/**
* @brief Select the start bank filter for slave CAN.
* @note This function applies only to STM32 Connectivity line devices.
* @param CAN_BankNumber: Select the start slave bank filter from 1..27.
* @retval None.
*/
void CAN_SlaveStartBank(uint8_t CAN_BankNumber)
{
/* Check the parameters */
assert_param(IS_CAN_BANKNUMBER(CAN_BankNumber));
/* enter Initialisation mode for the filter */
CAN1->FMR |= FMR_FINIT;
/* Select the start slave bank */
CAN1->FMR &= (uint32_t)0xFFFFC0F1 ;
CAN1->FMR |= (uint32_t)(CAN_BankNumber)<<8;
/* Leave Initialisation mode for the filter */
CAN1->FMR &= ~FMR_FINIT;
}
/**
* @brief Configures the CAN reception filter according to the specified
* parameters in the CAN_FilterInitStruct.
* @param hcan: pointer to a CAN_HandleTypeDef structure that contains
* the configuration information for the specified CAN.
* @param sFilterConfig: pointer to a CAN_FilterConfTypeDef structure that
* contains the filter configuration information.
* @retval None
*/
HAL_StatusTypeDef HAL_CAN_ConfigFilter(CAN_HandleTypeDef* hcan, CAN_FilterConfTypeDef* sFilterConfig)
{
uint32_t filternbrbitpos = 0;
/* Check the parameters */
assert_param(IS_CAN_FILTER_NUMBER(sFilterConfig->FilterNumber));
assert_param(IS_CAN_FILTER_MODE(sFilterConfig->FilterMode));
assert_param(IS_CAN_FILTER_SCALE(sFilterConfig->FilterScale));
assert_param(IS_CAN_FILTER_FIFO(sFilterConfig->FilterFIFOAssignment));
assert_param(IS_FUNCTIONAL_STATE(sFilterConfig->FilterActivation));
assert_param(IS_CAN_BANKNUMBER(sFilterConfig->BankNumber));
filternbrbitpos = ((uint32_t)1) << sFilterConfig->FilterNumber;
/* Initialisation mode for the filter */
hcan->Instance->FMR |= (uint32_t)CAN_FMR_FINIT;
/* Filter Deactivation */
hcan->Instance->FA1R &= ~(uint32_t)filternbrbitpos;
/* Filter Scale */
if (sFilterConfig->FilterScale == CAN_FILTERSCALE_16BIT)
{
/* 16-bit scale for the filter */
hcan->Instance->FS1R &= ~(uint32_t)filternbrbitpos;
/* First 16-bit identifier and First 16-bit mask */
/* Or First 16-bit identifier and Second 16-bit identifier */
hcan->Instance->sFilterRegister[sFilterConfig->FilterNumber].FR1 =
((0x0000FFFF & (uint32_t)sFilterConfig->FilterMaskIdLow) << 16) |
(0x0000FFFF & (uint32_t)sFilterConfig->FilterIdLow);
/* Second 16-bit identifier and Second 16-bit mask */
/* Or Third 16-bit identifier and Fourth 16-bit identifier */
hcan->Instance->sFilterRegister[sFilterConfig->FilterNumber].FR2 =
((0x0000FFFF & (uint32_t)sFilterConfig->FilterMaskIdHigh) << 16) |
(0x0000FFFF & (uint32_t)sFilterConfig->FilterIdHigh);
}
if (sFilterConfig->FilterScale == CAN_FILTERSCALE_32BIT)
{
/* 32-bit scale for the filter */
hcan->Instance->FS1R |= filternbrbitpos;
/* 32-bit identifier or First 32-bit identifier */
hcan->Instance->sFilterRegister[sFilterConfig->FilterNumber].FR1 =
((0x0000FFFF & (uint32_t)sFilterConfig->FilterIdHigh) << 16) |
(0x0000FFFF & (uint32_t)sFilterConfig->FilterIdLow);
/* 32-bit mask or Second 32-bit identifier */
hcan->Instance->sFilterRegister[sFilterConfig->FilterNumber].FR2 =
((0x0000FFFF & (uint32_t)sFilterConfig->FilterMaskIdHigh) << 16) |
(0x0000FFFF & (uint32_t)sFilterConfig->FilterMaskIdLow);
}
/* Filter Mode */
if (sFilterConfig->FilterMode == CAN_FILTERMODE_IDMASK)
{
/*Id/Mask mode for the filter*/
hcan->Instance->FM1R &= ~(uint32_t)filternbrbitpos;
}
else /* CAN_FilterInitStruct->CAN_FilterMode == CAN_FilterMode_IdList */
{
/*Identifier list mode for the filter*/
hcan->Instance->FM1R |= (uint32_t)filternbrbitpos;
}
/* Filter FIFO assignment */
if (sFilterConfig->FilterFIFOAssignment == CAN_FILTER_FIFO0)
{
/* FIFO 0 assignation for the filter */
hcan->Instance->FFA1R &= ~(uint32_t)filternbrbitpos;
}
if (sFilterConfig->FilterFIFOAssignment == CAN_FILTER_FIFO1)
{
/* FIFO 1 assignation for the filter */
hcan->Instance->FFA1R |= (uint32_t)filternbrbitpos;
}
/* Filter activation */
if (sFilterConfig->FilterActivation == ENABLE)
{
hcan->Instance->FA1R |= filternbrbitpos;
}
/* Leave the initialisation mode for the filter */
hcan->Instance->FMR &= ~((uint32_t)CAN_FMR_FINIT);
/* Return function status */
return HAL_OK;
}