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- /**
- ******************************************************************************
- * File Name : CAN.c
- * Description : This file provides code for the configuration
- * of the CAN instances.
- ******************************************************************************
- * @attention
- *
- * <h2><center>© Copyright (c) 2020 STMicroelectronics.
- * All rights reserved.</center></h2>
- *
- * This software component is licensed by ST under BSD 3-Clause license,
- * the "License"; You may not use this file except in compliance with the
- * License. You may obtain a copy of the License at:
- * opensource.org/licenses/BSD-3-Clause
- *
- ******************************************************************************
- */
- /* Includes ------------------------------------------------------------------*/
- #include "can.h"
- /* USER CODE BEGIN 0 */
- #include <string.h>
- /* USER CODE END 0 */
- CAN_HandleTypeDef hcan;
- //采样点计算
- //(1+bs1)/(1+bs1+bs2) = 1 + 3 / 1 + 3 + 2 = 66.6%
- // 1 + 9 / 1 + 9 + 2 = 83.3%
- /* CAN init function */
- void MX_CAN_Init(void)
- {
- hcan.Instance = CAN1;
- hcan.Init.Prescaler = 6; //6 1M 12 500k 3 1 9 2 1m 采样点计算
- hcan.Init.Mode = CAN_MODE_NORMAL;
- hcan.Init.SyncJumpWidth = CAN_SJW_1TQ;
- hcan.Init.TimeSeg1 = CAN_BS1_3TQ;
- hcan.Init.TimeSeg2 = CAN_BS2_2TQ;
- // hcan.Init.SyncJumpWidth = CAN_SJW_1TQ;
- // hcan.Init.TimeSeg1 = CAN_BS1_9TQ;
- // hcan.Init.TimeSeg2 = CAN_BS2_2TQ;
- hcan.Init.TimeTriggeredMode = DISABLE;
- hcan.Init.AutoBusOff = ENABLE;
- hcan.Init.AutoWakeUp = DISABLE;
- hcan.Init.AutoRetransmission = DISABLE;
- hcan.Init.ReceiveFifoLocked = DISABLE;
- hcan.Init.TransmitFifoPriority = ENABLE;
- if (HAL_CAN_Init(&hcan) != HAL_OK)
- {
- Error_Handler();
- }
- }
- void HAL_CAN_MspInit(CAN_HandleTypeDef* canHandle)
- {
- GPIO_InitTypeDef GPIO_InitStruct = {0};
- if(canHandle->Instance==CAN1)
- {
- /* USER CODE BEGIN CAN1_MspInit 0 */
- /* USER CODE END CAN1_MspInit 0 */
- /* CAN1 clock enable */
- __HAL_RCC_CAN1_CLK_ENABLE();
- __HAL_RCC_GPIOA_CLK_ENABLE();
- /**CAN GPIO Configuration
- PA11 ------> CAN_RX
- PA12 ------> CAN_TX
- */
- GPIO_InitStruct.Pin = GPIO_PIN_11;
- GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
- GPIO_InitStruct.Pull = GPIO_NOPULL;
- HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
- GPIO_InitStruct.Pin = GPIO_PIN_12;
- GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
- GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
- HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
- /* CAN1 interrupt Init */
- HAL_NVIC_SetPriority(USB_LP_CAN1_RX0_IRQn, 0, 0);
- HAL_NVIC_EnableIRQ(USB_LP_CAN1_RX0_IRQn);
- /* USER CODE BEGIN CAN1_MspInit 1 */
- /* USER CODE END CAN1_MspInit 1 */
- }
- }
- void HAL_CAN_MspDeInit(CAN_HandleTypeDef* canHandle)
- {
- if(canHandle->Instance==CAN1)
- {
- /* USER CODE BEGIN CAN1_MspDeInit 0 */
- /* USER CODE END CAN1_MspDeInit 0 */
- /* Peripheral clock disable */
- __HAL_RCC_CAN1_CLK_DISABLE();
- /**CAN GPIO Configuration
- PA11 ------> CAN_RX
- PA12 ------> CAN_TX
- */
- HAL_GPIO_DeInit(GPIOA, GPIO_PIN_11|GPIO_PIN_12);
- /* CAN1 interrupt Deinit */
- HAL_NVIC_DisableIRQ(USB_LP_CAN1_RX0_IRQn);
- /* USER CODE BEGIN CAN1_MspDeInit 1 */
- /* USER CODE END CAN1_MspDeInit 1 */
- }
- }
- /* USER CODE BEGIN 1 */
- /* USER CODE END 1 */
- /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
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