36 lines
1015 B
C
36 lines
1015 B
C
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#include "can_init.h"
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#include "can.h"
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#include "odrive_can.h"
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#include "can_it.h"
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extern CAN_HandleTypeDef hcan1;
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extern CAN_HandleTypeDef hcan2;
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void can_filter_init(void)
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{
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CAN_FilterTypeDef can_filter_st;
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can_filter_st.FilterActivation = ENABLE;
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can_filter_st.FilterMode = CAN_FILTERMODE_IDMASK;
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can_filter_st.FilterScale = CAN_FILTERSCALE_32BIT;
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can_filter_st.FilterIdHigh = 0x0000;
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can_filter_st.FilterIdLow = 0x0000;
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can_filter_st.FilterMaskIdHigh = 0x0000;
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can_filter_st.FilterMaskIdLow = 0x0000;
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can_filter_st.FilterBank = 0;
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can_filter_st.FilterFIFOAssignment = CAN_RX_FIFO0;
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HAL_CAN_ConfigFilter(&hcan1, &can_filter_st);
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HAL_CAN_Start(&hcan1);
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HAL_CAN_ActivateNotification(&hcan1, CAN_IT_RX_FIFO0_MSG_PENDING);
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can_filter_st.SlaveStartFilterBank = 14;
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can_filter_st.FilterBank = 14;
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HAL_CAN_ConfigFilter(&hcan2, &can_filter_st);
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HAL_CAN_Start(&hcan2);
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HAL_CAN_ActivateNotification(&hcan2, CAN_IT_RX_FIFO1_MSG_PENDING);
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}
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