/** init the CAN frequency.
*
* @param rd receive pin.
* @param td transmit pin.
* @param hz The bus frequency in hertz.
*/
void can_init_freq(can_t *obj, PinName rd, PinName td, int hz)
{
CANName can_rd = (CANName)pinmap_peripheral(rd, PinMap_CAN_RD);
CANName can_td = (CANName)pinmap_peripheral(td, PinMap_CAN_TD);
obj->can = (CANName)pinmap_merge(can_rd, can_td);
MBED_ASSERT((int)obj->can != NC);
if (obj->can == CAN_0) {
rcu_periph_clock_enable(RCU_CAN0);
can_deinit(obj->can);
obj->index = 0;
} else if (obj->can == CAN_1) {
rcu_periph_clock_enable(RCU_CAN0);
rcu_periph_clock_enable(RCU_CAN1);
can_deinit(obj->can);
obj->index = 1;
} else {
return;
}
/* Configure the CAN pins */
pinmap_pinout(rd, PinMap_CAN_RD);
pinmap_pinout(td, PinMap_CAN_TD);
if (rd != NC) {
pin_mode(rd, PullUp);
}
if (td != NC) {
pin_mode(td, PullUp);
}
dev_can_mode_config(obj->can, CAN_NORMAL_MODE);
can_frequency(obj, hz);
if (obj->can == CAN_0) {
can_filter(obj, 0, 0, CANStandard, 0);
} else {
can_filter(obj, 0, 0, CANStandard, 14);
}
}
/** disable CAN.
*
*/
void can_free(can_t *obj)
{
can_deinit(obj->can);
if (obj->can == CAN0) {
rcu_periph_clock_disable(RCU_CAN0);
}
if (obj->can == CAN1) {
rcu_periph_clock_disable(RCU_CAN1);
}
}
/*!
\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);
}
/** Reset CAN interface.
*
* To use after error overflow.
*/
void can_reset(can_t *obj)
{
can_deinit(obj->can);
}
