1 | void CAN_wrFilter (uint32_t ctrl, uint32_t id, uint32_t mask, uint8_t format) {
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2 | CAN_TypeDef *pCAN = (ctrl == 1) ? CAN1 : CAN2;
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3 | uint32_t CAN_msgId = 0;
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4 | uint32_t CAN_msgMask = 0;
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5 |
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6 | if ((mask != 0) && (CAN_filterRegisterIdx != 0)) {
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7 | CAN_filterIdx[ctrl-1]++;
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8 | } /* increase filter index */
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9 |
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10 | if (CAN_filterIdx[ctrl-1] > 13) { /* check if Filter Memory is full*/
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11 | return;
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12 | }
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13 |
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14 | /* Setup identifier information IDE BIT */
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15 | if (format == STANDARD_FORMAT) { /* Standard ID */
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16 | CAN_msgId |= (uint32_t)(id << 21) | CAN_ID_STD;
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17 | CAN_msgMask = (uint32_t)(mask << 21);
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18 | } else { /* Extended ID */
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19 | CAN_msgId |= (uint32_t)(id << 3) | CAN_ID_EXT;
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20 | CAN_msgMask = (uint32_t)(mask << 3);
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21 | }
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22 |
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23 | pCAN->FMR |= CAN_FMR_FINIT; /* set InitMode for filter banks */
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24 | pCAN->FA1R &= ~(1UL << CAN_filterIdx[ctrl-1]); /* deactivate filter */
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25 |
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26 | pCAN->FS1R |= (uint32_t)(1 << CAN_filterIdx[ctrl-1]); /* set 32-bit scale configuration */
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27 |
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28 |
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29 | if (mask == 0) { /* FBMx Bit Identifier List mode */
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30 | pCAN->FM1R |= (uint32_t)(1 << CAN_filterIdx[ctrl-1]); /* set to 32-bit Identifier List mode */
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31 | if (CAN_filterRegisterIdx = 0)
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32 | pCAN->sFilterRegister[CAN_filterIdx[ctrl-1]].FR1 = CAN_msgId; /* 32-bit identifier */
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33 | else
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34 | pCAN->sFilterRegister[CAN_filterIdx[ctrl-1]].FR2 = CAN_msgId; /* 32-bit identifier */
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35 | } else {
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36 | pCAN->FM1R &= ~(uint32_t)(1 << CAN_filterIdx[ctrl-1]); /* set to 32-bit Mask mode */
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37 | if (CAN_filterRegisterIdx = 0)
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38 | pCAN->sFilterRegister[CAN_filterIdx[ctrl-1]].FR1 = CAN_msgId; /* 32-bit identifier */
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39 | else
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40 | pCAN->sFilterRegister[CAN_filterIdx[ctrl-1]].FR2 = CAN_msgMask; /* 32-bit identifier */
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41 | CAN_filterRegisterIdx++;
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42 | }
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43 |
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44 |
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45 |
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46 | CAN_filterRegisterIdx++;
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47 |
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48 | pCAN->FFA1R &= ~(uint32_t)(1 << CAN_filterIdx[ctrl-1]); /* assign filter to FIFO 0 */
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49 | pCAN->FA1R |= (uint32_t)(1 << CAN_filterIdx[ctrl-1]); /* activate filter */
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50 |
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51 | pCAN->FMR &= ~CAN_FMR_FINIT; /* reset initMode for filterBanks*/
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52 |
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53 | }
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