YouRenV1.0FS/Core/Src/can.c

/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file    can.c
  * @brief   This file provides code for the configuration
  *          of the CAN instances.
  ******************************************************************************
  * @attention
  *
  * Copyright (c) 2025 STMicroelectronics.
  * All rights reserved.
  *
  * This software is licensed under terms that can be found in the LICENSE file
  * in the root directory of this software component.
  * If no LICENSE file comes with this software, it is provided AS-IS.
  *
  ******************************************************************************
  */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "can.h"

/* USER CODE BEGIN 0 */
#include "bsp.h"
/* USER CODE END 0 */

CAN_HandleTypeDef hcan1;
CAN_HandleTypeDef hcan2;

/* CAN1 init function */
void MX_CAN1_Init(void)
{

  /* USER CODE BEGIN CAN1_Init 0 */

  /* USER CODE END CAN1_Init 0 */

  /* USER CODE BEGIN CAN1_Init 1 */

  /* USER CODE END CAN1_Init 1 */
  hcan1.Instance = CAN1;
  hcan1.Init.Prescaler = 12;
  hcan1.Init.Mode = CAN_MODE_NORMAL;
  hcan1.Init.SyncJumpWidth = CAN_SJW_1TQ;
  hcan1.Init.TimeSeg1 = CAN_BS1_4TQ;
  hcan1.Init.TimeSeg2 = CAN_BS2_2TQ;
  hcan1.Init.TimeTriggeredMode = DISABLE;
  hcan1.Init.AutoBusOff = DISABLE;
  hcan1.Init.AutoWakeUp = DISABLE;
  hcan1.Init.AutoRetransmission = DISABLE;
  hcan1.Init.ReceiveFifoLocked = DISABLE;
  hcan1.Init.TransmitFifoPriority = DISABLE;
  if (HAL_CAN_Init(&hcan1) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN CAN1_Init 2 */

  /* USER CODE END CAN1_Init 2 */

}
/* CAN2 init function */
void MX_CAN2_Init(void)
{

  /* USER CODE BEGIN CAN2_Init 0 */

  /* USER CODE END CAN2_Init 0 */

  /* USER CODE BEGIN CAN2_Init 1 */

  /* USER CODE END CAN2_Init 1 */
  hcan2.Instance = CAN2;
  hcan2.Init.Prescaler = 12;
  hcan2.Init.Mode = CAN_MODE_NORMAL;
  hcan2.Init.SyncJumpWidth = CAN_SJW_1TQ;
  hcan2.Init.TimeSeg1 = CAN_BS1_4TQ;
  hcan2.Init.TimeSeg2 = CAN_BS2_2TQ;
  hcan2.Init.TimeTriggeredMode = DISABLE;
  hcan2.Init.AutoBusOff = DISABLE;
  hcan2.Init.AutoWakeUp = DISABLE;
  hcan2.Init.AutoRetransmission = DISABLE;
  hcan2.Init.ReceiveFifoLocked = DISABLE;
  hcan2.Init.TransmitFifoPriority = DISABLE;
  if (HAL_CAN_Init(&hcan2) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN CAN2_Init 2 */

  /* USER CODE END CAN2_Init 2 */

}

static uint32_t HAL_RCC_CAN1_CLK_ENABLED=0;

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_ENABLED++;
    if(HAL_RCC_CAN1_CLK_ENABLED==1){
      __HAL_RCC_CAN1_CLK_ENABLE();
    }

    __HAL_RCC_GPIOA_CLK_ENABLE();
    /**CAN1 GPIO Configuration
    PA11     ------> CAN1_RX
    PA12     ------> CAN1_TX
    */
    GPIO_InitStruct.Pin = GPIO_PIN_11|GPIO_PIN_12;
    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
    GPIO_InitStruct.Pull = GPIO_NOPULL;
    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
    GPIO_InitStruct.Alternate = GPIO_AF9_CAN1;
    HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);

    /* CAN1 interrupt Init */
    HAL_NVIC_SetPriority(CAN1_RX0_IRQn, 5, 0);
    HAL_NVIC_EnableIRQ(CAN1_RX0_IRQn);
  /* USER CODE BEGIN CAN1_MspInit 1 */

  /* USER CODE END CAN1_MspInit 1 */
  }
  else if(canHandle->Instance==CAN2)
  {
  /* USER CODE BEGIN CAN2_MspInit 0 */

  /* USER CODE END CAN2_MspInit 0 */
    /* CAN2 clock enable */
    __HAL_RCC_CAN2_CLK_ENABLE();
    HAL_RCC_CAN1_CLK_ENABLED++;
    if(HAL_RCC_CAN1_CLK_ENABLED==1){
      __HAL_RCC_CAN1_CLK_ENABLE();
    }

    __HAL_RCC_GPIOB_CLK_ENABLE();
    /**CAN2 GPIO Configuration
    PB12     ------> CAN2_RX
    PB13     ------> CAN2_TX
    */
    GPIO_InitStruct.Pin = GPIO_PIN_12|GPIO_PIN_13;
    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
    GPIO_InitStruct.Pull = GPIO_NOPULL;
    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
    GPIO_InitStruct.Alternate = GPIO_AF9_CAN2;
    HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);

    /* CAN2 interrupt Init */
    HAL_NVIC_SetPriority(CAN2_RX0_IRQn, 5, 0);
    HAL_NVIC_EnableIRQ(CAN2_RX0_IRQn);
  /* USER CODE BEGIN CAN2_MspInit 1 */

  /* USER CODE END CAN2_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_ENABLED--;
    if(HAL_RCC_CAN1_CLK_ENABLED==0){
      __HAL_RCC_CAN1_CLK_DISABLE();
    }

    /**CAN1 GPIO Configuration
    PA11     ------> CAN1_RX
    PA12     ------> CAN1_TX
    */
    HAL_GPIO_DeInit(GPIOA, GPIO_PIN_11|GPIO_PIN_12);

    /* CAN1 interrupt Deinit */
    HAL_NVIC_DisableIRQ(CAN1_RX0_IRQn);
  /* USER CODE BEGIN CAN1_MspDeInit 1 */

  /* USER CODE END CAN1_MspDeInit 1 */
  }
  else if(canHandle->Instance==CAN2)
  {
  /* USER CODE BEGIN CAN2_MspDeInit 0 */

  /* USER CODE END CAN2_MspDeInit 0 */
    /* Peripheral clock disable */
    __HAL_RCC_CAN2_CLK_DISABLE();
    HAL_RCC_CAN1_CLK_ENABLED--;
    if(HAL_RCC_CAN1_CLK_ENABLED==0){
      __HAL_RCC_CAN1_CLK_DISABLE();
    }

    /**CAN2 GPIO Configuration
    PB12     ------> CAN2_RX
    PB13     ------> CAN2_TX
    */
    HAL_GPIO_DeInit(GPIOB, GPIO_PIN_12|GPIO_PIN_13);

    /* CAN2 interrupt Deinit */
    HAL_NVIC_DisableIRQ(CAN2_RX0_IRQn);
  /* USER CODE BEGIN CAN2_MspDeInit 1 */

  /* USER CODE END CAN2_MspDeInit 1 */
  }
}

/* USER CODE BEGIN 1 */
/*
* 函数名 :CAN_ConfigFilter
* 描述 : can 过滤器  配置
* 根据CAN 数量 及配置 改写下方配置函数；
* 
*/
void CAN_ConfigFilter(void)
{
	CAN_FilterTypeDef sFilterConfig;
	sFilterConfig.FilterActivation = CAN_FILTER_ENABLE;	//筛选器使能
	sFilterConfig.FilterBank = 0;						//筛选器0
	sFilterConfig.FilterFIFOAssignment = CAN_FILTER_FIFO0;
	sFilterConfig.FilterIdHigh = 0x0000;
	sFilterConfig.FilterIdLow = 0x0000;
	sFilterConfig.FilterMaskIdHigh = 0x0000;
	sFilterConfig.FilterMaskIdLow = 0x0000;
	sFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK;//掩码模式
	sFilterConfig.FilterScale = CAN_FILTERSCALE_32BIT;//32位
	sFilterConfig.SlaveStartFilterBank =14;
    
    if(HAL_CAN_ConfigFilter(&hcan1,&sFilterConfig)!=HAL_OK)
    {
        Error_Handler();
    }
    
    if(HAL_CAN_Start(&hcan1)!=HAL_OK)
    {
        Error_Handler();
    }
    
    if(HAL_CAN_ActivateNotification(&hcan1,CAN_IT_RX_FIFO0_MSG_PENDING) != HAL_OK)//激活CAN_IT_RX_FIFO0_MSG_PENDING中断
    {
        Error_Handler();
    }

    //sFilterConfig.FilterFIFOAssignment = CAN_FilterFIFO1;
    sFilterConfig.FilterBank           = 14;
    if(HAL_CAN_ConfigFilter(&hcan2,&sFilterConfig)!=HAL_OK)
    {
        Error_Handler();
    }
    
    if(HAL_CAN_Start(&hcan2)!=HAL_OK)
    {
        Error_Handler();
    }
    
    if(HAL_CAN_ActivateNotification(&hcan2,CAN_IT_RX_FIFO0_MSG_PENDING) != HAL_OK)
    {
        Error_Handler();
    }

}

void MX_CAN_Init(uint8_t can1_baud,uint8_t can2_baud)
{
   static uint32_t CAN_BAUD[2][3]={0};
   
  if(can1_baud==1)
  {
      CAN_BAUD[0][0]=12;
      CAN_BAUD[0][1]=CAN_BS1_7TQ;
      CAN_BAUD[0][2]=CAN_BS2_6TQ;
  }else if(can1_baud==2)
  {
      CAN_BAUD[0][0]=12;
      CAN_BAUD[0][1]=CAN_BS1_4TQ;
      CAN_BAUD[0][2]=CAN_BS2_2TQ;
  }else if(can1_baud==3)
  {
      CAN_BAUD[0][0]=3;
      CAN_BAUD[0][1]=CAN_BS1_9TQ;
      CAN_BAUD[0][2]=CAN_BS2_4TQ;
  }else{
      CAN_BAUD[0][0]=12;
      CAN_BAUD[0][1]=CAN_BS1_7TQ;
      CAN_BAUD[0][2]=CAN_BS2_6TQ;
  }

    hcan1.Instance = CAN1;//  配置can1
    hcan1.Init.Prescaler = CAN_BAUD[0][0];//CAN_BAUD[0][0]; 12//预分频系数
    hcan1.Init.Mode = CAN_MODE_NORMAL;// 正常CAN模式
    hcan1.Init.SyncJumpWidth = CAN_SJW_1TQ;// 重同步跳跃宽度
    hcan1.Init.TimeSeg1 =CAN_BAUD[0][1];// CAN_BAUD[0][1];// TimeSeg1
    hcan1.Init.TimeSeg2 =CAN_BAUD[0][2];// CAN_BAUD[0][2];// TimeSeg2
    hcan1.Init.TimeTriggeredMode = DISABLE;// 非时间触发通信模式
    hcan1.Init.AutoBusOff = DISABLE; // 软件自动离线管理
    hcan1.Init.AutoWakeUp = DISABLE; // 睡眠模式通过软件唤醒（清除can—>MCR的sleep位）
    hcan1.Init.AutoRetransmission = DISABLE;//禁止报文自动重传
    hcan1.Init.ReceiveFifoLocked = DISABLE;// fifo报文不锁定  新的覆盖旧的
    hcan1.Init.TransmitFifoPriority = DISABLE;//优先级由报文标识符决定
    if (HAL_CAN_Init(&hcan1) != HAL_OK)
    {
        //Error_Handler();
        Error_Handler();
    }

  if(can2_baud==1)
  {
      CAN_BAUD[1][0]=12;
      CAN_BAUD[1][1]=CAN_BS1_7TQ;
      CAN_BAUD[1][2]=CAN_BS2_6TQ;
  }else if(can2_baud==2)
  {
      CAN_BAUD[1][0]=12;
      CAN_BAUD[1][1]=CAN_BS1_4TQ;
      CAN_BAUD[1][2]=CAN_BS2_2TQ;
  }else if(can2_baud==3)
  {
      CAN_BAUD[1][0]=3;
      CAN_BAUD[1][1]=CAN_BS1_9TQ;
      CAN_BAUD[1][2]=CAN_BS2_4TQ;
  }else{
      CAN_BAUD[1][0]=12;
      CAN_BAUD[1][1]=CAN_BS1_7TQ;
      CAN_BAUD[1][2]=CAN_BS2_6TQ;
  }

  hcan2.Instance = CAN2;
  hcan2.Init.Prescaler = CAN_BAUD[1][0];
  hcan2.Init.Mode = CAN_MODE_NORMAL;
  hcan2.Init.SyncJumpWidth = CAN_SJW_1TQ;
  hcan2.Init.TimeSeg1 = CAN_BAUD[1][1];
  hcan2.Init.TimeSeg2 = CAN_BAUD[1][2];
  hcan2.Init.TimeTriggeredMode = DISABLE;
  hcan2.Init.AutoBusOff = DISABLE;
  hcan2.Init.AutoWakeUp = DISABLE;
  hcan2.Init.AutoRetransmission = DISABLE;
  hcan2.Init.ReceiveFifoLocked = DISABLE;
  hcan2.Init.TransmitFifoPriority = DISABLE;
  if (HAL_CAN_Init(&hcan2) != HAL_OK)
  {
      Error_Handler();
  }
   

  CAN_ConfigFilter();
}

/*
* 函数名 :CAN_send
* 描述 : CAN  发送重封装 IDE = 0  标准帧   = 1  扩展帧
* 根据CAN 具体配置 改写下方配置函数以及调用；
* 
*/
uint8_t can_send_msg(CAN_HandleTypeDef *hcan,uint8_t IDE,uint32_t id, uint8_t *msg, uint8_t len )
{
	CAN_TxHeaderTypeDef g_canx_txheader;
	uint32_t ID_IDE=0;
  uint32_t TxMailbox;// = CAN_TX_MAILBOX0;
	if(CAN1->TSR&(1<<26))TxMailbox=CAN_TX_MAILBOX0;			//邮箱0为空
	else if(CAN1->TSR&(1<<27))TxMailbox=CAN_TX_MAILBOX1;	//邮箱1为空
	else if(CAN1->TSR&(1<<28))TxMailbox=CAN_TX_MAILBOX2;	//邮箱2为空
	else return 0XFF;					//无空邮箱,无法发送 
	CAN1->sTxMailBox[TxMailbox].TIR=0;		//清除之前的设置	
    if ( IDE == 0)
    {  
     ID_IDE = CAN_ID_STD; 
    }else if(IDE==1)
    {
     ID_IDE = CAN_ID_EXT; 
    }
  g_canx_txheader.StdId = id;         /* 标准标识符 */
  g_canx_txheader.ExtId = id;         /* 扩展标识符(29位) */
  g_canx_txheader.IDE = ID_IDE;   /* 使用标准帧 */
  g_canx_txheader.RTR = CAN_RTR_DATA; /* 数据帧 */
  g_canx_txheader.DLC = len;
//	HAL_CAN_Start(&hcan);
  if (HAL_CAN_AddTxMessage(hcan, &g_canx_txheader, msg, &TxMailbox) != HAL_OK) /* 发送消息 */
  {	
   LOG("CAN send test data fail!\n");
    return HAL_ERROR;
  }
  while (HAL_CAN_GetTxMailboxesFreeLevel(hcan) != 3); /* 等待发送完成,所有邮箱为空 */
	return HAL_OK;
	
}

/* USER CODE END 1 */