Обновление

CanPorts.c

@@ -15,10 +15,14 @@ typedef struct {
 
 #define size_aRxDataBuf 16
 ALIGN(256) Can_RamType g_aRxDataBufCan0[size_aRxDataBuf]; // dma ring buffer size is 256
+ALIGN(256) Can_RamType g_aRxDataBufCan1[size_aRxDataBuf]; // dma ring buffer size is 256
 
-static void DMA_TransferCompleteCallback(void) {
+static void DMA_TransferCompleteCallbackCan0(void) {
     CanSerialPortFrameIrqRxProcessing(CAN_PORTS.Can0_IO.env, (uint32_t *) &g_aRxDataBufCan0[0]);
+}
 
+static void DMA_TransferCompleteCallbackCan1(void) {
+    CanSerialPortFrameIrqRxProcessing(CAN_PORTS.Can1_IO.env, (uint32_t *) &g_aRxDataBufCan1[0]);
 }
 
 //static void DMA_ErrorCallback(void) {
@@ -186,7 +190,84 @@ static void vCanPort_InitCan0() {
             NULL,
             NULL,
 
-            DMA_TransferCompleteCallback,
+            DMA_TransferCompleteCallbackCan0,
+            NULL
+    );
+
+}
+
+
+static void vCanPort_InitCAN1RxTxPin() {
+    PORT_InitType tInitStruct = {0U};
+    GPIO_InitType tGpioInitStruct = {0};
+
+    // CAN1_STB
+    // PortD 28: MUX = GPIO output
+    tInitStruct.u32PortPins = PORT_PIN_28;
+    tInitStruct.uPortPinMux.u32PortPinMode = PORT_GPIO_MODE;
+    PORT_InitPins(PORT_D, &tInitStruct);
+    tGpioInitStruct.u32GpioPins = PORT_PIN_28;
+    tGpioInitStruct.ePinDirection = GPIO_OUT;
+    tGpioInitStruct.ePinLevel = GPIO_LOW;
+    GPIO_InitPins(GPIO_D, &tGpioInitStruct);
+
+    // PortA 12: MUX = ALT3, CAN1_RX
+    tInitStruct.u32PortPins = PORT_PIN_12;
+    tInitStruct.uPortPinMux.u32PortPinMode = PORTA_12_FLEXCAN1_RX;
+    tInitStruct.bPullEn = FALSE;
+    tInitStruct.ePullSel = PORT_PULL_UP;
+    PORT_InitPins(PORT_A, &tInitStruct);
+    tGpioInitStruct.u32GpioPins = PORT_PIN_12;
+    tGpioInitStruct.ePinDirection = GPIO_IN;
+    GPIO_InitPins((GPIO_InstanceType) PORT_A, &tGpioInitStruct);
+
+    // PortA 13: MUX = ALT3, CAN1_TX
+    tInitStruct.u32PortPins = PORT_PIN_13;
+    tInitStruct.uPortPinMux.u32PortPinMode = PORTA_13_FLEXCAN1_TX;
+    PORT_InitPins(PORT_A, &tInitStruct);
+    tGpioInitStruct.u32GpioPins = PORT_PIN_13;
+    tGpioInitStruct.ePinDirection = GPIO_OUT;
+    tGpioInitStruct.ePinLevel = GPIO_HIGH;
+    GPIO_InitPins(GPIO_A, &tGpioInitStruct);
+}
+
+static void vCanPort_InitCan1() {
+    vCanPort_InitCAN1RxTxPin();
+
+    vCanSerialPortFrameDMAInit(
+            &CAN_PORTS.Can1,
+
+            FLEXCAN0,
+            1, // CAN0 = 0 ... CAN3 = 3
+            FlexCAN1_IRQn, // // FlexCAN0_IRQn ... FlexCAN3_IRQn
+
+            0xFF,
+            DMA_CHANNEL_1,
+
+            DMA_REQ_FLEXCAN1,
+
+            (uint8_t *) &g_aRxDataBufCan0[0],
+            size_aRxDataBuf,
+
+            IdCanSoftFilterCan0,
+            countIdCanSoftFilterCan0,
+
+            IdCanFilterFifoCan0,
+            countIdCanFilterFifoCan0,
+
+            DMA1_IRQn,
+            0xFF,
+            DMA1_IRQn,
+
+            FLEXCAN_BAUD_500K,
+            FLEXCAN_ID_STD,
+            0x55,
+            NULL,
+            NULL,
+            NULL,
+            NULL,
+
+            DMA_TransferCompleteCallbackCan1,
             NULL
     );
 
@@ -198,6 +279,9 @@ void CanPorts_Init() {
     vCanPort_InitCan0();
     CAN_PORTS.Can0_IO = CanPortFrame_GetIo(&CAN_PORTS.Can0);
 
+    CAN_PORTS.Can1.reInit = false;
+    vCanPort_InitCan1();
+    CAN_PORTS.Can1_IO = CanPortFrame_GetIo(&CAN_PORTS.Can1);
 }
 
 void CAN0_IRQHandler(void) {

CanPorts.h

@@ -21,6 +21,8 @@
 typedef struct {
     tCanSerialPortFrameFlagchip Can0;
     tSerialPortFrameIO Can0_IO;
+    tCanSerialPortFrameFlagchip Can1;
+    tSerialPortFrameIO Can1_IO;
 } tCanPorts;
 
 extern tCanPorts CAN_PORTS;