1 | #define CAN1_TX GPIO_Pin_1
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2 | #define CAN1_RX GPIO_Pin_0
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3 | #define CAN_PORT GPIOD
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4 | #define CAN_GPIO_CLK RCC_AHB1Periph_GPIOD
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5 | #define CAN_TX_SOURCE GPIO_PinSource1
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6 | #define CAN_RX_SOURCE GPIO_PinSource0
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7 |
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8 |
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9 |
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10 | void init_can(void)
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11 | {
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12 | CAN_InitTypeDef CAN_InitStruct;
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13 | GPIO_InitTypeDef GPIO_InitStructure;
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14 | uint8_t propbe;
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15 |
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16 | /* CAN GPIOs configuration **************************************************/
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17 |
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18 | /* Enable GPIO clock */
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19 | RCC_AHB1PeriphClockCmd(CAN_GPIO_CLK, ENABLE);
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20 |
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21 | /* Connect CAN pins to AF9 */
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22 | GPIO_PinAFConfig(CAN_PORT, CAN_RX_SOURCE, GPIO_AF_CAN1);
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23 | GPIO_PinAFConfig(CAN_PORT, CAN_TX_SOURCE, GPIO_AF_CAN1);
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24 |
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25 | /* Configure CAN RX and TX pins */
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26 | GPIO_InitStructure.GPIO_Pin = CAN1_TX | CAN1_RX;
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27 | GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
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28 | GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
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29 | GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
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30 | GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
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31 | GPIO_Init(CAN_PORT, &GPIO_InitStructure);
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32 |
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33 | /* CAN configuration ********************************************************/
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34 | /* Enable CAN clock */
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35 | RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE);
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36 |
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37 | CAN_DeInit(CAN1);
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38 | /* Initialize the time triggered communication mode */
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39 | CAN_InitStruct.CAN_TTCM = DISABLE;
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40 |
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41 | /* Initialize the automatic bus-off management */
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42 | CAN_InitStruct.CAN_ABOM = DISABLE;
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43 |
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44 | /* Initialize the automatic wake-up mode */
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45 | CAN_InitStruct.CAN_AWUM = ENABLE;
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46 |
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47 | /* Initialize the no automatic retransmission */
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48 | CAN_InitStruct.CAN_NART = DISABLE;
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49 |
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50 | /* Initialize the receive FIFO locked mode */
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51 | CAN_InitStruct.CAN_RFLM = DISABLE;
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52 |
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53 | /* Initialize the transmit FIFO priority */
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54 | CAN_InitStruct.CAN_TXFP = DISABLE;
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55 |
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56 | /* Initialize the CAN_Mode member */
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57 | CAN_InitStruct.CAN_Mode = CAN_Mode_Normal;
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58 |
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59 | /* Initialize the CAN_SJW member */
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60 | CAN_InitStruct.CAN_SJW = CAN_SJW_1tq;
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61 |
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62 | /* Initialize the CAN_BS1 member */
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63 | CAN_InitStruct.CAN_BS1 = CAN_BS1_14tq;
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64 |
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65 | /* Initialize the CAN_BS2 member */
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66 | CAN_InitStruct.CAN_BS2 = CAN_BS2_6tq;
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67 |
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68 | /* Initialize the CAN_Prescaler member */
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69 | //CAN_InitStruct.CAN_Prescaler=1; // 2000 kbit/s
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70 | CAN_InitStruct.CAN_Prescaler = 2; // 1000 kbit/s
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71 | //CAN_InitStruct.CAN_Prescaler=4; // 500 kbit/s
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72 | //CAN_InitStruct.CAN_Prescaler=5; // 400 kbit/s
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73 | //CAN_InitStruct.CAN_Prescaler=8; // 250 kbit/s
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74 | //CAN_InitStruct.CAN_Prescaler=10; // 200 kbit/s
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75 | //CAN_InitStruct.CAN_Prescaler=16; // 125 kbit/s
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76 | //CAN_InitStruct.CAN_Prescaler=20; // 100 kbit/s
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77 | //CAN_InitStruct.CAN_Prescaler=40; // 50 kbit/s
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78 | //CAN_InitStruct.CAN_Prescaler=80; // 40 kbit/s
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79 | //CAN_InitStruct.CAN_Prescaler=200; // 10 kbit/s
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80 | propbe = CAN_Init(CAN1, &CAN_InitStruct);
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81 |
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82 | can_filter_conf();
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83 |
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84 | }
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