1 | //CAN1
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2 | #define GPIO_CAN1 GPIOD
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3 | #define GPIO_Pin_CAN1_RX GPIO_Pin_0
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4 | #define GPIO_Pin_CAN1_TX GPIO_Pin_1
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5 |
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6 | //CAN2
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7 | #define GPIO_CAN2 GPIOB
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8 | #define GPIO_Pin_CAN2_RX GPIO_Pin_12
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9 | #define GPIO_Pin_CAN2_TX GPIO_Pin_6
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10 |
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11 |
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12 | void CAN_init(void)
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13 | {
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14 | //Periph-Clock an
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15 | RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1 | RCC_APB1Periph_CAN2, ENABLE);
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16 | RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB | RCC_AHB1Periph_GPIOD, ENABLE);
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17 |
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18 | //CAN1
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19 | GPIO_StructInit(&GPIO_InitStructure);
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20 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_CAN1_RX;
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21 | GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
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22 | GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
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23 | GPIO_Init(GPIO_CAN1, &GPIO_InitStructure);
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24 |
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25 | GPIO_StructInit(&GPIO_InitStructure);
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26 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_CAN1_TX;
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27 | GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
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28 | GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
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29 | GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
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30 | GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
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31 | GPIO_Init(GPIO_CAN1, &GPIO_InitStructure);
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32 |
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33 | GPIO_PinAFConfig(GPIO_CAN1, GPIO_PinSource0, GPIO_AF_CAN1);
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34 | GPIO_PinAFConfig(GPIO_CAN1, GPIO_PinSource1, GPIO_AF_CAN1);
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35 |
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36 | //CAN2
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37 | GPIO_StructInit(&GPIO_InitStructure);
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38 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_CAN2_RX;
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39 | GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
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40 | GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
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41 | GPIO_Init(GPIO_CAN2, &GPIO_InitStructure);
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42 |
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43 | GPIO_StructInit(&GPIO_InitStructure);
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44 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_CAN2_TX;
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45 | GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
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46 | GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
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47 | GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
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48 | GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
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49 | GPIO_Init(GPIO_CAN2, &GPIO_InitStructure);
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50 |
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51 | GPIO_PinAFConfig(GPIOB, GPIO_PinSource6, GPIO_AF_CAN2);
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52 | GPIO_PinAFConfig(GPIOB, GPIO_PinSource12, GPIO_AF_CAN2);
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53 | //
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54 | //GPIOB->AFR[0]|=(0x09<<24);
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55 | //GPIOB->AFR[1]|=(0x09<<16);
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56 |
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57 | CAN_DeInit(CAN1);
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58 | CAN_DeInit(CAN2);
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59 |
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60 |
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61 | //Merde: überprüfen für 42Mhz Clock APB1
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62 | CAN_StructInit(&CAN_InitStructure);
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63 | CAN_InitStructure.CAN_Prescaler = 4; //!< Specifies the length of a time quantum. It ranges from 1 to 1024.
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64 | CAN_InitStructure.CAN_SJW = CAN_SJW_2tq; //!< Specifies the maximum number of time quanta the CAN hardware is allowed to lengthen or shorten a bit to perform resynchronization.
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65 | CAN_InitStructure.CAN_BS1 = CAN_BS1_13tq; //!< Specifies the number of time quanta in Bit Segment 1.
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66 | CAN_InitStructure.CAN_BS2 = CAN_BS2_7tq; //!< Specifies the number of time quanta in Bit Segment 2.
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67 | // tq=4/42Mhz 1Bit=SJW+BS1+BS2 bei 500kbaud= 2µSek
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68 |
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69 | CAN_InitStructure.CAN_Mode = CAN_Mode_Normal; //!< Specifies the CAN operating mode.
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70 | CAN_InitStructure.CAN_TTCM = DISABLE; //!< Enable or disable the time triggered communication mode.
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71 | CAN_InitStructure.CAN_ABOM = DISABLE; //!< Enable or disable the automatic bus-off management.
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72 | CAN_InitStructure.CAN_AWUM = DISABLE; //!< Enable or disable the automatic wake-up mode.
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73 | CAN_InitStructure.CAN_NART = ENABLE; //!< Enable or disable the non-automatic retransmission mode.
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74 | CAN_InitStructure.CAN_RFLM = DISABLE; //!< Enable or disable the Receive FIFO Locked mode.
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75 | CAN_InitStructure.CAN_TXFP = DISABLE; //!< Enable or disable the transmit FIFO priority.
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76 |
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77 | CAN_Init(CAN1, &CAN_InitStructure);
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78 | CAN_Init(CAN2, &CAN_InitStructure);
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79 |
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80 |
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81 | // Can filter Init
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82 | CAN_FilterInit(&CAN_FilterInitStructure);
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83 | CAN_FilterInitStructure.CAN_FilterNumber = 0;
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84 | CAN_FilterInitStructure.CAN_FilterMode = CAN_FilterMode_IdMask;
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85 | CAN_FilterInitStructure.CAN_FilterScale = CAN_FilterScale_32bit;
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86 | CAN_FilterInitStructure.CAN_FilterIdHigh = 0x0112<<5;
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87 | CAN_FilterInitStructure.CAN_FilterIdLow = 0x0000;
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88 | CAN_FilterInitStructure.CAN_FilterMaskIdHigh = 0xFFFF;
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89 | CAN_FilterInitStructure.CAN_FilterMaskIdLow = 0xFFFF;
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90 | CAN_FilterInitStructure.CAN_FilterFIFOAssignment = 0;
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91 | CAN_FilterInitStructure.CAN_FilterActivation = ENABLE;
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92 | CAN_FilterInit(&CAN_FilterInitStructure);
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93 | }
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