Paul Paterson / CANnucleo

Working fork to test F0 application

Dependents:   ppCANOpen_Example

Fork of CANnucleo by Zoltan Hudak

can_api.c@1:eb04f7f0478d, 2015-07-19 (annotated)

Committer:
hudakz
Date:
Sun Jul 19 14:04:31 2015 +0000
Revision:
1:eb04f7f0478d
Parent:
0:e29bc8e0dddd
Child:
2:09a0d2838572
rev 01

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-F072RB
hudakz 1:eb04f7f0478d 5 NUCLEO-F091RC
hudakz 0:e29bc8e0dddd 6 NUCLEO-F103RB
hudakz 0:e29bc8e0dddd 7 NUCLEO-F302R8
hudakz 1:eb04f7f0478d 8 NUCLEO-F303RE
hudakz 0:e29bc8e0dddd 9 NUCLEO-F334R8
hudakz 0:e29bc8e0dddd 10 DISCO-F334C8
hudakz 0:e29bc8e0dddd 11
hudakz 0:e29bc8e0dddd 12 Copyright (c) 2015 Zoltan Hudak <hudakz@inbox.com>
hudakz 0:e29bc8e0dddd 13 All rights reserved.
hudakz 0:e29bc8e0dddd 14
hudakz 0:e29bc8e0dddd 15 This program is free software: you can redistribute it and/or modify
hudakz 0:e29bc8e0dddd 16 it under the terms of the GNU General Public License as published by
hudakz 0:e29bc8e0dddd 17 the Free Software Foundation, either version 3 of the License, or
hudakz 0:e29bc8e0dddd 18 (at your option) any later version.
hudakz 0:e29bc8e0dddd 19
hudakz 0:e29bc8e0dddd 20 This program is distributed in the hope that it will be useful,
hudakz 0:e29bc8e0dddd 21 but WITHOUT ANY WARRANTY; without even the implied warranty of
hudakz 0:e29bc8e0dddd 22 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
hudakz 0:e29bc8e0dddd 23 GNU General Public License for more details.
hudakz 0:e29bc8e0dddd 24
hudakz 0:e29bc8e0dddd 25 You should have received a copy of the GNU General Public License
hudakz 0:e29bc8e0dddd 26 along with this program. If not, see <http://www.gnu.org/licenses/>.
hudakz 0:e29bc8e0dddd 27 */
hudakz 0:e29bc8e0dddd 28 #include "stm32f1xx_hal.h"
hudakz 0:e29bc8e0dddd 29 #include "can_api.h"
hudakz 0:e29bc8e0dddd 30 #include "can_helper.h"
hudakz 0:e29bc8e0dddd 31 #include "pinmap.h"
hudakz 0:e29bc8e0dddd 32
hudakz 0:e29bc8e0dddd 33 extern void (*rxCompleteCallback) (void);
hudakz 0:e29bc8e0dddd 34 extern CAN_HandleTypeDef _canHandle;
hudakz 0:e29bc8e0dddd 35
hudakz 0:e29bc8e0dddd 36 /**
hudakz 0:e29bc8e0dddd 37 * @brief
hudakz 0:e29bc8e0dddd 38 * @note
hudakz 0:e29bc8e0dddd 39 * @param
hudakz 0:e29bc8e0dddd 40 * @retval
hudakz 0:e29bc8e0dddd 41 */
hudakz 0:e29bc8e0dddd 42 void can_init(can_t* obj, PinName rd, PinName td) {
hudakz 0:e29bc8e0dddd 43 initCAN(obj, rd, td);
hudakz 0:e29bc8e0dddd 44 can_filter(obj, 0, 0, CANAny, 0);
hudakz 0:e29bc8e0dddd 45 }
hudakz 0:e29bc8e0dddd 46
hudakz 0:e29bc8e0dddd 47 /**
hudakz 0:e29bc8e0dddd 48 * @brief
hudakz 0:e29bc8e0dddd 49 * @note
hudakz 0:e29bc8e0dddd 50 * @param
hudakz 0:e29bc8e0dddd 51 * @retval
hudakz 0:e29bc8e0dddd 52 */
hudakz 0:e29bc8e0dddd 53 void can_free(can_t* obj) {
hudakz 0:e29bc8e0dddd 54 HAL_CAN_MspDeInit(obj);
hudakz 0:e29bc8e0dddd 55 }
hudakz 0:e29bc8e0dddd 56
hudakz 0:e29bc8e0dddd 57 /**
hudakz 0:e29bc8e0dddd 58 * @brief
hudakz 0:e29bc8e0dddd 59 * @note
hudakz 0:e29bc8e0dddd 60 * @param
hudakz 0:e29bc8e0dddd 61 * @retval
hudakz 0:e29bc8e0dddd 62 */
hudakz 0:e29bc8e0dddd 63 int can_frequency(can_t* obj, int hz) {
hudakz 0:e29bc8e0dddd 64 HAL_NVIC_DisableIRQ(USB_LP_CAN1_RX0_IRQn);
hudakz 0:e29bc8e0dddd 65
hudakz 0:e29bc8e0dddd 66 #if defined(TARGET_NUCLEO_F103RB) || \
hudakz 0:e29bc8e0dddd 67 defined(TARGET_NUCLEO_F302R8) || \
hudakz 1:eb04f7f0478d 68 defined(TARGET_NUCLEO_F303RE) || \
hudakz 0:e29bc8e0dddd 69 defined(TARGET_NUCLEO_F334R8) || \
hudakz 0:e29bc8e0dddd 70 defined(TARGET_DISCO_F334C8)
hudakz 0:e29bc8e0dddd 71 // APB1 pheripheral clock = 36000000Hz
hudakz 0:e29bc8e0dddd 72
hudakz 0:e29bc8e0dddd 73 switch(hz) {
hudakz 0:e29bc8e0dddd 74 case 1000000:
hudakz 0:e29bc8e0dddd 75 // 1000kbps bit rate
hudakz 0:e29bc8e0dddd 76 _canHandle.Init.Prescaler = 3; // number of time quanta = 36000000/3/1000000 = 12
hudakz 0:e29bc8e0dddd 77 _canHandle.Init.SJW = CAN_SJW_1TQ;
hudakz 0:e29bc8e0dddd 78 _canHandle.Init.BS1 = CAN_BS1_8TQ; // sample point at: (1 + 8) / 12 * 100 = 75%
hudakz 0:e29bc8e0dddd 79 _canHandle.Init.BS2 = CAN_BS2_3TQ;
hudakz 0:e29bc8e0dddd 80 break;
hudakz 0:e29bc8e0dddd 81
hudakz 0:e29bc8e0dddd 82 case 500000:
hudakz 0:e29bc8e0dddd 83 // 500kbps bit rate
hudakz 0:e29bc8e0dddd 84 _canHandle.Init.Prescaler = 6; // number of time quanta = 36000000/6/500000 = 12
hudakz 0:e29bc8e0dddd 85 _canHandle.Init.SJW = CAN_SJW_1TQ;
hudakz 0:e29bc8e0dddd 86 _canHandle.Init.BS1 = CAN_BS1_8TQ; // sample point at: (1 + 8) / 12 * 100 = 75%
hudakz 0:e29bc8e0dddd 87 _canHandle.Init.BS2 = CAN_BS2_3TQ;
hudakz 0:e29bc8e0dddd 88 break;
hudakz 0:e29bc8e0dddd 89
hudakz 0:e29bc8e0dddd 90 case 250000:
hudakz 0:e29bc8e0dddd 91 // 250kbps
hudakz 0:e29bc8e0dddd 92 _canHandle.Init.Prescaler = 9; // number of time quanta = 36000000/9/250000 = 16
hudakz 0:e29bc8e0dddd 93 _canHandle.Init.SJW = CAN_SJW_1TQ;
hudakz 0:e29bc8e0dddd 94 _canHandle.Init.BS1 = CAN_BS1_11TQ; // sample point at: (1 + 11) / 16 * 100 = 75%
hudakz 0:e29bc8e0dddd 95 _canHandle.Init.BS2 = CAN_BS2_4TQ;
hudakz 0:e29bc8e0dddd 96 break;
hudakz 0:e29bc8e0dddd 97
hudakz 0:e29bc8e0dddd 98 case 125000:
hudakz 0:e29bc8e0dddd 99 // 125kbps
hudakz 0:e29bc8e0dddd 100 _canHandle.Init.Prescaler = 18; // number of time quanta = 36000000/18/125000 = 16
hudakz 0:e29bc8e0dddd 101 _canHandle.Init.SJW = CAN_SJW_1TQ;
hudakz 0:e29bc8e0dddd 102 _canHandle.Init.BS1 = CAN_BS1_11TQ; // sample point at: (1 + 11) / 16 * 100 = 75%
hudakz 0:e29bc8e0dddd 103 _canHandle.Init.BS2 = CAN_BS2_4TQ;
hudakz 0:e29bc8e0dddd 104 break;
hudakz 0:e29bc8e0dddd 105
hudakz 0:e29bc8e0dddd 106 default:
hudakz 0:e29bc8e0dddd 107 // 125kbps (default)
hudakz 0:e29bc8e0dddd 108 printf("Unknown frequency specified!\r\n");
hudakz 0:e29bc8e0dddd 109 printf("Using default 125kbps\r\n");
hudakz 0:e29bc8e0dddd 110 _canHandle.Init.Prescaler = 18; // number of time quanta = 36000000/18/125000 = 16
hudakz 0:e29bc8e0dddd 111 _canHandle.Init.SJW = CAN_SJW_1TQ;
hudakz 0:e29bc8e0dddd 112 _canHandle.Init.BS1 = CAN_BS1_11TQ; // sample point at: (1 + 11) / 16 * 100 = 75%
hudakz 0:e29bc8e0dddd 113 _canHandle.Init.BS2 = CAN_BS2_4TQ;
hudakz 0:e29bc8e0dddd 114 }
hudakz 0:e29bc8e0dddd 115
hudakz 1:eb04f7f0478d 116 #elif defined(TARGET_NUCLEO_F072RB) || \
hudakz 0:e29bc8e0dddd 117 defined(TARGET_NUCLEO_F091RC)
hudakz 0:e29bc8e0dddd 118 // APB1 pheripheral clock = 48000000Hz
hudakz 0:e29bc8e0dddd 119
hudakz 0:e29bc8e0dddd 120 switch(hz) {
hudakz 0:e29bc8e0dddd 121 case 1000000:
hudakz 0:e29bc8e0dddd 122 // 1000kbps bit rate
hudakz 0:e29bc8e0dddd 123 _canHandle.Init.Prescaler = 4; // number of time quanta = 48000000/4/1000000 = 12
hudakz 0:e29bc8e0dddd 124 _canHandle.Init.SJW = CAN_SJW_1TQ;
hudakz 0:e29bc8e0dddd 125 _canHandle.Init.BS1 = CAN_BS1_8TQ; // sample point at: (1 + 8) / 12 * 100 = 75%
hudakz 0:e29bc8e0dddd 126 _canHandle.Init.BS2 = CAN_BS2_3TQ;
hudakz 0:e29bc8e0dddd 127 break;
hudakz 0:e29bc8e0dddd 128
hudakz 0:e29bc8e0dddd 129 case 500000:
hudakz 0:e29bc8e0dddd 130 // 500kbps bit rate
hudakz 0:e29bc8e0dddd 131 _canHandle.Init.Prescaler = 8; // number of time quanta = 48000000/8/500000 = 12
hudakz 0:e29bc8e0dddd 132 _canHandle.Init.SJW = CAN_SJW_1TQ;
hudakz 0:e29bc8e0dddd 133 _canHandle.Init.BS1 = CAN_BS1_8TQ; // sample point at: (1 + 8) / 12 * 100 = 75%
hudakz 0:e29bc8e0dddd 134 _canHandle.Init.BS2 = CAN_BS2_3TQ;
hudakz 0:e29bc8e0dddd 135 break;
hudakz 0:e29bc8e0dddd 136
hudakz 0:e29bc8e0dddd 137 case 250000:
hudakz 0:e29bc8e0dddd 138 // 250kbps
hudakz 0:e29bc8e0dddd 139 _canHandle.Init.Prescaler = 12; // number of time quanta = 48000000/12/250000 = 16
hudakz 0:e29bc8e0dddd 140 _canHandle.Init.SJW = CAN_SJW_1TQ;
hudakz 0:e29bc8e0dddd 141 _canHandle.Init.BS1 = CAN_BS1_11TQ; // sample point at: (1 + 11) / 16 * 100 = 75%
hudakz 0:e29bc8e0dddd 142 _canHandle.Init.BS2 = CAN_BS2_4TQ;
hudakz 0:e29bc8e0dddd 143 break;
hudakz 0:e29bc8e0dddd 144
hudakz 0:e29bc8e0dddd 145 case 125000:
hudakz 0:e29bc8e0dddd 146 // 125kbps
hudakz 0:e29bc8e0dddd 147 _canHandle.Init.Prescaler = 24; // number of time quanta = 48000000/24/125000 = 16
hudakz 0:e29bc8e0dddd 148 _canHandle.Init.SJW = CAN_SJW_1TQ;
hudakz 0:e29bc8e0dddd 149 _canHandle.Init.BS1 = CAN_BS1_11TQ; // sample point at: (1 + 11) / 16 * 100 = 75%
hudakz 0:e29bc8e0dddd 150 _canHandle.Init.BS2 = CAN_BS2_4TQ;
hudakz 0:e29bc8e0dddd 151 break;
hudakz 0:e29bc8e0dddd 152
hudakz 0:e29bc8e0dddd 153 default:
hudakz 0:e29bc8e0dddd 154 // 125kbps (default)
hudakz 0:e29bc8e0dddd 155 printf("Unknown frequency specified!\r\n");
hudakz 0:e29bc8e0dddd 156 printf("Using default 125kbps\r\n");
hudakz 0:e29bc8e0dddd 157 _canHandle.Init.Prescaler = 24; // number of time quanta = 48000000/24/125000 = 16
hudakz 0:e29bc8e0dddd 158 _canHandle.Init.SJW = CAN_SJW_1TQ;
hudakz 0:e29bc8e0dddd 159 _canHandle.Init.BS1 = CAN_BS1_11TQ; // sample point at: (1 + 11) / 16 * 100 = 75%
hudakz 0:e29bc8e0dddd 160 _canHandle.Init.BS2 = CAN_BS2_4TQ;
hudakz 0:e29bc8e0dddd 161 }
hudakz 0:e29bc8e0dddd 162 #endif
hudakz 0:e29bc8e0dddd 163 HAL_CAN_Init(&_canHandle);
hudakz 0:e29bc8e0dddd 164 HAL_NVIC_EnableIRQ(USB_LP_CAN1_RX0_IRQn);
hudakz 0:e29bc8e0dddd 165 }
hudakz 0:e29bc8e0dddd 166
hudakz 0:e29bc8e0dddd 167 /**
hudakz 0:e29bc8e0dddd 168 * @brief
hudakz 0:e29bc8e0dddd 169 * @note
hudakz 0:e29bc8e0dddd 170 * @param
hudakz 0:e29bc8e0dddd 171 * @retval
hudakz 0:e29bc8e0dddd 172 */
hudakz 0:e29bc8e0dddd 173 void can_irq_init(can_t* obj, can_irq_handler handler, uint32_t id) {
hudakz 0:e29bc8e0dddd 174 if(HAL_CAN_Receive_IT(&_canHandle, CAN_FIFO0) != HAL_OK) {
hudakz 0:e29bc8e0dddd 175 printf("CAN reception initialization error\r\n");
hudakz 0:e29bc8e0dddd 176 }
hudakz 0:e29bc8e0dddd 177 }
hudakz 0:e29bc8e0dddd 178
hudakz 0:e29bc8e0dddd 179 /**
hudakz 0:e29bc8e0dddd 180 * @brief
hudakz 0:e29bc8e0dddd 181 * @note
hudakz 0:e29bc8e0dddd 182 * @param
hudakz 0:e29bc8e0dddd 183 * @retval
hudakz 0:e29bc8e0dddd 184 */
hudakz 0:e29bc8e0dddd 185 void can_irq_free(can_t* obj) {
hudakz 0:e29bc8e0dddd 186 rxCompleteCallback = NULL;
hudakz 0:e29bc8e0dddd 187 }
hudakz 0:e29bc8e0dddd 188
hudakz 0:e29bc8e0dddd 189 /**
hudakz 0:e29bc8e0dddd 190 * @brief
hudakz 0:e29bc8e0dddd 191 * @note
hudakz 0:e29bc8e0dddd 192 * @param
hudakz 0:e29bc8e0dddd 193 * @retval
hudakz 0:e29bc8e0dddd 194 */
hudakz 0:e29bc8e0dddd 195 void can_irq_set(void (*fptr) (void)) {
hudakz 0:e29bc8e0dddd 196 rxCompleteCallback = fptr;
hudakz 0:e29bc8e0dddd 197 }
hudakz 0:e29bc8e0dddd 198
hudakz 0:e29bc8e0dddd 199 /**
hudakz 0:e29bc8e0dddd 200 * @brief
hudakz 0:e29bc8e0dddd 201 * @note
hudakz 0:e29bc8e0dddd 202 * @param
hudakz 0:e29bc8e0dddd 203 * @retval
hudakz 0:e29bc8e0dddd 204 */
hudakz 0:e29bc8e0dddd 205 int can_write(can_t* obj, CAN_Message msg, int cc) {
hudakz 0:e29bc8e0dddd 206 int i = 0;
hudakz 0:e29bc8e0dddd 207
hudakz 0:e29bc8e0dddd 208 if(msg.format == CANStandard) {
hudakz 0:e29bc8e0dddd 209 _canHandle.pTxMsg->StdId = msg.id;
hudakz 0:e29bc8e0dddd 210 _canHandle.pTxMsg->ExtId = 0x00;
hudakz 0:e29bc8e0dddd 211 }
hudakz 0:e29bc8e0dddd 212 else {
hudakz 0:e29bc8e0dddd 213 _canHandle.pTxMsg->StdId = 0x00;
hudakz 0:e29bc8e0dddd 214 _canHandle.pTxMsg->ExtId = msg.id;
hudakz 0:e29bc8e0dddd 215 }
hudakz 0:e29bc8e0dddd 216
hudakz 0:e29bc8e0dddd 217 _canHandle.pTxMsg->RTR = msg.type == CANData ? CAN_RTR_DATA : CAN_RTR_REMOTE;
hudakz 0:e29bc8e0dddd 218 _canHandle.pTxMsg->IDE = msg.format == CANStandard ? CAN_ID_STD : CAN_ID_EXT;
hudakz 0:e29bc8e0dddd 219 _canHandle.pTxMsg->DLC = msg.len;
hudakz 0:e29bc8e0dddd 220
hudakz 0:e29bc8e0dddd 221 for(i = 0; i < msg.len; i++)
hudakz 0:e29bc8e0dddd 222 _canHandle.pTxMsg->Data[i] = msg.data[i];
hudakz 0:e29bc8e0dddd 223
hudakz 0:e29bc8e0dddd 224 if(HAL_CAN_Transmit(&_canHandle, 10) != HAL_OK) {
hudakz 0:e29bc8e0dddd 225 printf("Transmission error\r\n");
hudakz 0:e29bc8e0dddd 226 }
hudakz 0:e29bc8e0dddd 227 }
hudakz 0:e29bc8e0dddd 228
hudakz 0:e29bc8e0dddd 229 /**
hudakz 0:e29bc8e0dddd 230 * @brief
hudakz 0:e29bc8e0dddd 231 * @note
hudakz 0:e29bc8e0dddd 232 * @param
hudakz 0:e29bc8e0dddd 233 * @retval
hudakz 0:e29bc8e0dddd 234 */
hudakz 0:e29bc8e0dddd 235 int can_read(can_t* obj, CAN_Message* msg, int handle) {
hudakz 0:e29bc8e0dddd 236 int i = 0;
hudakz 0:e29bc8e0dddd 237
hudakz 0:e29bc8e0dddd 238 msg->id = _canHandle.pRxMsg->IDE == CAN_ID_STD ? _canHandle.pRxMsg->StdId : _canHandle.pRxMsg->ExtId;
hudakz 0:e29bc8e0dddd 239 msg->type = _canHandle.pRxMsg->RTR == CAN_RTR_DATA ? CANData : CANRemote;
hudakz 0:e29bc8e0dddd 240 msg->format = _canHandle.pRxMsg->IDE == CAN_ID_STD ? CANStandard : CANExtended;
hudakz 0:e29bc8e0dddd 241 msg->len = _canHandle.pRxMsg->DLC;
hudakz 0:e29bc8e0dddd 242 for(i = 0; i < msg->len; i++)
hudakz 0:e29bc8e0dddd 243 msg->data[i] = _canHandle.pRxMsg->Data[i];
hudakz 0:e29bc8e0dddd 244 }
hudakz 0:e29bc8e0dddd 245
hudakz 0:e29bc8e0dddd 246 /**
hudakz 0:e29bc8e0dddd 247 * @brief
hudakz 0:e29bc8e0dddd 248 * @note
hudakz 0:e29bc8e0dddd 249 * @param
hudakz 0:e29bc8e0dddd 250 * @retval
hudakz 0:e29bc8e0dddd 251 */
hudakz 0:e29bc8e0dddd 252 int can_mode(can_t* obj, CanMode mode) {
hudakz 0:e29bc8e0dddd 253 switch(mode) {
hudakz 0:e29bc8e0dddd 254 case MODE_RESET:
hudakz 0:e29bc8e0dddd 255 return HAL_ERROR;
hudakz 0:e29bc8e0dddd 256
hudakz 0:e29bc8e0dddd 257 case MODE_NORMAL:
hudakz 0:e29bc8e0dddd 258 _canHandle.Init.Mode = CAN_MODE_NORMAL;
hudakz 0:e29bc8e0dddd 259 break;
hudakz 0:e29bc8e0dddd 260
hudakz 0:e29bc8e0dddd 261 case MODE_SILENT:
hudakz 0:e29bc8e0dddd 262 _canHandle.Init.Mode = CAN_MODE_SILENT;
hudakz 0:e29bc8e0dddd 263 break;
hudakz 0:e29bc8e0dddd 264
hudakz 0:e29bc8e0dddd 265 case MODE_TEST_GLOBAL:
hudakz 0:e29bc8e0dddd 266 _canHandle.Init.Mode = CAN_MODE_LOOPBACK;
hudakz 0:e29bc8e0dddd 267 break;
hudakz 0:e29bc8e0dddd 268
hudakz 0:e29bc8e0dddd 269 case MODE_TEST_LOCAL:
hudakz 0:e29bc8e0dddd 270 _canHandle.Init.Mode = CAN_MODE_LOOPBACK;
hudakz 0:e29bc8e0dddd 271 break;
hudakz 0:e29bc8e0dddd 272
hudakz 0:e29bc8e0dddd 273 case MODE_TEST_SILENT:
hudakz 0:e29bc8e0dddd 274 _canHandle.Init.Mode = CAN_MODE_SILENT_LOOPBACK;
hudakz 0:e29bc8e0dddd 275 break;
hudakz 0:e29bc8e0dddd 276 }
hudakz 0:e29bc8e0dddd 277
hudakz 0:e29bc8e0dddd 278 _canHandle.Init.Mode = CAN_MODE_NORMAL;
hudakz 0:e29bc8e0dddd 279 return HAL_CAN_Init(&_canHandle);
hudakz 0:e29bc8e0dddd 280 }
hudakz 0:e29bc8e0dddd 281
hudakz 0:e29bc8e0dddd 282 /**
hudakz 0:e29bc8e0dddd 283 * @brief
hudakz 0:e29bc8e0dddd 284 * @note
hudakz 0:e29bc8e0dddd 285 * @param
hudakz 0:e29bc8e0dddd 286 * @retval
hudakz 0:e29bc8e0dddd 287 */
hudakz 0:e29bc8e0dddd 288 int can_filter(can_t* obj, uint32_t id, uint32_t mask, CANFormat format /*=CANAny*/, int32_t handle /*=0*/ ) {
hudakz 0:e29bc8e0dddd 289 CAN_FilterConfTypeDef sFilterConfig;
hudakz 0:e29bc8e0dddd 290
hudakz 0:e29bc8e0dddd 291 sFilterConfig.FilterNumber = handle;
hudakz 0:e29bc8e0dddd 292 sFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK;
hudakz 0:e29bc8e0dddd 293 sFilterConfig.FilterScale = CAN_FILTERSCALE_32BIT;
hudakz 0:e29bc8e0dddd 294 sFilterConfig.FilterIdHigh = (((id) >> 16) & 0xFFFF);
hudakz 0:e29bc8e0dddd 295 sFilterConfig.FilterIdLow = ((id) & 0xFFFF);
hudakz 0:e29bc8e0dddd 296 sFilterConfig.FilterMaskIdHigh = (((mask) >> 16) & 0xFFFF);
hudakz 0:e29bc8e0dddd 297 sFilterConfig.FilterMaskIdLow = ((mask) & 0xFFFF);
hudakz 0:e29bc8e0dddd 298 sFilterConfig.FilterFIFOAssignment = 0;
hudakz 0:e29bc8e0dddd 299 sFilterConfig.FilterActivation = ENABLE;
hudakz 0:e29bc8e0dddd 300 sFilterConfig.BankNumber = 14;
hudakz 0:e29bc8e0dddd 301 HAL_CAN_ConfigFilter(&_canHandle, &sFilterConfig);
hudakz 0:e29bc8e0dddd 302 }
hudakz 0:e29bc8e0dddd 303
hudakz 0:e29bc8e0dddd 304 /**
hudakz 0:e29bc8e0dddd 305 * @brief
hudakz 0:e29bc8e0dddd 306 * @note
hudakz 0:e29bc8e0dddd 307 * @param
hudakz 0:e29bc8e0dddd 308 * @retval
hudakz 0:e29bc8e0dddd 309 */
hudakz 0:e29bc8e0dddd 310 void can_reset(can_t* obj) {
hudakz 0:e29bc8e0dddd 311 __HAL_CAN_RESET_HANDLE_STATE(&_canHandle);
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 unsigned char can_rderror(can_t* obj) {
hudakz 0:e29bc8e0dddd 321 return HAL_CAN_GetError(&_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_tderror(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 void can_monitor(can_t* obj, int silent) {
hudakz 0:e29bc8e0dddd 341
hudakz 0:e29bc8e0dddd 342 // not implemented
hudakz 0:e29bc8e0dddd 343 }
hudakz 1:eb04f7f0478d 344