Paul Paterson / CANnucleo

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Dependents:   ppCANOpen_Example

Fork of CANnucleo by Zoltan Hudak

can_api.c@0:e29bc8e0dddd, 2015-07-19 (annotated)

Committer:
hudakz
Date:
Sun Jul 19 09:06:26 2015 +0000
Revision:
0:e29bc8e0dddd
Child:
1:eb04f7f0478d
rev 00

Who changed what in which revision?

UserRevisionLine numberNew contents of line
hudakz 0:e29bc8e0dddd 1 /*
hudakz 0:e29bc8e0dddd 2 can_api.c for STMicroelectronics mbed boards equipped with Controller Area Network interface:
hudakz 0:e29bc8e0dddd 3
hudakz 0:e29bc8e0dddd 4 NUCLEO-F070RB
hudakz 0:e29bc8e0dddd 5 NUCLEO-F072RB
hudakz 0:e29bc8e0dddd 6 NUCLEO-F103RB
hudakz 0:e29bc8e0dddd 7 NUCLEO-F302R8
hudakz 0:e29bc8e0dddd 8 NUCLEO-F334R8
hudakz 0:e29bc8e0dddd 9 NUCLEO-F303RE
hudakz 0:e29bc8e0dddd 10 NUCLEO-F091RC
hudakz 0:e29bc8e0dddd 11 DISCO-F334C8
hudakz 0:e29bc8e0dddd 12 DISCO-F746NG
hudakz 0:e29bc8e0dddd 13
hudakz 0:e29bc8e0dddd 14 Copyright (c) 2015 Zoltan Hudak <hudakz@inbox.com>
hudakz 0:e29bc8e0dddd 15 All rights reserved.
hudakz 0:e29bc8e0dddd 16
hudakz 0:e29bc8e0dddd 17 This program is free software: you can redistribute it and/or modify
hudakz 0:e29bc8e0dddd 18 it under the terms of the GNU General Public License as published by
hudakz 0:e29bc8e0dddd 19 the Free Software Foundation, either version 3 of the License, or
hudakz 0:e29bc8e0dddd 20 (at your option) any later version.
hudakz 0:e29bc8e0dddd 21
hudakz 0:e29bc8e0dddd 22 This program is distributed in the hope that it will be useful,
hudakz 0:e29bc8e0dddd 23 but WITHOUT ANY WARRANTY; without even the implied warranty of
hudakz 0:e29bc8e0dddd 24 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
hudakz 0:e29bc8e0dddd 25 GNU General Public License for more details.
hudakz 0:e29bc8e0dddd 26
hudakz 0:e29bc8e0dddd 27 You should have received a copy of the GNU General Public License
hudakz 0:e29bc8e0dddd 28 along with this program. If not, see <http://www.gnu.org/licenses/>.
hudakz 0:e29bc8e0dddd 29 */
hudakz 0:e29bc8e0dddd 30 #include "stm32f1xx_hal.h"
hudakz 0:e29bc8e0dddd 31 #include "can_api.h"
hudakz 0:e29bc8e0dddd 32 #include "can_helper.h"
hudakz 0:e29bc8e0dddd 33 #include "pinmap.h"
hudakz 0:e29bc8e0dddd 34
hudakz 0:e29bc8e0dddd 35 extern void (*rxCompleteCallback) (void);
hudakz 0:e29bc8e0dddd 36 extern CAN_HandleTypeDef _canHandle;
hudakz 0:e29bc8e0dddd 37
hudakz 0:e29bc8e0dddd 38 /**
hudakz 0:e29bc8e0dddd 39 * @brief
hudakz 0:e29bc8e0dddd 40 * @note
hudakz 0:e29bc8e0dddd 41 * @param
hudakz 0:e29bc8e0dddd 42 * @retval
hudakz 0:e29bc8e0dddd 43 */
hudakz 0:e29bc8e0dddd 44 void can_init(can_t* obj, PinName rd, PinName td) {
hudakz 0:e29bc8e0dddd 45 initCAN(obj, rd, td);
hudakz 0:e29bc8e0dddd 46 can_filter(obj, 0, 0, CANAny, 0);
hudakz 0:e29bc8e0dddd 47 }
hudakz 0:e29bc8e0dddd 48
hudakz 0:e29bc8e0dddd 49 /**
hudakz 0:e29bc8e0dddd 50 * @brief
hudakz 0:e29bc8e0dddd 51 * @note
hudakz 0:e29bc8e0dddd 52 * @param
hudakz 0:e29bc8e0dddd 53 * @retval
hudakz 0:e29bc8e0dddd 54 */
hudakz 0:e29bc8e0dddd 55 void can_free(can_t* obj) {
hudakz 0:e29bc8e0dddd 56 HAL_CAN_MspDeInit(obj);
hudakz 0:e29bc8e0dddd 57 }
hudakz 0:e29bc8e0dddd 58
hudakz 0:e29bc8e0dddd 59 /**
hudakz 0:e29bc8e0dddd 60 * @brief
hudakz 0:e29bc8e0dddd 61 * @note
hudakz 0:e29bc8e0dddd 62 * @param
hudakz 0:e29bc8e0dddd 63 * @retval
hudakz 0:e29bc8e0dddd 64 */
hudakz 0:e29bc8e0dddd 65 int can_frequency(can_t* obj, int hz) {
hudakz 0:e29bc8e0dddd 66
hudakz 0:e29bc8e0dddd 67 /* Disable the NVIC for CAN reception */
hudakz 0:e29bc8e0dddd 68
hudakz 0:e29bc8e0dddd 69 HAL_NVIC_DisableIRQ(USB_LP_CAN1_RX0_IRQn);
hudakz 0:e29bc8e0dddd 70
hudakz 0:e29bc8e0dddd 71 #if defined(TARGET_NUCLEO_F103RB) || \
hudakz 0:e29bc8e0dddd 72 defined(TARGET_NUCLEO_F302R8) || \
hudakz 0:e29bc8e0dddd 73 defined(TARGET_NUCLEO_F334R8) || \
hudakz 0:e29bc8e0dddd 74 defined(TARGET_NUCLEO_F303RE) || \
hudakz 0:e29bc8e0dddd 75 defined(TARGET_DISCO_F334C8)
hudakz 0:e29bc8e0dddd 76 // APB1 pheripheral clock = 36000000Hz
hudakz 0:e29bc8e0dddd 77
hudakz 0:e29bc8e0dddd 78 switch(hz) {
hudakz 0:e29bc8e0dddd 79 case 1000000:
hudakz 0:e29bc8e0dddd 80 // 1000kbps bit rate
hudakz 0:e29bc8e0dddd 81 _canHandle.Init.Prescaler = 3; // number of time quanta = 36000000/3/1000000 = 12
hudakz 0:e29bc8e0dddd 82 _canHandle.Init.SJW = CAN_SJW_1TQ;
hudakz 0:e29bc8e0dddd 83 _canHandle.Init.BS1 = CAN_BS1_8TQ; // sample point at: (1 + 8) / 12 * 100 = 75%
hudakz 0:e29bc8e0dddd 84 _canHandle.Init.BS2 = CAN_BS2_3TQ;
hudakz 0:e29bc8e0dddd 85 break;
hudakz 0:e29bc8e0dddd 86
hudakz 0:e29bc8e0dddd 87 case 500000:
hudakz 0:e29bc8e0dddd 88 // 500kbps bit rate
hudakz 0:e29bc8e0dddd 89 _canHandle.Init.Prescaler = 6; // number of time quanta = 36000000/6/500000 = 12
hudakz 0:e29bc8e0dddd 90 _canHandle.Init.SJW = CAN_SJW_1TQ;
hudakz 0:e29bc8e0dddd 91 _canHandle.Init.BS1 = CAN_BS1_8TQ; // sample point at: (1 + 8) / 12 * 100 = 75%
hudakz 0:e29bc8e0dddd 92 _canHandle.Init.BS2 = CAN_BS2_3TQ;
hudakz 0:e29bc8e0dddd 93 break;
hudakz 0:e29bc8e0dddd 94
hudakz 0:e29bc8e0dddd 95 case 250000:
hudakz 0:e29bc8e0dddd 96 // 250kbps
hudakz 0:e29bc8e0dddd 97 _canHandle.Init.Prescaler = 9; // number of time quanta = 36000000/9/250000 = 16
hudakz 0:e29bc8e0dddd 98 _canHandle.Init.SJW = CAN_SJW_1TQ;
hudakz 0:e29bc8e0dddd 99 _canHandle.Init.BS1 = CAN_BS1_11TQ; // sample point at: (1 + 11) / 16 * 100 = 75%
hudakz 0:e29bc8e0dddd 100 _canHandle.Init.BS2 = CAN_BS2_4TQ;
hudakz 0:e29bc8e0dddd 101 break;
hudakz 0:e29bc8e0dddd 102
hudakz 0:e29bc8e0dddd 103 case 125000:
hudakz 0:e29bc8e0dddd 104 // 125kbps
hudakz 0:e29bc8e0dddd 105 _canHandle.Init.Prescaler = 18; // number of time quanta = 36000000/18/125000 = 16
hudakz 0:e29bc8e0dddd 106 _canHandle.Init.SJW = CAN_SJW_1TQ;
hudakz 0:e29bc8e0dddd 107 _canHandle.Init.BS1 = CAN_BS1_11TQ; // sample point at: (1 + 11) / 16 * 100 = 75%
hudakz 0:e29bc8e0dddd 108 _canHandle.Init.BS2 = CAN_BS2_4TQ;
hudakz 0:e29bc8e0dddd 109 break;
hudakz 0:e29bc8e0dddd 110
hudakz 0:e29bc8e0dddd 111 default:
hudakz 0:e29bc8e0dddd 112 // 125kbps (default)
hudakz 0:e29bc8e0dddd 113 printf("Unknown frequency specified!\r\n");
hudakz 0:e29bc8e0dddd 114 printf("Using default 125kbps\r\n");
hudakz 0:e29bc8e0dddd 115 _canHandle.Init.Prescaler = 18; // number of time quanta = 36000000/18/125000 = 16
hudakz 0:e29bc8e0dddd 116 _canHandle.Init.SJW = CAN_SJW_1TQ;
hudakz 0:e29bc8e0dddd 117 _canHandle.Init.BS1 = CAN_BS1_11TQ; // sample point at: (1 + 11) / 16 * 100 = 75%
hudakz 0:e29bc8e0dddd 118 _canHandle.Init.BS2 = CAN_BS2_4TQ;
hudakz 0:e29bc8e0dddd 119 }
hudakz 0:e29bc8e0dddd 120
hudakz 0:e29bc8e0dddd 121 #elif defined(TARGET_NUCLEO_F070RB) || \
hudakz 0:e29bc8e0dddd 122 defined(TARGET_NUCLEO_F072RB) || \
hudakz 0:e29bc8e0dddd 123 defined(TARGET_NUCLEO_F091RC)
hudakz 0:e29bc8e0dddd 124 // APB1 pheripheral clock = 48000000Hz
hudakz 0:e29bc8e0dddd 125
hudakz 0:e29bc8e0dddd 126 switch(hz) {
hudakz 0:e29bc8e0dddd 127 case 1000000:
hudakz 0:e29bc8e0dddd 128 // 1000kbps bit rate
hudakz 0:e29bc8e0dddd 129 _canHandle.Init.Prescaler = 4; // number of time quanta = 48000000/4/1000000 = 12
hudakz 0:e29bc8e0dddd 130 _canHandle.Init.SJW = CAN_SJW_1TQ;
hudakz 0:e29bc8e0dddd 131 _canHandle.Init.BS1 = CAN_BS1_8TQ; // sample point at: (1 + 8) / 12 * 100 = 75%
hudakz 0:e29bc8e0dddd 132 _canHandle.Init.BS2 = CAN_BS2_3TQ;
hudakz 0:e29bc8e0dddd 133 break;
hudakz 0:e29bc8e0dddd 134
hudakz 0:e29bc8e0dddd 135 case 500000:
hudakz 0:e29bc8e0dddd 136 // 500kbps bit rate
hudakz 0:e29bc8e0dddd 137 _canHandle.Init.Prescaler = 8; // number of time quanta = 48000000/8/500000 = 12
hudakz 0:e29bc8e0dddd 138 _canHandle.Init.SJW = CAN_SJW_1TQ;
hudakz 0:e29bc8e0dddd 139 _canHandle.Init.BS1 = CAN_BS1_8TQ; // sample point at: (1 + 8) / 12 * 100 = 75%
hudakz 0:e29bc8e0dddd 140 _canHandle.Init.BS2 = CAN_BS2_3TQ;
hudakz 0:e29bc8e0dddd 141 break;
hudakz 0:e29bc8e0dddd 142
hudakz 0:e29bc8e0dddd 143 case 250000:
hudakz 0:e29bc8e0dddd 144 // 250kbps
hudakz 0:e29bc8e0dddd 145 _canHandle.Init.Prescaler = 12; // number of time quanta = 48000000/12/250000 = 16
hudakz 0:e29bc8e0dddd 146 _canHandle.Init.SJW = CAN_SJW_1TQ;
hudakz 0:e29bc8e0dddd 147 _canHandle.Init.BS1 = CAN_BS1_11TQ; // sample point at: (1 + 11) / 16 * 100 = 75%
hudakz 0:e29bc8e0dddd 148 _canHandle.Init.BS2 = CAN_BS2_4TQ;
hudakz 0:e29bc8e0dddd 149 break;
hudakz 0:e29bc8e0dddd 150
hudakz 0:e29bc8e0dddd 151 case 125000:
hudakz 0:e29bc8e0dddd 152 // 125kbps
hudakz 0:e29bc8e0dddd 153 _canHandle.Init.Prescaler = 24; // number of time quanta = 48000000/24/125000 = 16
hudakz 0:e29bc8e0dddd 154 _canHandle.Init.SJW = CAN_SJW_1TQ;
hudakz 0:e29bc8e0dddd 155 _canHandle.Init.BS1 = CAN_BS1_11TQ; // sample point at: (1 + 11) / 16 * 100 = 75%
hudakz 0:e29bc8e0dddd 156 _canHandle.Init.BS2 = CAN_BS2_4TQ;
hudakz 0:e29bc8e0dddd 157 break;
hudakz 0:e29bc8e0dddd 158
hudakz 0:e29bc8e0dddd 159 default:
hudakz 0:e29bc8e0dddd 160 // 125kbps (default)
hudakz 0:e29bc8e0dddd 161 printf("Unknown frequency specified!\r\n");
hudakz 0:e29bc8e0dddd 162 printf("Using default 125kbps\r\n");
hudakz 0:e29bc8e0dddd 163 _canHandle.Init.Prescaler = 24; // number of time quanta = 48000000/24/125000 = 16
hudakz 0:e29bc8e0dddd 164 _canHandle.Init.SJW = CAN_SJW_1TQ;
hudakz 0:e29bc8e0dddd 165 _canHandle.Init.BS1 = CAN_BS1_11TQ; // sample point at: (1 + 11) / 16 * 100 = 75%
hudakz 0:e29bc8e0dddd 166 _canHandle.Init.BS2 = CAN_BS2_4TQ;
hudakz 0:e29bc8e0dddd 167 }
hudakz 0:e29bc8e0dddd 168 #endif
hudakz 0:e29bc8e0dddd 169 HAL_CAN_Init(&_canHandle);
hudakz 0:e29bc8e0dddd 170 HAL_NVIC_EnableIRQ(USB_LP_CAN1_RX0_IRQn);
hudakz 0:e29bc8e0dddd 171 }
hudakz 0:e29bc8e0dddd 172
hudakz 0:e29bc8e0dddd 173 /**
hudakz 0:e29bc8e0dddd 174 * @brief
hudakz 0:e29bc8e0dddd 175 * @note
hudakz 0:e29bc8e0dddd 176 * @param
hudakz 0:e29bc8e0dddd 177 * @retval
hudakz 0:e29bc8e0dddd 178 */
hudakz 0:e29bc8e0dddd 179 void can_irq_init(can_t* obj, can_irq_handler handler, uint32_t id) {
hudakz 0:e29bc8e0dddd 180 if(HAL_CAN_Receive_IT(&_canHandle, CAN_FIFO0) != HAL_OK) {
hudakz 0:e29bc8e0dddd 181 printf("CAN reception initialization error\r\n");
hudakz 0:e29bc8e0dddd 182 }
hudakz 0:e29bc8e0dddd 183 }
hudakz 0:e29bc8e0dddd 184
hudakz 0:e29bc8e0dddd 185 /**
hudakz 0:e29bc8e0dddd 186 * @brief
hudakz 0:e29bc8e0dddd 187 * @note
hudakz 0:e29bc8e0dddd 188 * @param
hudakz 0:e29bc8e0dddd 189 * @retval
hudakz 0:e29bc8e0dddd 190 */
hudakz 0:e29bc8e0dddd 191 void can_irq_free(can_t* obj) {
hudakz 0:e29bc8e0dddd 192 rxCompleteCallback = NULL;
hudakz 0:e29bc8e0dddd 193 }
hudakz 0:e29bc8e0dddd 194
hudakz 0:e29bc8e0dddd 195 /**
hudakz 0:e29bc8e0dddd 196 * @brief
hudakz 0:e29bc8e0dddd 197 * @note
hudakz 0:e29bc8e0dddd 198 * @param
hudakz 0:e29bc8e0dddd 199 * @retval
hudakz 0:e29bc8e0dddd 200 */
hudakz 0:e29bc8e0dddd 201 //void can_irq_set(can_t* obj, CanIrqType irq, uint32_t enable)
hudakz 0:e29bc8e0dddd 202 //{
hudakz 0:e29bc8e0dddd 203
hudakz 0:e29bc8e0dddd 204 //}
hudakz 0:e29bc8e0dddd 205 void can_irq_set(void (*fptr) (void)) {
hudakz 0:e29bc8e0dddd 206 rxCompleteCallback = fptr;
hudakz 0:e29bc8e0dddd 207 }
hudakz 0:e29bc8e0dddd 208
hudakz 0:e29bc8e0dddd 209 /**
hudakz 0:e29bc8e0dddd 210 * @brief
hudakz 0:e29bc8e0dddd 211 * @note
hudakz 0:e29bc8e0dddd 212 * @param
hudakz 0:e29bc8e0dddd 213 * @retval
hudakz 0:e29bc8e0dddd 214 */
hudakz 0:e29bc8e0dddd 215 int can_write(can_t* obj, CAN_Message msg, int cc) {
hudakz 0:e29bc8e0dddd 216 int i = 0;
hudakz 0:e29bc8e0dddd 217
hudakz 0:e29bc8e0dddd 218 if(msg.format == CANStandard) {
hudakz 0:e29bc8e0dddd 219 _canHandle.pTxMsg->StdId = msg.id;
hudakz 0:e29bc8e0dddd 220 _canHandle.pTxMsg->ExtId = 0x00;
hudakz 0:e29bc8e0dddd 221 }
hudakz 0:e29bc8e0dddd 222 else {
hudakz 0:e29bc8e0dddd 223 _canHandle.pTxMsg->StdId = 0x00;
hudakz 0:e29bc8e0dddd 224 _canHandle.pTxMsg->ExtId = msg.id;
hudakz 0:e29bc8e0dddd 225 }
hudakz 0:e29bc8e0dddd 226
hudakz 0:e29bc8e0dddd 227 _canHandle.pTxMsg->RTR = msg.type == CANData ? CAN_RTR_DATA : CAN_RTR_REMOTE;
hudakz 0:e29bc8e0dddd 228 _canHandle.pTxMsg->IDE = msg.format == CANStandard ? CAN_ID_STD : CAN_ID_EXT;
hudakz 0:e29bc8e0dddd 229 _canHandle.pTxMsg->DLC = msg.len;
hudakz 0:e29bc8e0dddd 230
hudakz 0:e29bc8e0dddd 231 for(i = 0; i < msg.len; i++)
hudakz 0:e29bc8e0dddd 232 _canHandle.pTxMsg->Data[i] = msg.data[i];
hudakz 0:e29bc8e0dddd 233
hudakz 0:e29bc8e0dddd 234 if(HAL_CAN_Transmit(&_canHandle, 10) != HAL_OK) {
hudakz 0:e29bc8e0dddd 235 printf("Transmission error\r\n");
hudakz 0:e29bc8e0dddd 236 }
hudakz 0:e29bc8e0dddd 237 }
hudakz 0:e29bc8e0dddd 238
hudakz 0:e29bc8e0dddd 239 /**
hudakz 0:e29bc8e0dddd 240 * @brief
hudakz 0:e29bc8e0dddd 241 * @note
hudakz 0:e29bc8e0dddd 242 * @param
hudakz 0:e29bc8e0dddd 243 * @retval
hudakz 0:e29bc8e0dddd 244 */
hudakz 0:e29bc8e0dddd 245 int can_read(can_t* obj, CAN_Message* msg, int handle) {
hudakz 0:e29bc8e0dddd 246 int i = 0;
hudakz 0:e29bc8e0dddd 247
hudakz 0:e29bc8e0dddd 248 msg->id = _canHandle.pRxMsg->IDE == CAN_ID_STD ? _canHandle.pRxMsg->StdId : _canHandle.pRxMsg->ExtId;
hudakz 0:e29bc8e0dddd 249 msg->type = _canHandle.pRxMsg->RTR == CAN_RTR_DATA ? CANData : CANRemote;
hudakz 0:e29bc8e0dddd 250 msg->format = _canHandle.pRxMsg->IDE == CAN_ID_STD ? CANStandard : CANExtended;
hudakz 0:e29bc8e0dddd 251 msg->len = _canHandle.pRxMsg->DLC;
hudakz 0:e29bc8e0dddd 252 for(i = 0; i < msg->len; i++)
hudakz 0:e29bc8e0dddd 253 msg->data[i] = _canHandle.pRxMsg->Data[i];
hudakz 0:e29bc8e0dddd 254 }
hudakz 0:e29bc8e0dddd 255
hudakz 0:e29bc8e0dddd 256 /**
hudakz 0:e29bc8e0dddd 257 * @brief
hudakz 0:e29bc8e0dddd 258 * @note
hudakz 0:e29bc8e0dddd 259 * @param
hudakz 0:e29bc8e0dddd 260 * @retval
hudakz 0:e29bc8e0dddd 261 */
hudakz 0:e29bc8e0dddd 262 int can_mode(can_t* obj, CanMode mode) {
hudakz 0:e29bc8e0dddd 263 switch(mode) {
hudakz 0:e29bc8e0dddd 264 case MODE_RESET:
hudakz 0:e29bc8e0dddd 265 return HAL_ERROR;
hudakz 0:e29bc8e0dddd 266
hudakz 0:e29bc8e0dddd 267 case MODE_NORMAL:
hudakz 0:e29bc8e0dddd 268 _canHandle.Init.Mode = CAN_MODE_NORMAL;
hudakz 0:e29bc8e0dddd 269 break;
hudakz 0:e29bc8e0dddd 270
hudakz 0:e29bc8e0dddd 271 case MODE_SILENT:
hudakz 0:e29bc8e0dddd 272 _canHandle.Init.Mode = CAN_MODE_SILENT;
hudakz 0:e29bc8e0dddd 273 break;
hudakz 0:e29bc8e0dddd 274
hudakz 0:e29bc8e0dddd 275 case MODE_TEST_GLOBAL:
hudakz 0:e29bc8e0dddd 276 _canHandle.Init.Mode = CAN_MODE_LOOPBACK;
hudakz 0:e29bc8e0dddd 277 break;
hudakz 0:e29bc8e0dddd 278
hudakz 0:e29bc8e0dddd 279 case MODE_TEST_LOCAL:
hudakz 0:e29bc8e0dddd 280 _canHandle.Init.Mode = CAN_MODE_LOOPBACK;
hudakz 0:e29bc8e0dddd 281 break;
hudakz 0:e29bc8e0dddd 282
hudakz 0:e29bc8e0dddd 283 case MODE_TEST_SILENT:
hudakz 0:e29bc8e0dddd 284 _canHandle.Init.Mode = CAN_MODE_SILENT_LOOPBACK;
hudakz 0:e29bc8e0dddd 285 break;
hudakz 0:e29bc8e0dddd 286 }
hudakz 0:e29bc8e0dddd 287
hudakz 0:e29bc8e0dddd 288 _canHandle.Init.Mode = CAN_MODE_NORMAL;
hudakz 0:e29bc8e0dddd 289 return HAL_CAN_Init(&_canHandle);
hudakz 0:e29bc8e0dddd 290 }
hudakz 0:e29bc8e0dddd 291
hudakz 0:e29bc8e0dddd 292 /**
hudakz 0:e29bc8e0dddd 293 * @brief
hudakz 0:e29bc8e0dddd 294 * @note
hudakz 0:e29bc8e0dddd 295 * @param
hudakz 0:e29bc8e0dddd 296 * @retval
hudakz 0:e29bc8e0dddd 297 */
hudakz 0:e29bc8e0dddd 298 int can_filter(can_t* obj, uint32_t id, uint32_t mask, CANFormat format /*=CANAny*/, int32_t handle /*=0*/ ) {
hudakz 0:e29bc8e0dddd 299 CAN_FilterConfTypeDef sFilterConfig;
hudakz 0:e29bc8e0dddd 300
hudakz 0:e29bc8e0dddd 301 sFilterConfig.FilterNumber = handle;
hudakz 0:e29bc8e0dddd 302 sFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK;
hudakz 0:e29bc8e0dddd 303 sFilterConfig.FilterScale = CAN_FILTERSCALE_32BIT;
hudakz 0:e29bc8e0dddd 304 sFilterConfig.FilterIdHigh = (((id) >> 16) & 0xFFFF);
hudakz 0:e29bc8e0dddd 305 sFilterConfig.FilterIdLow = ((id) & 0xFFFF);
hudakz 0:e29bc8e0dddd 306 sFilterConfig.FilterMaskIdHigh = (((mask) >> 16) & 0xFFFF);
hudakz 0:e29bc8e0dddd 307 sFilterConfig.FilterMaskIdLow = ((mask) & 0xFFFF);
hudakz 0:e29bc8e0dddd 308 sFilterConfig.FilterFIFOAssignment = 0;
hudakz 0:e29bc8e0dddd 309 sFilterConfig.FilterActivation = ENABLE;
hudakz 0:e29bc8e0dddd 310 sFilterConfig.BankNumber = 14;
hudakz 0:e29bc8e0dddd 311 HAL_CAN_ConfigFilter(&_canHandle, &sFilterConfig);
hudakz 0:e29bc8e0dddd 312 }
hudakz 0:e29bc8e0dddd 313
hudakz 0:e29bc8e0dddd 314 /**
hudakz 0:e29bc8e0dddd 315 * @brief
hudakz 0:e29bc8e0dddd 316 * @note
hudakz 0:e29bc8e0dddd 317 * @param
hudakz 0:e29bc8e0dddd 318 * @retval
hudakz 0:e29bc8e0dddd 319 */
hudakz 0:e29bc8e0dddd 320 void can_reset(can_t* obj) {
hudakz 0:e29bc8e0dddd 321 __HAL_CAN_RESET_HANDLE_STATE(&_canHandle);
hudakz 0:e29bc8e0dddd 322 }
hudakz 0:e29bc8e0dddd 323
hudakz 0:e29bc8e0dddd 324 /**
hudakz 0:e29bc8e0dddd 325 * @brief
hudakz 0:e29bc8e0dddd 326 * @note
hudakz 0:e29bc8e0dddd 327 * @param
hudakz 0:e29bc8e0dddd 328 * @retval
hudakz 0:e29bc8e0dddd 329 */
hudakz 0:e29bc8e0dddd 330 unsigned char can_rderror(can_t* obj) {
hudakz 0:e29bc8e0dddd 331 return HAL_CAN_GetError(&_canHandle);
hudakz 0:e29bc8e0dddd 332 }
hudakz 0:e29bc8e0dddd 333
hudakz 0:e29bc8e0dddd 334 /**
hudakz 0:e29bc8e0dddd 335 * @brief
hudakz 0:e29bc8e0dddd 336 * @note
hudakz 0:e29bc8e0dddd 337 * @param
hudakz 0:e29bc8e0dddd 338 * @retval
hudakz 0:e29bc8e0dddd 339 */
hudakz 0:e29bc8e0dddd 340 unsigned char can_tderror(can_t* obj) {
hudakz 0:e29bc8e0dddd 341 return HAL_CAN_GetError(&_canHandle);
hudakz 0:e29bc8e0dddd 342 }
hudakz 0:e29bc8e0dddd 343
hudakz 0:e29bc8e0dddd 344 /**
hudakz 0:e29bc8e0dddd 345 * @brief
hudakz 0:e29bc8e0dddd 346 * @note
hudakz 0:e29bc8e0dddd 347 * @param
hudakz 0:e29bc8e0dddd 348 * @retval
hudakz 0:e29bc8e0dddd 349 */
hudakz 0:e29bc8e0dddd 350 void can_monitor(can_t* obj, int silent) {
hudakz 0:e29bc8e0dddd 351
hudakz 0:e29bc8e0dddd 352 // not implemented
hudakz 0:e29bc8e0dddd 353 }