/**
* @brief Set whether or not the output should be connected to the connector
* @param Connection: Can be any value of CANConnection
* @retval SUCCES: Everything went ok
* @retval ERROR: Something went wrong
*/
ErrorStatus can2SetConnection(CANConnection Connection)
{
RelayStatus relayStatus = RelayStatus_NotEnoughTimePassed;
if (Connection == CANConnection_Connected)
relayStatus = RELAY_SetState(&switchRelay, RelayState_On);
else if (Connection == CANConnection_Disconnected)
relayStatus = RELAY_SetState(&switchRelay, RelayState_Off);
/* Make sure the relay was set or reset correctly */
if (relayStatus == RelayStatus_Ok)
{
ErrorStatus errorStatus = ERROR;
if (Connection == CANConnection_Connected)
errorStatus = prvEnableCan2Interface();
else
errorStatus = prvDisableCan2Interface();
/* Make sure the interface was enabled correctly */
if (errorStatus == SUCCESS)
{
prvCurrentSettings.connection = Connection;
return SUCCESS;
}
else
{
RELAY_SetState(&switchRelay, RelayState_Off);
goto error;
}
}
error:
return ERROR;
}
/**
* @brief Enables the CAN2 interface with the current settings
* @param None
* @retval None
*/
static ErrorStatus prvEnableCan2Interface()
{
/*##-1- Enable peripheral Clocks ###########################################*/
/* CAN2 Peripheral clock enable */
__CAN1_CLK_ENABLE(); /* IMPORTANT!!! As CAN2 is a slave device we need to enable the clock for CAN1 as well */
__CAN2_CLK_ENABLE();
/*##-2- Configure the NVIC #################################################*/
/* NVIC configuration for CAN2 Reception complete interrupt */
HAL_NVIC_SetPriority(CAN2_RX0_IRQn, configLIBRARY_LOWEST_INTERRUPT_PRIORITY, 0);
HAL_NVIC_EnableIRQ(CAN2_RX0_IRQn);
HAL_NVIC_SetPriority(CAN2_TX_IRQn, configLIBRARY_LOWEST_INTERRUPT_PRIORITY, 0);
HAL_NVIC_EnableIRQ(CAN2_TX_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_FIFO1) != HAL_OK)
{
/* Reception Error */
goto error;
}
return SUCCESS;
error:
/* Something went wrong so disable */
prvDisableCan2Interface();
return ERROR;
}
/**
* @brief Restart the CAN
* @param None
* @retval None
*/
void can2Restart()
{
prvDisableCan2Interface();
prvEnableCan2Interface();
}
