/** Filter out incomming messages.
*
* @param id the id to filter on.
* @param mask the mask applied to the id.
* @param format format to filter on (Default CANAny).
* @param handle message filter handle (Optional).
*
* @returns
* 0 if filter change failed or unsupported,
* new filter handle if successful
*/
int can_filter(can_t *obj, uint32_t id, uint32_t mask, CANFormat format, int32_t handle)
{
can_filter_parameter_struct can_filter;
can_filter.filter_number = handle;
can_filter.filter_mode = CAN_FILTERMODE_MASK;
can_filter.filter_bits = CAN_FILTERBITS_32BIT;
can_filter.filter_fifo_number = CAN_FIFO0;
can_filter.filter_enable = ENABLE;
switch (format) {
case CANStandard:
/* configure SFID[10:0] */
can_filter.filter_list_high = id << 5;
can_filter.filter_list_low = 0x0;
/* configure SFID[10:0] mask */
can_filter.filter_mask_high = mask << 5;
/* both data and remote frames can be received */
can_filter.filter_mask_low = 0x0;
break;
case CANExtended:
/* configure EFID[28:13] */
can_filter.filter_list_high = id >> 13;
/* configure EFID[12:0] and frame format bit set */
can_filter.filter_list_low = (0x00FF & (id << 3)) | (1 << 2);
/* configure EFID[28:13] mask */
can_filter.filter_mask_high = mask >> 13;
/* configure EFID[12:0] and frame format bit mask */
/* both data and remote frames can be received */
can_filter.filter_mask_low = (0x00FF & (mask << 3)) | (1 << 2);
break;
case CANAny:
error("CANAny mode is not supported \r\n");
return 0;
default:
error("parameter is not supported \r\n");
return 0;
}
can_filter_init(&can_filter);
can1_filter_start_bank(handle);
return handle;
}
/*!
\brief initialize CAN and filter
\param[in] can_parameter
\arg can_parameter_struct
\param[in] can_filter
\arg can_filter_parameter_struct
\param[out] none
\retval none
*/
void can_networking_init(can_parameter_struct can_parameter, can_filter_parameter_struct can_filter)
{
/* initialize CAN register */
can_deinit(CANX);
/* initialize CAN */
can_parameter.can_ttc=DISABLE;
can_parameter.can_abor=DISABLE;
can_parameter.can_awu=DISABLE;
can_parameter.can_ard=DISABLE;
can_parameter.can_rfod=DISABLE;
can_parameter.can_tfo=DISABLE;
can_parameter.can_mode=CAN_NORMAL_MODE;
can_parameter.can_sjw=CAN_BT_SJW_1TQ;
can_parameter.can_bs1=CAN_BT_BS1_3TQ;
can_parameter.can_bs2=CAN_BT_BS2_2TQ;
/* baudrate 1Mbps */
can_parameter.can_psc=12;
can_init(CANX, &can_parameter);
/* initialize filter */
#ifdef CAN0_USED
/* CAN0 filter number */
can_filter.can_filter_number=0;
#else
/* CAN1 filter number */
can_filter.can_filter_number=15;
#endif
/* initialize filter */
can_filter.can_filter_mode = CAN_FILTERMODE_MASK;
can_filter.can_filter_bits = CAN_FILTERBITS_32BIT;
can_filter.can_filter_list_high = 0x0000;
can_filter.can_filter_list_low = 0x0000;
can_filter.can_filter_mask_high = 0x0000;
can_filter.can_filter_mask_low = 0x0000;
can_filter.can_filter_fifo_number = CAN_FIFO0;
can_filter.can_filter_enable=ENABLE;
can_filter_init(&can_filter);
}
