GD32F450-CAN-Init.zip

#include "can.h" /*! \brief initialize CAN and filter \param[in] none \param[out] none \retval none */ void can_networking_init(void) { can_parameter_struct can_parameter; can_filter_parameter_struct can_filter; can_filter_parameter_struct can_filter1; /* enable can clock */ rcu_periph_clock_enable(RCU_CAN0); rcu_periph_clock_enable(RCU_CAN1); rcu_periph_clock_enable(RCU_GPIOA); rcu_periph_clock_enable(RCU_GPIOB); /* configure CAN0 GPIO, CAN0_TX(PA12) and CAN0_RX(PA11) */ gpio_output_options_set(GPIOA, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_11); gpio_mode_set(GPIOA, GPIO_MODE_AF, GPIO_PUPD_NONE, GPIO_PIN_11); gpio_af_set(GPIOA, GPIO_AF_9, GPIO_PIN_11); gpio_output_options_set(GPIOA, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_12); gpio_mode_set(GPIOA, GPIO_MODE_AF, GPIO_PUPD_NONE, GPIO_PIN_12); gpio_af_set(GPIOA, GPIO_AF_9, GPIO_PIN_12); /* configure CAN1 GPIO, CAN0_TX(PB13) and CAN0_RX(PB12) */ gpio_output_options_set(GPIOB, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_12); gpio_mode_set(GPIOB, GPIO_MODE_AF, GPIO_PUPD_NONE, GPIO_PIN_12); gpio_af_set(GPIOB, GPIO_AF_9, GPIO_PIN_12); gpio_output_options_set(GPIOB, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_13); gpio_mode_set(GPIOB, GPIO_MODE_AF, GPIO_PUPD_NONE, GPIO_PIN_13); gpio_af_set(GPIOB, GPIO_AF_9, GPIO_PIN_13); /* initialize CAN register */ can_deinit(CAN0); can_deinit(CAN1); /* initialize CAN */ can_parameter.time_triggered = DISABLE; can_parameter.auto_bus_off_recovery = DISABLE; can_parameter.auto_wake_up = DISABLE; can_parameter.auto_retrans = DISABLE; can_parameter.rec_fifo_overwrite = DISABLE; can_parameter.trans_fifo_order = DISABLE; can_parameter.working_mode =CAN_NORMAL_MODE;// CAN_LOOPBACK_MODE;//CAN_NORMAL_MODE; can_parameter.resync_jump_width = CAN_BT_SJW_1TQ; can_parameter.time_segment_1 = CAN_BT_BS1_5TQ; can_parameter.time_segment_2 = CAN_BT_BS2_4TQ; /* baudrate 1Mbps */ can_parameter.prescaler = 5; can_init(CAN0, &can_parameter); can_init(CAN1, &can_parameter); /* initialize filter */ /* CAN0 filter number */ can_filter.filter_number = 0; /* initialize filter */ can_filter.filter_mode = CAN_FILTERMODE_MASK; can_filter.filter_bits = CAN_FILTERBITS_32BIT; can_filter.filter_list_high = 0x0000; can_filter.filter_list_low = 0x0000; can_filter.filter_mask_high = 0x0000; can_filter.filter_mask_low = 0x0000; can_filter.filter_fifo_number = CAN_FIFO0; can_filter.filter_enable = ENABLE; can_filter_init(&can_filter); /* enable CAN receive FIFO0 not empty interrupt */ can_interrupt_enable(CAN0, CAN_INTEN_RFNEIE0); /* initialize filter */ /* CAN1 filter number */ can_filter1.filter_number = 15; /* initialize filter */ can_filter1.filter_mode = CAN_FILTERMODE_MASK; can_filter1.filter_bits = CAN_FILTERBITS_32BIT; can_filter1.filter_list_high = 0x0000; can_filter1.filter_list_low = 0x0000; can_filter1.filter_mask_high = 0x0000; can_filter1.filter_mask_low = 0x0000; can_filter1.filter_fifo_number = CAN_FIFO0; can_filter1.filter_enable = ENABLE; can_filter_init(&can_filter1); /* enable CAN receive FIFO1 not empty interrupt */ can_interrupt_enable(CAN1, CAN_INTEN_RFNEIE0); /* configure CAN0 NVIC */ nvic_irq_enable(CAN0_RX0_IRQn,0,0); nvic_irq_enable(CAN1_RX0_IRQn,0,0); } void CAN_Test(void) { can_trasnmit_message_struct messageTransmit; /* initialize transmit message */ messageTransmit.tx_sfid = 0x321; messageTransmit.tx_efid = 0x00; messageTransmit.tx_ft = CAN_FT_DATA; messageTransmit.tx_ff = CAN_FF_STANDARD; messageTransmit.tx_dlen = 2; messageTransmit.tx_data[0] = 0xAB; messageTransmit.tx_data[1] = 0xCD; can_message_transmit(CAN0, &messageTransmit); messageTransmit.tx_sfid = 0x322; can_message_transmit(CAN1, &messageTransmit); }