void Can1_NVIC_Config(void)
{
NVIC_InitTypeDef NVIC_InitStructure;
NVIC_InitStructure.NVIC_IRQChannel = CAN1_RX0_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0x0;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0x0;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
}
/**
* @brief Configures the CAN.
* @param None
* @retval None
*/
void CAN_Config(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
//CAN GPIOs configuration **************************************************
// Connect CAN pins to AF9
GPIO_PinAFConfig(CAN_GPIO_RX_PORT, CAN_RX_SOURCE, CAN_AF_PORT);
GPIO_PinAFConfig(CAN_GPIO_TX_PORT, CAN_TX_SOURCE, CAN_AF_PORT);
// Configure CAN RX and TX pins
GPIO_InitStructure.GPIO_Pin = CAN_TX_PIN;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
GPIO_Init(CAN_GPIO_TX_PORT, &GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = CAN_RX_PIN ;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
GPIO_Init(CAN_GPIO_RX_PORT, &GPIO_InitStructure);
// CAN configuration ********************************************************
// Enable CAN clock
RCC_APB1PeriphClockCmd(CAN_CLK, ENABLE);
// CAN register init
CAN_DeInit(CANx);
// CAN cell init
CAN_InitStructure.CAN_TTCM = DISABLE;
CAN_InitStructure.CAN_ABOM = DISABLE;
CAN_InitStructure.CAN_AWUM = DISABLE;
CAN_InitStructure.CAN_NART = DISABLE;
CAN_InitStructure.CAN_RFLM = DISABLE;
CAN_InitStructure.CAN_TXFP = DISABLE;
CAN_InitStructure.CAN_Mode = CAN_Mode_Normal;
CAN_InitStructure.CAN_SJW = CAN_SJW_1tq;
// CAN Baudrate = 1 MBps (CAN clocked at 30 MHz)
//BaudRate = PCLK1/((BS1 + BS2 + 1)*Prescaler)=(168/4)/((5+8+1)*3)=1M
CAN_InitStructure.CAN_BS1 = CAN_BS1_5tq;
CAN_InitStructure.CAN_BS2 = CAN_BS2_8tq;
CAN_InitStructure.CAN_Prescaler = 3;
CAN_Init(CANx, &CAN_InitStructure);
CAN_FilterInitStructure.CAN_FilterNumber = 0;
CAN_FilterInitStructure.CAN_FilterMode = CAN_FilterMode_IdMask;
CAN_FilterInitStructure.CAN_FilterScale = CAN_FilterScale_32bit;
CAN_FilterInitStructure.CAN_FilterIdHigh = 0x0000;
CAN_FilterInitStructure.CAN_FilterIdLow = 0x0000;
CAN_FilterInitStructure.CAN_FilterMaskIdHigh = 0x0000;
CAN_FilterInitStructure.CAN_FilterMaskIdLow = 0x0000;
CAN_FilterInitStructure.CAN_FilterFIFOAssignment = 0;
CAN_FilterInitStructure.CAN_FilterActivation = ENABLE;
CAN_FilterInit(&CAN_FilterInitStructure);
// Transmit Structure preparation
TxMessage.StdId = 0x321;
TxMessage.ExtId = 0x01;
TxMessage.RTR = CAN_RTR_DATA;
TxMessage.IDE = CAN_ID_STD;
TxMessage.DLC = 8;
// Enable FIFO 0 message pending Interrupt
CAN_ITConfig(CANx, CAN_IT_FMP0, ENABLE);
}
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