GD32E503的双CAN

void CAN_Init(void)

{

        can_parameter_struct can_parameter;

        can_filter_parameter_struct can_filter;

        

        /* enable CAN clock */

        rcu_periph_clock_enable(RCU_CAN0);

#if CONFIG_CAN1_EN

    rcu_periph_clock_enable(RCU_CAN1);

#endif

        rcu_periph_clock_enable(RCU_GPIOA);

    rcu_periph_clock_enable(RCU_GPIOB);



        /* configure CAN1 GPIO */

    gpio_output_options_set(GPIOA, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_11);

    gpio_mode_set(GPIOA, GPIO_MODE_AF, GPIO_PUPD_NONE, GPIO_PIN_11);

    gpio_af_set(GPIOA, GPIO_AF_9, GPIO_PIN_11);

    

    gpio_output_options_set(GPIOA, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_12);

    gpio_mode_set(GPIOA, GPIO_MODE_AF, GPIO_PUPD_NONE, GPIO_PIN_12);

    gpio_af_set(GPIOA, GPIO_AF_9, GPIO_PIN_12);



    /* initialize CAN register */

    can_deinit(CAN0);

#if CONFIG_CAN1_EN

        /* configure CAN1 GPIO */

    gpio_output_options_set(GPIOB, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_5);

    gpio_mode_set(GPIOB, GPIO_MODE_AF, GPIO_PUPD_NONE, GPIO_PIN_5);

    gpio_af_set(GPIOB, GPIO_AF_9, GPIO_PIN_5);

    

    gpio_output_options_set(GPIOB, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_6);

    gpio_mode_set(GPIOB, GPIO_MODE_AF, GPIO_PUPD_NONE, GPIO_PIN_6);

    gpio_af_set(GPIOB, GPIO_AF_9, GPIO_PIN_6);



    /* initialize CAN register */

    can_deinit(CAN1);

#endif



        can_struct_para_init(CAN_INIT_STRUCT, &can_parameter);

    can_struct_para_init(CAN_INIT_STRUCT, &can_filter);

        

    /* initialize CAN parameters */

    can_parameter.time_triggered = DISABLE;

    can_parameter.auto_bus_off_recovery = DISABLE;

    can_parameter.auto_wake_up = DISABLE;

    can_parameter.no_auto_retrans = DISABLE;

    can_parameter.rec_fifo_overwrite = DISABLE;

    can_parameter.trans_fifo_order = DISABLE;

    can_parameter.working_mode = CAN_NORMAL_MODE;

    can_parameter.resync_jump_width = CAN_BT_SJW_1TQ;

    can_parameter.time_segment_1 = CAN_BT_BS1_3TQ;

    can_parameter.time_segment_2 = CAN_BT_BS2_3TQ;

        /* 1MBps */

#if CAN_BAUDRATE == 1000

    can_parameter.prescaler = 6;

    /* 500KBps */

#elif CAN_BAUDRATE == 500

    can_parameter.prescaler = 10;

    /* 250KBps */

#elif CAN_BAUDRATE == 250

    can_parameter.prescaler = 20;

    /* 125KBps */

#elif CAN_BAUDRATE == 125

    can_parameter.prescaler = 40;

    /* 100KBps */

#elif  CAN_BAUDRATE == 100

    can_parameter.prescaler = 50;

    /* 50KBps */

#elif  CAN_BAUDRATE == 50

    can_parameter.prescaler = 100;

    /* 20KBps */

#elif  CAN_BAUDRATE == 20

    can_parameter.prescaler = 250;

#else

        #error "please select list can baudrate in private defines in main.c "

#endif 



        can_init(CAN0, &can_parameter);

#if CONFIG_CAN1_EN

        /* initialize CAN */

    can_init(CAN1, &can_parameter);

#endif    

        //can1_filter_start_bank(14);

    /* initialize filter */ 

    can_filter.filter_number = 0;        //CAN0:0->13;CAN1:14->27

    can_filter.filter_mode = CAN_FILTERMODE_MASK;

    can_filter.filter_bits = CAN_FILTERBITS_32BIT;

    can_filter.filter_list_high = 0x0000;//0x3000;

    can_filter.filter_list_low = 0x0000;

    can_filter.filter_mask_high = 0x0000;//0x3000;

    can_filter.filter_mask_low = 0x0000;

    can_filter.filter_fifo_number = CAN_FIFO0;

    can_filter.filter_enable = ENABLE;

    can_filter_init(&can_filter);



#if CONFIG_CAN1_EN        

        can_filter.filter_fifo_number = CAN_FIFO1;

        can_filter.filter_number = 15;

        can_filter_init(&can_filter);

#endif    

}