MotorStep42L/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 */

/* USER CODE END 0 */

CAN_HandleTypeDef hcan;

/* CAN init function */
void MX_CAN_Init(void)
{

  /* USER CODE BEGIN CAN_Init 0 */

  /* USER CODE END CAN_Init 0 */

  /* USER CODE BEGIN CAN_Init 1 */

  /* USER CODE END CAN_Init 1 */
  hcan.Instance = CAN1;
  hcan.Init.Prescaler = 6;
  hcan.Init.Mode = CAN_MODE_NORMAL;
  hcan.Init.SyncJumpWidth = CAN_SJW_1TQ;
  hcan.Init.TimeSeg1 = CAN_BS1_3TQ;
  hcan.Init.TimeSeg2 = CAN_BS2_2TQ;
  hcan.Init.TimeTriggeredMode = DISABLE;
  hcan.Init.AutoBusOff = ENABLE;
  hcan.Init.AutoWakeUp = ENABLE;
  hcan.Init.AutoRetransmission = ENABLE;
  hcan.Init.ReceiveFifoLocked = DISABLE;
  hcan.Init.TransmitFifoPriority = DISABLE;
  if (HAL_CAN_Init(&hcan) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN CAN_Init 2 */

  /* USER CODE END CAN_Init 2 */

}

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_ENABLE();

    __HAL_RCC_GPIOB_CLK_ENABLE();
    /**CAN GPIO Configuration
    PB8     ------> CAN_RX
    PB9     ------> CAN_TX
    */
    GPIO_InitStruct.Pin = GPIO_PIN_8;
    GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
    GPIO_InitStruct.Pull = GPIO_PULLUP;
    HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);

    GPIO_InitStruct.Pin = GPIO_PIN_9;
    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
    HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);

    __HAL_AFIO_REMAP_CAN1_2();

    /* CAN1 interrupt Init */
    HAL_NVIC_SetPriority(USB_LP_CAN1_RX0_IRQn, 0, 0);
    HAL_NVIC_EnableIRQ(USB_LP_CAN1_RX0_IRQn);
    HAL_NVIC_SetPriority(CAN1_RX1_IRQn, 0, 0);
    HAL_NVIC_EnableIRQ(CAN1_RX1_IRQn);
  /* USER CODE BEGIN CAN1_MspInit 1 */

  /* USER CODE END CAN1_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_DISABLE();

    /**CAN GPIO Configuration
    PB8     ------> CAN_RX
    PB9     ------> CAN_TX
    */
    HAL_GPIO_DeInit(GPIOB, GPIO_PIN_8|GPIO_PIN_9);

    /* CAN1 interrupt Deinit */
    HAL_NVIC_DisableIRQ(USB_LP_CAN1_RX0_IRQn);
    HAL_NVIC_DisableIRQ(CAN1_RX1_IRQn);
  /* USER CODE BEGIN CAN1_MspDeInit 1 */

  /* USER CODE END CAN1_MspDeInit 1 */
  }
}

/* USER CODE BEGIN 1 */

/* USER CODE END 1 */