TXFP = DISABLE;
CAN_InitStructure.CAN_Mode = CAN_Mode_Normal;
CAN_InitStructure.CAN_SJW = CAN_SJW_1tq;
CAN_InitStructure.CAN_BS1 = CAN_BS1_13tq; //1--16
CAN_InitStructure.CAN_BS2 = CAN_BS2_2tq; //1--8
CAN_InitStructure.CAN_Prescaler = 4;//20
////(pclk1/((1+8+7)*16)) = 32Mhz/16/20 = 100Kbits
CAN_Init(CAN2, &CAN_InitStructure);
CAN_FilterInitStructure.CAN_FilterNumber=0; /* 过滤器0 */
CAN_FilterInitStructure.CAN_FilterMode=CAN_FilterMode_IdMask; /* 屏敝模式 */
CAN_FilterInitStructure.CAN_FilterScale=CAN_FilterScale_32bit; /* 32位 */
CAN_FilterInitStructure.CAN_FilterIdHigh=0x0000; /* 以下四个都为0, 表明不过滤任何id */
CAN_FilterInitStructure.CAN_FilterIdLow=0x0000;
CAN_FilterInitStructure.CAN_FilterMaskIdHigh=0x0000;
CAN_FilterInitStructure.CAN_FilterMaskIdLow=0x0000;
CAN_FilterInitStructure.CAN_FilterFIFOAssignment = CAN_FIFO0; //选择FIFO0
CAN_FilterInitStructure.CAN_FilterActivation = ENABLE; //使能过滤器
CAN_FilterInit(&CAN_FilterInitStructure); //进入初始化函数
CAN_SlaveStartBank(0);//5,Miller.Tao
}
void Can_FILTER_Config(void)
{
int8_t i=0;
int8_t can1_filter_bank = 0,can2_filter_bank = 15;
int8_t can1_fifo0_num = 0,can1_fifo1_num = 0;
int8_t can2_fifo0_num = 0,can2_fifo1_num = 0;
uint16_t temp1[14*4]={0};
uint16_t temp2[14*4]={0};
uint16_t temp3[14*4]={0};
uint16_t temp4[14*4]={0};
CAN_FilterInitTypeDef CAN_FilterInitStructure;
#if USE_CAN2_R0 || USE_CAN2_R1
CAN_SlaveStartBank(15);
#endif
for(i=0;i<Can_Data_Num;i++)
{
if(Can_Database[i].Data_type==READ_ONLY)
{
if(Can_Database[i].Channel==1)
{
if(Can_Database[i].Fifo_num==CAN_Filter_FIFO0)
{
temp1[can1_fifo0_num] = (uint16_t)(Can_Database[i].Data_ID)<<5;
can1_fifo0_num++;
}else
{
temp2[can1_fifo1_num] = (uint16_t)(Can_Database[i].Data_ID)<<5;
can1_fifo1_num++;
}
}
else if(Can_Database[i].Channel==2)
{
if(Can_Database[i].Fifo_num==CAN_Filter_FIFO0)
{
temp3[can2_fifo0_num] = (uint16_t)(Can_Database[i].Data_ID)<<5;
can2_fifo0_num++;
}else
{
temp4[can2_fifo1_num] = (uint16_t)(Can_Database[i].Data_ID)<<5;
can2_fifo1_num++;
}
}
}
}
for(i=0;i<(3 - (can1_fifo0_num-1)%4);i++)
{
temp1[can1_fifo0_num+i] = temp1[can1_fifo0_num-1];
}
for(i=0;i<(3 - (can1_fifo1_num-1)%4);i++)
{
temp2[can1_fifo1_num+i] = temp2[can1_fifo1_num-1];
}
for(i=0;i<(3 - (can2_fifo0_num-1)%4);i++)
{
temp3[can2_fifo0_num+i] = temp3[can2_fifo0_num-1];
}
for(i=0;i<(3 - (can2_fifo1_num-1)%4);i++)
{
temp4[can2_fifo1_num+i] = temp4[can2_fifo1_num-1];
}
CAN_FilterInitStructure.CAN_FilterMode = CAN_FilterMode_IdList;
CAN_FilterInitStructure.CAN_FilterScale = CAN_FilterScale_16bit;
CAN_FilterInitStructure.CAN_FilterActivation = ENABLE;
if(can1_fifo0_num>0)
{
for(i=0;i<=((can1_fifo0_num-1) / 4);i++)
{
CAN_FilterInitStructure.CAN_FilterNumber = can1_filter_bank;
can1_filter_bank++;
CAN_FilterInitStructure.CAN_FilterIdHigh = temp1[4*i+0];
CAN_FilterInitStructure.CAN_FilterIdLow = temp1[4*i+1];
CAN_FilterInitStructure.CAN_FilterMaskIdHigh= temp1[4*i+2];
CAN_FilterInitStructure.CAN_FilterMaskIdLow = temp1[4*i+3];
CAN_FilterInitStructure.CAN_FilterFIFOAssignment = CAN_Filter_FIFO0;
CAN_FilterInit(&CAN_FilterInitStructure);
}
}
if(can1_fifo1_num>0)
{
for(i=0;i<=((can1_fifo1_num-1) / 4);i++)
{
CAN_FilterInitStructure.CAN_FilterNumber = can1_filter_bank;
can1_filter_bank++;
CAN_FilterInitStructure.CAN_FilterIdHigh = temp2[4*i+0];
CAN_FilterInitStructure.CAN_FilterIdLow = temp2[4*i+1];
CAN_FilterInitStructure.CAN_FilterMaskIdHigh= temp2[4*i+2];
CAN_FilterInitStructure.CAN_FilterMaskIdLow = temp2[4*i+3];
CAN_FilterInitStructure.CAN_FilterFIFOAssignment = CAN_Filter_FIFO1;
CAN_FilterInit(&CAN_FilterInitStructure);
}
}
if(can2_fifo0_num>0)
{
for(i=0;i<=((can2_fifo0_num-1) / 4);i++)
{
CAN_FilterInitStructure.CAN_FilterNumber = can2_filter_bank;
can2_filter_bank++;
CAN_FilterInitStructure.CAN_FilterIdHigh = temp3[4*i+0];
CAN_FilterInitStructure.CAN_FilterIdLow = temp3[4*i+1];
CAN_FilterInitStructure.CAN_FilterMaskIdHigh= temp3[4*i+2];
CAN_FilterInitStructure.CAN_FilterMaskIdLow = temp3[4*i+3];
CAN_FilterInitStructure.CAN_FilterFIFOAssignment = CAN_Filter_FIFO0;
CAN_FilterInit(&CAN_FilterInitStructure);
}
}
if(can2_fifo1_num>0)
{
for(i=0;i<=((can2_fifo1_num-1) / 4);i++)
{
CAN_FilterInitStructure.CAN_FilterNumber = can2_filter_bank;
can2_filter_bank++;
CAN_FilterInitStructure.CAN_FilterIdHigh = temp4[4*i+0];
CAN_FilterInitStructure.CAN_FilterIdLow = temp4[4*i+1];
CAN_FilterInitStructure.CAN_FilterMaskIdHigh= temp4[4*i+2];
CAN_FilterInitStructure.CAN_FilterMaskIdLow = temp4[4*i+3];
CAN_FilterInitStructure.CAN_FilterFIFOAssignment = CAN_Filter_FIFO1;
CAN_FilterInit(&CAN_FilterInitStructure);
}
}
}
