/**
* @brief CAN MSP Initialization
* This function configures the hardware resources used in this example:
* - Peripheral's clock enable
* - Peripheral's GPIO Configuration
* @param hcan: CAN handle pointer
* @retval None
*/
void HAL_CAN_MspInit(CAN_HandleTypeDef* hcan)
{
GPIO_InitTypeDef GPIO_InitStruct;
/*##-1- Enable peripherals and GPIO Clocks #################################*/
/* CAN1 Periph clock enable */
CANx_CLK_ENABLE();
/* Enable GPIO clock ****************************************/
CANx_GPIO_CLK_ENABLE();
/*##-2- Configure peripheral GPIO ##########################################*/
/* CAN1 TX GPIO pin configuration */
GPIO_InitStruct.Pin = CANx_TX_PIN;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Speed = GPIO_SPEED_FAST;
GPIO_InitStruct.Pull = GPIO_PULLUP;
GPIO_InitStruct.Alternate = CANx_TX_AF;
HAL_GPIO_Init(CANx_TX_GPIO_PORT, &GPIO_InitStruct);
/* CAN1 RX GPIO pin configuration */
GPIO_InitStruct.Pin = CANx_RX_PIN;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Speed = GPIO_SPEED_FAST;
GPIO_InitStruct.Pull = GPIO_PULLUP;
GPIO_InitStruct.Alternate = CANx_RX_AF;
HAL_GPIO_Init(CANx_TX_GPIO_PORT, &GPIO_InitStruct);
}
/**
* @brief CAN MSP Initialization
* This function configures the hardware resources used in this example:
* - Peripheral's clock enable
* - Peripheral's GPIO Configuration
* - NVIC configuration for DMA interrupt request enable
* @param hcan: CAN handle pointer
* @retval None
*/
void HAL_CAN_MspInit(CAN_HandleTypeDef* hcan)
{
GPIO_InitTypeDef GPIO_InitStruct;
/*##-1- Enable peripherals and GPIO Clocks #################################*/
/* CAN1 Periph clock enable */
CANx_CLK_ENABLE();
/* Enable GPIO clock ****************************************/
CANx_GPIO_CLK_ENABLE();
/*##-2- Configure peripheral GPIO ##########################################*/
/* CAN1 TX GPIO pin configuration */
GPIO_InitStruct.Pin = CANx_TX_PIN;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Speed = GPIO_SPEED_FAST;
GPIO_InitStruct.Pull = GPIO_PULLUP;
GPIO_InitStruct.Alternate = CANx_TX_AF;
HAL_GPIO_Init(CANx_TX_GPIO_PORT, &GPIO_InitStruct);
/* CAN1 RX GPIO pin configuration */
GPIO_InitStruct.Pin = CANx_RX_PIN;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Speed = GPIO_SPEED_FAST;
GPIO_InitStruct.Pull = GPIO_PULLUP;
GPIO_InitStruct.Alternate = CANx_RX_AF;
HAL_GPIO_Init(CANx_TX_GPIO_PORT, &GPIO_InitStruct);
/*##-3- Configure the NVIC #################################################*/
/* NVIC configuration for CAN1 Reception complete interrupt */
HAL_NVIC_SetPriority(CANx_RX_IRQn, 1, 0);
HAL_NVIC_EnableIRQ(CANx_RX_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 */
CANx_CLK_ENABLE();
/*##-2- Configure the NVIC #################################################*/
/* NVIC configuration for CAN2 Reception complete interrupt */
HAL_NVIC_SetPriority(CANx_RX_IRQn, configLIBRARY_LOWEST_INTERRUPT_PRIORITY, 0);
HAL_NVIC_EnableIRQ(CANx_RX_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_FIFO0) != HAL_OK)
{
/* Reception Error */
goto error;
}
return SUCCESS;
error:
/* Something went wrong so disable */
prvDisableCan2Interface();
return ERROR;
}
void HAL_CAN_MspInit(CAN_HandleTypeDef* hcan) {
(void)hcan;
__HAL_RCC_CAN1_CLK_ENABLE(); // Must always enable CAN1 clk even if we only use CAN2
{
__HAL_RCC_CAN1_CLK_ENABLE();
__HAL_RCC_CAN2_CLK_ENABLE();
}
CANx_CLK_ENABLE();
CANx_GPIO_CLK_ENABLE();
HAL_GPIO_Init(CANx_TX_GPIO_PORT, &(GPIO_InitTypeDef){
.Pin = CANx_TX_PIN,
.Mode = GPIO_MODE_AF_PP,
.Speed = GPIO_SPEED_FAST,
.Pull = GPIO_NOPULL, //GPIO_PULLUP,
.Alternate = CANx_TX_AF,
});