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can_api.c@14:0344705e6fb8, 2015-12-27 (annotated)
- Committer:
- hudakz
- Date:
- Sun Dec 27 09:02:47 2015 +0000
- Revision:
- 14:0344705e6fb8
- Parent:
- 12:c45310ff2233
- Child:
- 15:5123ead7b002
Updated.
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
hudakz | 0:e29bc8e0dddd | 1 | /* |
hudakz | 5:b53e5ee15315 | 2 | ****************************************************************************** |
hudakz | 5:b53e5ee15315 | 3 | * @file can_api.c |
hudakz | 5:b53e5ee15315 | 4 | * @author Zoltan Hudak |
hudakz | 5:b53e5ee15315 | 5 | * @version |
hudakz | 5:b53e5ee15315 | 6 | * @date 04-August-2015 |
hudakz | 5:b53e5ee15315 | 7 | * @brief CAN api for NUCLEO-F103RB platform |
hudakz | 5:b53e5ee15315 | 8 | ****************************************************************************** |
hudakz | 5:b53e5ee15315 | 9 | * @attention |
hudakz | 5:b53e5ee15315 | 10 | * |
hudakz | 5:b53e5ee15315 | 11 | * <h2><center>© COPYRIGHT(c) 2015 Zoltan Hudak <hudakz@inbox.com> |
hudakz | 5:b53e5ee15315 | 12 | * |
hudakz | 5:b53e5ee15315 | 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 "can_api.h" |
hudakz | 0:e29bc8e0dddd | 29 | #include "can_helper.h" |
hudakz | 0:e29bc8e0dddd | 30 | #include "pinmap.h" |
hudakz | 0:e29bc8e0dddd | 31 | |
hudakz | 0:e29bc8e0dddd | 32 | extern void (*rxCompleteCallback) (void); |
hudakz | 0:e29bc8e0dddd | 33 | extern CAN_HandleTypeDef _canHandle; |
hudakz | 0:e29bc8e0dddd | 34 | |
hudakz | 0:e29bc8e0dddd | 35 | /** |
hudakz | 0:e29bc8e0dddd | 36 | * @brief |
hudakz | 0:e29bc8e0dddd | 37 | * @note |
hudakz | 0:e29bc8e0dddd | 38 | * @param |
hudakz | 0:e29bc8e0dddd | 39 | * @retval |
hudakz | 0:e29bc8e0dddd | 40 | */ |
hudakz | 6:c5a40d5fd9f1 | 41 | void can_init(can_t* obj, PinName rd, PinName td, FunctionalState abom) { |
hudakz | 6:c5a40d5fd9f1 | 42 | initCAN(obj, rd, td, abom); |
hudakz | 0:e29bc8e0dddd | 43 | can_filter(obj, 0, 0, CANAny, 0); |
hudakz | 0:e29bc8e0dddd | 44 | } |
hudakz | 0:e29bc8e0dddd | 45 | |
hudakz | 0:e29bc8e0dddd | 46 | /** |
hudakz | 0:e29bc8e0dddd | 47 | * @brief |
hudakz | 0:e29bc8e0dddd | 48 | * @note |
hudakz | 0:e29bc8e0dddd | 49 | * @param |
hudakz | 0:e29bc8e0dddd | 50 | * @retval |
hudakz | 0:e29bc8e0dddd | 51 | */ |
hudakz | 0:e29bc8e0dddd | 52 | void can_free(can_t* obj) { |
hudakz | 0:e29bc8e0dddd | 53 | HAL_CAN_MspDeInit(obj); |
hudakz | 0:e29bc8e0dddd | 54 | } |
hudakz | 0:e29bc8e0dddd | 55 | |
hudakz | 0:e29bc8e0dddd | 56 | /** |
hudakz | 0:e29bc8e0dddd | 57 | * @brief |
hudakz | 0:e29bc8e0dddd | 58 | * @note |
hudakz | 0:e29bc8e0dddd | 59 | * @param |
hudakz | 0:e29bc8e0dddd | 60 | * @retval |
hudakz | 0:e29bc8e0dddd | 61 | */ |
hudakz | 0:e29bc8e0dddd | 62 | int can_frequency(can_t* obj, int hz) { |
hudakz | 11:439f3a34c42e | 63 | #if defined(TARGET_NUCLEO_F103RB) |
hudakz | 0:e29bc8e0dddd | 64 | HAL_NVIC_DisableIRQ(USB_LP_CAN1_RX0_IRQn); |
hudakz | 12:c45310ff2233 | 65 | #elif defined(TARGET_NUCLEO_F302R8) || \ |
hudakz | 12:c45310ff2233 | 66 | defined(TARGET_NUCLEO_F303RE) || \ |
hudakz | 12:c45310ff2233 | 67 | defined(TARGET_NUCLEO_F303K8) || \ |
hudakz | 12:c45310ff2233 | 68 | defined(TARGET_NUCLEO_F334R8) || \ |
hudakz | 12:c45310ff2233 | 69 | defined(TARGET_DISCO_F334C8) |
hudakz | 11:439f3a34c42e | 70 | HAL_NVIC_DisableIRQ(CAN_RX1_IRQn); |
hudakz | 11:439f3a34c42e | 71 | #endif |
hudakz | 0:e29bc8e0dddd | 72 | |
hudakz | 5:b53e5ee15315 | 73 | // APB1 peripheral clock = 36000000Hz |
hudakz | 0:e29bc8e0dddd | 74 | |
hudakz | 0:e29bc8e0dddd | 75 | switch(hz) { |
hudakz | 0:e29bc8e0dddd | 76 | case 1000000: |
hudakz | 0:e29bc8e0dddd | 77 | // 1000kbps bit rate |
hudakz | 0:e29bc8e0dddd | 78 | _canHandle.Init.Prescaler = 3; // number of time quanta = 36000000/3/1000000 = 12 |
hudakz | 0:e29bc8e0dddd | 79 | _canHandle.Init.SJW = CAN_SJW_1TQ; |
hudakz | 0:e29bc8e0dddd | 80 | _canHandle.Init.BS1 = CAN_BS1_8TQ; // sample point at: (1 + 8) / 12 * 100 = 75% |
hudakz | 0:e29bc8e0dddd | 81 | _canHandle.Init.BS2 = CAN_BS2_3TQ; |
hudakz | 0:e29bc8e0dddd | 82 | break; |
hudakz | 0:e29bc8e0dddd | 83 | |
hudakz | 0:e29bc8e0dddd | 84 | case 500000: |
hudakz | 0:e29bc8e0dddd | 85 | // 500kbps bit rate |
hudakz | 0:e29bc8e0dddd | 86 | _canHandle.Init.Prescaler = 6; // number of time quanta = 36000000/6/500000 = 12 |
hudakz | 0:e29bc8e0dddd | 87 | _canHandle.Init.SJW = CAN_SJW_1TQ; |
hudakz | 0:e29bc8e0dddd | 88 | _canHandle.Init.BS1 = CAN_BS1_8TQ; // sample point at: (1 + 8) / 12 * 100 = 75% |
hudakz | 0:e29bc8e0dddd | 89 | _canHandle.Init.BS2 = CAN_BS2_3TQ; |
hudakz | 0:e29bc8e0dddd | 90 | break; |
hudakz | 0:e29bc8e0dddd | 91 | |
hudakz | 0:e29bc8e0dddd | 92 | case 250000: |
hudakz | 0:e29bc8e0dddd | 93 | // 250kbps |
hudakz | 0:e29bc8e0dddd | 94 | _canHandle.Init.Prescaler = 9; // number of time quanta = 36000000/9/250000 = 16 |
hudakz | 0:e29bc8e0dddd | 95 | _canHandle.Init.SJW = CAN_SJW_1TQ; |
hudakz | 0:e29bc8e0dddd | 96 | _canHandle.Init.BS1 = CAN_BS1_11TQ; // sample point at: (1 + 11) / 16 * 100 = 75% |
hudakz | 0:e29bc8e0dddd | 97 | _canHandle.Init.BS2 = CAN_BS2_4TQ; |
hudakz | 0:e29bc8e0dddd | 98 | break; |
hudakz | 0:e29bc8e0dddd | 99 | |
hudakz | 0:e29bc8e0dddd | 100 | case 125000: |
hudakz | 0:e29bc8e0dddd | 101 | // 125kbps |
hudakz | 0:e29bc8e0dddd | 102 | _canHandle.Init.Prescaler = 18; // number of time quanta = 36000000/18/125000 = 16 |
hudakz | 0:e29bc8e0dddd | 103 | _canHandle.Init.SJW = CAN_SJW_1TQ; |
hudakz | 0:e29bc8e0dddd | 104 | _canHandle.Init.BS1 = CAN_BS1_11TQ; // sample point at: (1 + 11) / 16 * 100 = 75% |
hudakz | 0:e29bc8e0dddd | 105 | _canHandle.Init.BS2 = CAN_BS2_4TQ; |
hudakz | 0:e29bc8e0dddd | 106 | break; |
hudakz | 0:e29bc8e0dddd | 107 | |
hudakz | 0:e29bc8e0dddd | 108 | default: |
hudakz | 0:e29bc8e0dddd | 109 | // 125kbps (default) |
hudakz | 5:b53e5ee15315 | 110 | #if DEBUG |
hudakz | 0:e29bc8e0dddd | 111 | printf("Unknown frequency specified!\r\n"); |
hudakz | 0:e29bc8e0dddd | 112 | printf("Using default 125kbps\r\n"); |
hudakz | 5:b53e5ee15315 | 113 | #endif |
hudakz | 0:e29bc8e0dddd | 114 | _canHandle.Init.Prescaler = 18; // number of time quanta = 36000000/18/125000 = 16 |
hudakz | 0:e29bc8e0dddd | 115 | _canHandle.Init.SJW = CAN_SJW_1TQ; |
hudakz | 0:e29bc8e0dddd | 116 | _canHandle.Init.BS1 = CAN_BS1_11TQ; // sample point at: (1 + 11) / 16 * 100 = 75% |
hudakz | 0:e29bc8e0dddd | 117 | _canHandle.Init.BS2 = CAN_BS2_4TQ; |
hudakz | 0:e29bc8e0dddd | 118 | } |
hudakz | 0:e29bc8e0dddd | 119 | |
hudakz | 0:e29bc8e0dddd | 120 | HAL_CAN_Init(&_canHandle); |
hudakz | 11:439f3a34c42e | 121 | #if defined(TARGET_NUCLEO_F103RB) |
hudakz | 12:c45310ff2233 | 122 | HAL_NVIC_EnableIRQ(USB_LP_CAN1_RX0_IRQn); |
hudakz | 12:c45310ff2233 | 123 | #elif defined(TARGET_NUCLEO_F302R8) || \ |
hudakz | 12:c45310ff2233 | 124 | defined(TARGET_NUCLEO_F303RE) || \ |
hudakz | 12:c45310ff2233 | 125 | defined(TARGET_NUCLEO_F303K8) || \ |
hudakz | 12:c45310ff2233 | 126 | defined(TARGET_NUCLEO_F334R8) || \ |
hudakz | 12:c45310ff2233 | 127 | defined(TARGET_DISCO_F334C8) |
hudakz | 11:439f3a34c42e | 128 | HAL_NVIC_EnableIRQ(CAN_RX1_IRQn); |
hudakz | 11:439f3a34c42e | 129 | #endif |
hudakz | 11:439f3a34c42e | 130 | |
hudakz | 5:b53e5ee15315 | 131 | return 1; |
hudakz | 0:e29bc8e0dddd | 132 | } |
hudakz | 0:e29bc8e0dddd | 133 | |
hudakz | 0:e29bc8e0dddd | 134 | /** |
hudakz | 0:e29bc8e0dddd | 135 | * @brief |
hudakz | 0:e29bc8e0dddd | 136 | * @note |
hudakz | 0:e29bc8e0dddd | 137 | * @param |
hudakz | 0:e29bc8e0dddd | 138 | * @retval |
hudakz | 0:e29bc8e0dddd | 139 | */ |
hudakz | 0:e29bc8e0dddd | 140 | void can_irq_init(can_t* obj, can_irq_handler handler, uint32_t id) { |
hudakz | 0:e29bc8e0dddd | 141 | if(HAL_CAN_Receive_IT(&_canHandle, CAN_FIFO0) != HAL_OK) { |
hudakz | 5:b53e5ee15315 | 142 | #ifdef DEBUG |
hudakz | 0:e29bc8e0dddd | 143 | printf("CAN reception initialization error\r\n"); |
hudakz | 5:b53e5ee15315 | 144 | #endif |
hudakz | 0:e29bc8e0dddd | 145 | } |
hudakz | 0:e29bc8e0dddd | 146 | } |
hudakz | 0:e29bc8e0dddd | 147 | |
hudakz | 0:e29bc8e0dddd | 148 | /** |
hudakz | 0:e29bc8e0dddd | 149 | * @brief |
hudakz | 0:e29bc8e0dddd | 150 | * @note |
hudakz | 0:e29bc8e0dddd | 151 | * @param |
hudakz | 0:e29bc8e0dddd | 152 | * @retval |
hudakz | 0:e29bc8e0dddd | 153 | */ |
hudakz | 0:e29bc8e0dddd | 154 | void can_irq_free(can_t* obj) { |
hudakz | 11:439f3a34c42e | 155 | rxCompleteCallback = 0; |
hudakz | 0:e29bc8e0dddd | 156 | } |
hudakz | 0:e29bc8e0dddd | 157 | |
hudakz | 0:e29bc8e0dddd | 158 | /** |
hudakz | 0:e29bc8e0dddd | 159 | * @brief |
hudakz | 0:e29bc8e0dddd | 160 | * @note |
hudakz | 0:e29bc8e0dddd | 161 | * @param |
hudakz | 0:e29bc8e0dddd | 162 | * @retval |
hudakz | 0:e29bc8e0dddd | 163 | */ |
hudakz | 0:e29bc8e0dddd | 164 | void can_irq_set(void (*fptr) (void)) { |
hudakz | 0:e29bc8e0dddd | 165 | rxCompleteCallback = fptr; |
hudakz | 0:e29bc8e0dddd | 166 | } |
hudakz | 0:e29bc8e0dddd | 167 | |
hudakz | 0:e29bc8e0dddd | 168 | /** |
hudakz | 0:e29bc8e0dddd | 169 | * @brief |
hudakz | 0:e29bc8e0dddd | 170 | * @note |
hudakz | 0:e29bc8e0dddd | 171 | * @param |
hudakz | 0:e29bc8e0dddd | 172 | * @retval |
hudakz | 0:e29bc8e0dddd | 173 | */ |
hudakz | 0:e29bc8e0dddd | 174 | int can_write(can_t* obj, CAN_Message msg, int cc) { |
hudakz | 0:e29bc8e0dddd | 175 | int i = 0; |
hudakz | 0:e29bc8e0dddd | 176 | |
hudakz | 0:e29bc8e0dddd | 177 | if(msg.format == CANStandard) { |
hudakz | 0:e29bc8e0dddd | 178 | _canHandle.pTxMsg->StdId = msg.id; |
hudakz | 0:e29bc8e0dddd | 179 | _canHandle.pTxMsg->ExtId = 0x00; |
hudakz | 0:e29bc8e0dddd | 180 | } |
hudakz | 0:e29bc8e0dddd | 181 | else { |
hudakz | 0:e29bc8e0dddd | 182 | _canHandle.pTxMsg->StdId = 0x00; |
hudakz | 0:e29bc8e0dddd | 183 | _canHandle.pTxMsg->ExtId = msg.id; |
hudakz | 0:e29bc8e0dddd | 184 | } |
hudakz | 0:e29bc8e0dddd | 185 | |
hudakz | 0:e29bc8e0dddd | 186 | _canHandle.pTxMsg->RTR = msg.type == CANData ? CAN_RTR_DATA : CAN_RTR_REMOTE; |
hudakz | 0:e29bc8e0dddd | 187 | _canHandle.pTxMsg->IDE = msg.format == CANStandard ? CAN_ID_STD : CAN_ID_EXT; |
hudakz | 0:e29bc8e0dddd | 188 | _canHandle.pTxMsg->DLC = msg.len; |
hudakz | 0:e29bc8e0dddd | 189 | |
hudakz | 0:e29bc8e0dddd | 190 | for(i = 0; i < msg.len; i++) |
hudakz | 0:e29bc8e0dddd | 191 | _canHandle.pTxMsg->Data[i] = msg.data[i]; |
hudakz | 0:e29bc8e0dddd | 192 | |
hudakz | 0:e29bc8e0dddd | 193 | if(HAL_CAN_Transmit(&_canHandle, 10) != HAL_OK) { |
hudakz | 5:b53e5ee15315 | 194 | #ifdef DEBUG |
hudakz | 0:e29bc8e0dddd | 195 | printf("Transmission error\r\n"); |
hudakz | 5:b53e5ee15315 | 196 | #endif |
hudakz | 5:b53e5ee15315 | 197 | return 0; |
hudakz | 0:e29bc8e0dddd | 198 | } |
hudakz | 5:b53e5ee15315 | 199 | else |
hudakz | 5:b53e5ee15315 | 200 | return 1; |
hudakz | 0:e29bc8e0dddd | 201 | } |
hudakz | 0:e29bc8e0dddd | 202 | |
hudakz | 0:e29bc8e0dddd | 203 | /** |
hudakz | 0:e29bc8e0dddd | 204 | * @brief |
hudakz | 0:e29bc8e0dddd | 205 | * @note |
hudakz | 0:e29bc8e0dddd | 206 | * @param |
hudakz | 0:e29bc8e0dddd | 207 | * @retval |
hudakz | 0:e29bc8e0dddd | 208 | */ |
hudakz | 0:e29bc8e0dddd | 209 | int can_read(can_t* obj, CAN_Message* msg, int handle) { |
hudakz | 10:227a455d0f9f | 210 | int i; |
hudakz | 0:e29bc8e0dddd | 211 | msg->id = _canHandle.pRxMsg->IDE == CAN_ID_STD ? _canHandle.pRxMsg->StdId : _canHandle.pRxMsg->ExtId; |
hudakz | 0:e29bc8e0dddd | 212 | msg->type = _canHandle.pRxMsg->RTR == CAN_RTR_DATA ? CANData : CANRemote; |
hudakz | 0:e29bc8e0dddd | 213 | msg->format = _canHandle.pRxMsg->IDE == CAN_ID_STD ? CANStandard : CANExtended; |
hudakz | 0:e29bc8e0dddd | 214 | msg->len = _canHandle.pRxMsg->DLC; |
hudakz | 10:227a455d0f9f | 215 | for(i = 0; i < msg->len; i++) |
hudakz | 0:e29bc8e0dddd | 216 | msg->data[i] = _canHandle.pRxMsg->Data[i]; |
hudakz | 5:b53e5ee15315 | 217 | |
hudakz | 5:b53e5ee15315 | 218 | return msg->len; |
hudakz | 0:e29bc8e0dddd | 219 | } |
hudakz | 0:e29bc8e0dddd | 220 | |
hudakz | 0:e29bc8e0dddd | 221 | /** |
hudakz | 0:e29bc8e0dddd | 222 | * @brief |
hudakz | 0:e29bc8e0dddd | 223 | * @note |
hudakz | 0:e29bc8e0dddd | 224 | * @param |
hudakz | 0:e29bc8e0dddd | 225 | * @retval |
hudakz | 0:e29bc8e0dddd | 226 | */ |
hudakz | 0:e29bc8e0dddd | 227 | int can_mode(can_t* obj, CanMode mode) { |
hudakz | 0:e29bc8e0dddd | 228 | switch(mode) { |
hudakz | 0:e29bc8e0dddd | 229 | case MODE_RESET: |
hudakz | 0:e29bc8e0dddd | 230 | return HAL_ERROR; |
hudakz | 0:e29bc8e0dddd | 231 | |
hudakz | 0:e29bc8e0dddd | 232 | case MODE_NORMAL: |
hudakz | 0:e29bc8e0dddd | 233 | _canHandle.Init.Mode = CAN_MODE_NORMAL; |
hudakz | 0:e29bc8e0dddd | 234 | break; |
hudakz | 0:e29bc8e0dddd | 235 | |
hudakz | 0:e29bc8e0dddd | 236 | case MODE_SILENT: |
hudakz | 0:e29bc8e0dddd | 237 | _canHandle.Init.Mode = CAN_MODE_SILENT; |
hudakz | 0:e29bc8e0dddd | 238 | break; |
hudakz | 0:e29bc8e0dddd | 239 | |
hudakz | 0:e29bc8e0dddd | 240 | case MODE_TEST_GLOBAL: |
hudakz | 0:e29bc8e0dddd | 241 | _canHandle.Init.Mode = CAN_MODE_LOOPBACK; |
hudakz | 0:e29bc8e0dddd | 242 | break; |
hudakz | 0:e29bc8e0dddd | 243 | |
hudakz | 0:e29bc8e0dddd | 244 | case MODE_TEST_LOCAL: |
hudakz | 0:e29bc8e0dddd | 245 | _canHandle.Init.Mode = CAN_MODE_LOOPBACK; |
hudakz | 0:e29bc8e0dddd | 246 | break; |
hudakz | 0:e29bc8e0dddd | 247 | |
hudakz | 0:e29bc8e0dddd | 248 | case MODE_TEST_SILENT: |
hudakz | 0:e29bc8e0dddd | 249 | _canHandle.Init.Mode = CAN_MODE_SILENT_LOOPBACK; |
hudakz | 0:e29bc8e0dddd | 250 | break; |
hudakz | 0:e29bc8e0dddd | 251 | } |
hudakz | 0:e29bc8e0dddd | 252 | |
hudakz | 3:0fae6b54a2ee | 253 | return HAL_CAN_Init(&_canHandle); |
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_filter(can_t* obj, uint32_t id, uint32_t mask, CANFormat format /*=CANAny*/, int32_t handle /*=0*/ ) { |
hudakz | 0:e29bc8e0dddd | 263 | CAN_FilterConfTypeDef sFilterConfig; |
hudakz | 0:e29bc8e0dddd | 264 | |
hudakz | 8:5c90d6b9a382 | 265 | sFilterConfig.FilterNumber = handle; // Specifies the filter number (must be a number between 0 and 13 at 32-bit filter scale) |
hudakz | 0:e29bc8e0dddd | 266 | sFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK; |
hudakz | 0:e29bc8e0dddd | 267 | sFilterConfig.FilterScale = CAN_FILTERSCALE_32BIT; |
hudakz | 0:e29bc8e0dddd | 268 | sFilterConfig.FilterIdHigh = (((id) >> 16) & 0xFFFF); |
hudakz | 0:e29bc8e0dddd | 269 | sFilterConfig.FilterIdLow = ((id) & 0xFFFF); |
hudakz | 0:e29bc8e0dddd | 270 | sFilterConfig.FilterMaskIdHigh = (((mask) >> 16) & 0xFFFF); |
hudakz | 0:e29bc8e0dddd | 271 | sFilterConfig.FilterMaskIdLow = ((mask) & 0xFFFF); |
hudakz | 0:e29bc8e0dddd | 272 | sFilterConfig.FilterFIFOAssignment = 0; |
hudakz | 0:e29bc8e0dddd | 273 | sFilterConfig.FilterActivation = ENABLE; |
hudakz | 8:5c90d6b9a382 | 274 | sFilterConfig.BankNumber = 0; // Selects the start bank filter |
hudakz | 8:5c90d6b9a382 | 275 | return HAL_CAN_ConfigFilter(&_canHandle, &sFilterConfig); |
hudakz | 0:e29bc8e0dddd | 276 | } |
hudakz | 0:e29bc8e0dddd | 277 | |
hudakz | 0:e29bc8e0dddd | 278 | /** |
hudakz | 0:e29bc8e0dddd | 279 | * @brief |
hudakz | 0:e29bc8e0dddd | 280 | * @note |
hudakz | 0:e29bc8e0dddd | 281 | * @param |
hudakz | 0:e29bc8e0dddd | 282 | * @retval |
hudakz | 0:e29bc8e0dddd | 283 | */ |
hudakz | 0:e29bc8e0dddd | 284 | void can_reset(can_t* obj) { |
hudakz | 0:e29bc8e0dddd | 285 | __HAL_CAN_RESET_HANDLE_STATE(&_canHandle); |
hudakz | 0:e29bc8e0dddd | 286 | } |
hudakz | 0:e29bc8e0dddd | 287 | |
hudakz | 0:e29bc8e0dddd | 288 | /** |
hudakz | 0:e29bc8e0dddd | 289 | * @brief |
hudakz | 0:e29bc8e0dddd | 290 | * @note |
hudakz | 0:e29bc8e0dddd | 291 | * @param |
hudakz | 0:e29bc8e0dddd | 292 | * @retval |
hudakz | 0:e29bc8e0dddd | 293 | */ |
hudakz | 0:e29bc8e0dddd | 294 | unsigned char can_rderror(can_t* obj) { |
hudakz | 0:e29bc8e0dddd | 295 | return HAL_CAN_GetError(&_canHandle); |
hudakz | 0:e29bc8e0dddd | 296 | } |
hudakz | 0:e29bc8e0dddd | 297 | |
hudakz | 0:e29bc8e0dddd | 298 | /** |
hudakz | 0:e29bc8e0dddd | 299 | * @brief |
hudakz | 0:e29bc8e0dddd | 300 | * @note |
hudakz | 0:e29bc8e0dddd | 301 | * @param |
hudakz | 0:e29bc8e0dddd | 302 | * @retval |
hudakz | 0:e29bc8e0dddd | 303 | */ |
hudakz | 0:e29bc8e0dddd | 304 | unsigned char can_tderror(can_t* obj) { |
hudakz | 0:e29bc8e0dddd | 305 | return HAL_CAN_GetError(&_canHandle); |
hudakz | 0:e29bc8e0dddd | 306 | } |
hudakz | 0:e29bc8e0dddd | 307 | |
hudakz | 0:e29bc8e0dddd | 308 | /** |
hudakz | 0:e29bc8e0dddd | 309 | * @brief |
hudakz | 0:e29bc8e0dddd | 310 | * @note |
hudakz | 0:e29bc8e0dddd | 311 | * @param |
hudakz | 0:e29bc8e0dddd | 312 | * @retval |
hudakz | 0:e29bc8e0dddd | 313 | */ |
hudakz | 0:e29bc8e0dddd | 314 | void can_monitor(can_t* obj, int silent) { |
hudakz | 0:e29bc8e0dddd | 315 | |
hudakz | 0:e29bc8e0dddd | 316 | // not implemented |
hudakz | 0:e29bc8e0dddd | 317 | } |
hudakz | 1:eb04f7f0478d | 318 | |
hudakz | 5:b53e5ee15315 | 319 | |
hudakz | 6:c5a40d5fd9f1 | 320 | |
hudakz | 11:439f3a34c42e | 321 | |
hudakz | 12:c45310ff2233 | 322 | |
hudakz | 14:0344705e6fb8 | 323 |