/* USER CODE BEGIN Header */ /** ****************************************************************************** * @file : main.c * @brief : Main program body ****************************************************************************** * @attention * * Copyright (c) 2023 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 "main.h" /* Private includes ----------------------------------------------------------*/ /* USER CODE BEGIN Includes */ #include "stdio.h" /* USER CODE END Includes */ /* Private typedef -----------------------------------------------------------*/ /* USER CODE BEGIN PTD */ /* USER CODE END PTD */ /* Private define ------------------------------------------------------------*/ /* USER CODE BEGIN PD */ /* USER CODE END PD */ /* Private macro -------------------------------------------------------------*/ /* USER CODE BEGIN PM */ /* USER CODE END PM */ /* Private variables ---------------------------------------------------------*/ CAN_HandleTypeDef hcan1; CAN_HandleTypeDef hcan2; /* USER CODE BEGIN PV */ uint32_t TxMailbox; /* USER CODE END PV */ /* Private function prototypes -----------------------------------------------*/ void SystemClock_Config(void); static void MX_GPIO_Init(void); static void MX_CAN1_Init(void); static void MX_CAN2_Init(void); /* USER CODE BEGIN PFP */ /* USER CODE END PFP */ /* Private user code ---------------------------------------------------------*/ /* USER CODE BEGIN 0 */ int __io_putchar(int ch) { ITM_SendChar(ch); return ch; } /* USER CODE END 0 */ /** * @brief The application entry point. * @retval int */ int main(void) { /* USER CODE BEGIN 1 */ /* USER CODE END 1 */ /* MCU Configuration--------------------------------------------------------*/ /* Reset of all peripherals, Initializes the Flash interface and the Systick. */ HAL_Init(); /* USER CODE BEGIN Init */ /* USER CODE END Init */ /* Configure the system clock */ SystemClock_Config(); /* USER CODE BEGIN SysInit */ /* USER CODE END SysInit */ /* Initialize all configured peripherals */ MX_GPIO_Init(); MX_CAN1_Init(); MX_CAN2_Init(); /* USER CODE BEGIN 2 */ printf("Basic routine - CAN Communications -POLL-\n"); HAL_CAN_Start(&hcan1); HAL_CAN_Start(&hcan2); CAN_FilterTypeDef canfilterconfig; canfilterconfig.FilterActivation = CAN_FILTER_ENABLE; canfilterconfig.FilterBank = 0; // which filter bank to use from the assigned ones canfilterconfig.FilterFIFOAssignment = CAN_FILTER_FIFO0; canfilterconfig.FilterIdHigh = 0xFFF << 5; // mask 1 canfilterconfig.FilterIdLow = 0x446 << 5; // id 1 // canfilterconfig.FilterIdLow = 0xFFFF; // id 1 use this id to demonstrate fifo filter blocks message with wrong ID canfilterconfig.FilterMaskIdHigh = 0xFFFF; // mask 2 canfilterconfig.FilterMaskIdLow = 0xFFFF; // id 2 canfilterconfig.FilterMode = CAN_FILTERMODE_IDMASK; canfilterconfig.FilterScale = CAN_FILTERSCALE_16BIT; canfilterconfig.SlaveStartFilterBank = 0; // how many filters to assign to the CAN1 (all filters are for slave CAN controller) HAL_CAN_ConfigFilter(&hcan2, &canfilterconfig); uint8_t TxData[8]; TxData[0] = 0xAA; TxData[1] = 0xBB; TxData[2] = 0xCC; TxData[3] = 0xDD; TxData[4] = 0xEE; TxData[5] = 0xFF; TxData[6] = 0x00; TxData[7] = 0x00; /* USER CODE END 2 */ /* Infinite loop */ /* USER CODE BEGIN WHILE */ while (1) { /* USER CODE END WHILE */ /* USER CODE BEGIN 3 */ CAN_TxHeaderTypeDef TxHeader; TxHeader.IDE = CAN_ID_STD; TxHeader.StdId = 0x446; TxHeader.RTR = CAN_RTR_DATA; TxHeader.DLC = 8; if (HAL_CAN_GetTxMailboxesFreeLevel(&hcan1)>0) { TxData[7]++; if (HAL_CAN_AddTxMessage(&hcan1, &TxHeader, TxData, &TxMailbox) != HAL_OK) { printf("Failed sending data.\n"); Error_Handler (); } else printf("Send; HAL_CAN_AddTxMessage: StdId=%lx bytes=%ld; %x %x %x %x %x %x %x %x.\n",TxHeader.StdId,TxHeader.DLC,TxData[0],TxData[1],TxData[2],TxData[3],TxData[4],TxData[5],TxData[6],TxData[7]); } HAL_Delay(100); while (HAL_CAN_GetRxFifoFillLevel(&hcan2, CAN_RX_FIFO0)>0) { CAN_RxHeaderTypeDef RxHeader; uint8_t RxData[8]; if (HAL_CAN_GetRxMessage(&hcan2, CAN_RX_FIFO0, &RxHeader, RxData) == HAL_OK) { printf("Receive; HAL_CAN_GetRxMessage: Data received: StdId=%lx bytes=%ld; %x %x %x %x %x %x %x %x\n\n",RxHeader.StdId,RxHeader.DLC,RxData[0],RxData[1],RxData[2],RxData[3],RxData[4],RxData[5],RxData[6],RxData[7]); } } HAL_Delay(2000); } /* USER CODE END 3 */ } /** * @brief System Clock Configuration * @retval None */ void SystemClock_Config(void) { RCC_OscInitTypeDef RCC_OscInitStruct = {0}; RCC_ClkInitTypeDef RCC_ClkInitStruct = {0}; /** Configure the main internal regulator output voltage */ __HAL_RCC_PWR_CLK_ENABLE(); __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1); /** Initializes the RCC Oscillators according to the specified parameters * in the RCC_OscInitTypeDef structure. */ RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE; RCC_OscInitStruct.HSEState = RCC_HSE_ON; RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON; RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE; RCC_OscInitStruct.PLL.PLLM = 25; RCC_OscInitStruct.PLL.PLLN = 160; RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2; RCC_OscInitStruct.PLL.PLLQ = 4; if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK) { Error_Handler(); } /** Initializes the CPU, AHB and APB buses clocks */ RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2; RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK; RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV2; RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1; RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1; if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_1) != HAL_OK) { Error_Handler(); } } /** * @brief CAN1 Initialization Function * @param None * @retval None */ static 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 = 100; hcan1.Init.Mode = CAN_MODE_NORMAL; hcan1.Init.SyncJumpWidth = CAN_SJW_4TQ; hcan1.Init.TimeSeg1 = CAN_BS1_5TQ; hcan1.Init.TimeSeg2 = CAN_BS2_4TQ; 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 */ } /** * @brief CAN2 Initialization Function * @param None * @retval None */ static 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 = 100; hcan2.Init.Mode = CAN_MODE_NORMAL; hcan2.Init.SyncJumpWidth = CAN_SJW_1TQ; hcan2.Init.TimeSeg1 = CAN_BS1_4TQ; hcan2.Init.TimeSeg2 = CAN_BS2_5TQ; 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 */ } /** * @brief GPIO Initialization Function * @param None * @retval None */ static void MX_GPIO_Init(void) { /* USER CODE BEGIN MX_GPIO_Init_1 */ /* USER CODE END MX_GPIO_Init_1 */ /* GPIO Ports Clock Enable */ __HAL_RCC_GPIOH_CLK_ENABLE(); __HAL_RCC_GPIOA_CLK_ENABLE(); __HAL_RCC_GPIOD_CLK_ENABLE(); __HAL_RCC_GPIOB_CLK_ENABLE(); /* USER CODE BEGIN MX_GPIO_Init_2 */ /* USER CODE END MX_GPIO_Init_2 */ } /* USER CODE BEGIN 4 */ /* USER CODE END 4 */ /** * @brief This function is executed in case of error occurrence. * @retval None */ void Error_Handler(void) { /* USER CODE BEGIN Error_Handler_Debug */ /* User can add his own implementation to report the HAL error return state */ __disable_irq(); while (1) { } /* USER CODE END Error_Handler_Debug */ } #ifdef USE_FULL_ASSERT /** * @brief Reports the name of the source file and the source line number * where the assert_param error has occurred. * @param file: pointer to the source file name * @param line: assert_param error line source number * @retval None */ void assert_failed(uint8_t *file, uint32_t line) { /* USER CODE BEGIN 6 */ /* User can add his own implementation to report the file name and line number, ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */ /* USER CODE END 6 */ } #endif /* USE_FULL_ASSERT */