commit fcd6ee1708521133ac7927d4d451750a82b519e4
Author: cfif <cham-zod@mail.ru>
Date:   Mon Jun 2 13:26:40 2025 +0300

    Init

diff --git a/CanPorts.c b/CanPorts.c
new file mode 100644
index 0000000..e1280a5
--- /dev/null
+++ b/CanPorts.c
@@ -0,0 +1,223 @@
+//
+// Created by cfif on 03.06.2024.
+//
+#include "CanPorts.h"
+#include "string.h"
+
+tCanPorts CAN_PORTS;
+
+void CanPort_SetSpeed(can_type *CANx, eCanBaudRate canBaudRate) {
+
+    if (CANx == CAN1) {
+        vCanSerialPortFrameInit(
+                &CAN_PORTS.Can1,
+                CAN1,
+                canBaudRate,
+                0x57,
+                CAN_STD_ID,
+                0,
+                20,
+                0,
+                20,
+                0
+        );
+    }
+
+    if (CANx == CAN2) {
+        vCanSerialPortFrameInit(
+                &CAN_PORTS.Can2,
+                CAN2,
+                canBaudRate,
+                0x57,
+                CAN_STD_ID,
+                0,
+                20,
+                0,
+                20,
+                0
+        );
+    }
+
+}
+
+void CanPort_GetSpeed(can_type *CANx, eCanBaudRate *canBaudRate) {
+    if (CANx == CAN1) {
+        *canBaudRate = CAN_PORTS.Can1.canBaudRate;
+    }
+
+    if (CANx == CAN2) {
+        *canBaudRate = CAN_PORTS.Can2.canBaudRate;
+    }
+
+    *canBaudRate = CAN_BAUD_RATE_500K;
+}
+
+void CanPort_SetFilter(can_type *CANx,
+                       can_filter_init_type *can_filter0_init_struct,
+                       can_filter_init_type *can_filter1_init_struct) {
+
+    if (CANx == CAN1) {
+        memcpy(&CAN_PORTS.Can1.can_filter0_init_struct, can_filter0_init_struct, sizeof(can_filter_init_type));
+        memcpy(&CAN_PORTS.Can1.can_filter1_init_struct, can_filter1_init_struct, sizeof(can_filter_init_type));
+        can_filter_init(CAN1, &CAN_PORTS.Can1.can_filter0_init_struct);
+        can_filter_init(CAN1, &CAN_PORTS.Can1.can_filter1_init_struct);
+        //CanPort_SetSpeed(CAN1, CAN_PORTS.Can1.canBaudRate);
+    }
+
+    if (CANx == CAN2) {
+        memcpy(&CAN_PORTS.Can2.can_filter0_init_struct, can_filter0_init_struct, sizeof(can_filter_init_type));
+        memcpy(&CAN_PORTS.Can2.can_filter1_init_struct, can_filter1_init_struct, sizeof(can_filter_init_type));
+        can_filter_init(CAN2, &CAN_PORTS.Can2.can_filter0_init_struct);
+        can_filter_init(CAN2, &CAN_PORTS.Can2.can_filter1_init_struct);
+        //CanPort_SetSpeed(CAN2, CAN_PORTS.Can2.canBaudRate);
+    }
+
+}
+
+static void vCanPort_InitCAN1RxTxPin() {
+    gpio_init_type gpio_init_struct;
+
+    // enable the gpio clock
+    crm_periph_clock_enable(CRM_GPIOD_PERIPH_CLOCK, TRUE);
+
+    gpio_default_para_init(&gpio_init_struct);
+
+    // configure the can tx, rx pin
+    gpio_init_struct.gpio_drive_strength = GPIO_DRIVE_STRENGTH_STRONGER;
+    gpio_init_struct.gpio_out_type = GPIO_OUTPUT_PUSH_PULL;
+    gpio_init_struct.gpio_mode = GPIO_MODE_MUX;
+    gpio_init_struct.gpio_pins = GPIO_PINS_0 | GPIO_PINS_1;
+    gpio_init_struct.gpio_pull = GPIO_PULL_NONE;
+    gpio_init(GPIOD, &gpio_init_struct);
+
+    gpio_pin_mux_config(GPIOD, GPIO_PINS_SOURCE0, GPIO_MUX_9);
+    gpio_pin_mux_config(GPIOD, GPIO_PINS_SOURCE1, GPIO_MUX_9);
+}
+
+void CAN1_RX0_IRQHandler(void) {
+    CanSerialPortFrameIrqRxProcessing0(&CAN_PORTS.Can1);
+}
+
+void CAN1_RX1_IRQHandler(void) {
+    CanSerialPortFrameIrqRxProcessing1(&CAN_PORTS.Can1);
+}
+
+static void vCanPort_InitCan1() {
+    vCanPort_InitCAN1RxTxPin();
+
+    CAN_PORTS.Can1.can_filter0_init_struct.filter_activate_enable = TRUE;
+    CAN_PORTS.Can1.can_filter0_init_struct.filter_mode = CAN_FILTER_MODE_ID_MASK;
+    CAN_PORTS.Can1.can_filter0_init_struct.filter_fifo = CAN_FILTER_FIFO0;
+    CAN_PORTS.Can1.can_filter0_init_struct.filter_number = 0;
+    CAN_PORTS.Can1.can_filter0_init_struct.filter_bit = CAN_FILTER_32BIT;
+    CAN_PORTS.Can1.can_filter0_init_struct.filter_id_high = 0;
+    CAN_PORTS.Can1.can_filter0_init_struct.filter_id_low = 0;
+    CAN_PORTS.Can1.can_filter0_init_struct.filter_mask_high = 0;
+    CAN_PORTS.Can1.can_filter0_init_struct.filter_mask_low = 0;
+
+    CAN_PORTS.Can1.can_filter1_init_struct.filter_activate_enable = TRUE;
+    CAN_PORTS.Can1.can_filter1_init_struct.filter_mode = CAN_FILTER_MODE_ID_MASK;
+    CAN_PORTS.Can1.can_filter1_init_struct.filter_fifo = CAN_FILTER_FIFO1;
+    CAN_PORTS.Can1.can_filter1_init_struct.filter_number = 1;
+    CAN_PORTS.Can1.can_filter1_init_struct.filter_bit = CAN_FILTER_32BIT;
+    CAN_PORTS.Can1.can_filter1_init_struct.filter_id_high = 0;
+    CAN_PORTS.Can1.can_filter1_init_struct.filter_id_low = 0;
+    CAN_PORTS.Can1.can_filter1_init_struct.filter_mask_high = 0;
+    CAN_PORTS.Can1.can_filter1_init_struct.filter_mask_low = 0;
+
+    CanPort_SetSpeed(CAN1, CAN_BAUD_RATE_500K);
+}
+
+void CAN1_SE_IRQHandler(void) {
+    __IO uint32_t err_index = 0;
+    if (can_flag_get(CAN1, CAN_ETR_FLAG) != RESET) {
+        err_index = CAN1->ests & 0x70;
+        can_flag_clear(CAN1, CAN_ETR_FLAG);
+        if (err_index == 0x00000010) {
+            can_reset(CAN1);
+            CanPort_SetSpeed(CAN1, CAN_PORTS.Can1.canBaudRate);
+        }
+    }
+}
+
+static void vCanPort_InitCAN2RxTxPin() {
+    gpio_init_type gpio_init_struct;
+
+    // enable the gpio clock
+    crm_periph_clock_enable(CRM_GPIOB_PERIPH_CLOCK, TRUE);
+
+    gpio_default_para_init(&gpio_init_struct);
+
+    // configure the can tx, rx pin
+    gpio_init_struct.gpio_drive_strength = GPIO_DRIVE_STRENGTH_STRONGER;
+    gpio_init_struct.gpio_out_type = GPIO_OUTPUT_PUSH_PULL;
+    gpio_init_struct.gpio_mode = GPIO_MODE_MUX;
+    gpio_init_struct.gpio_pins = GPIO_PINS_5 | GPIO_PINS_6;
+    gpio_init_struct.gpio_pull = GPIO_PULL_NONE;
+    gpio_init(GPIOB, &gpio_init_struct);
+
+    gpio_pin_mux_config(GPIOB, GPIO_PINS_SOURCE5, GPIO_MUX_9);
+    gpio_pin_mux_config(GPIOB, GPIO_PINS_SOURCE6, GPIO_MUX_9);
+}
+
+void CAN2_RX0_IRQHandler(void) {
+    CanSerialPortFrameIrqRxProcessing0(&CAN_PORTS.Can2);
+}
+
+void CAN2_RX1_IRQHandler(void) {
+    CanSerialPortFrameIrqRxProcessing1(&CAN_PORTS.Can2);
+}
+
+static void vCanPort_InitCan2() {
+    vCanPort_InitCAN2RxTxPin();
+
+    CAN_PORTS.Can2.can_filter0_init_struct.filter_activate_enable = TRUE;
+    CAN_PORTS.Can2.can_filter0_init_struct.filter_mode = CAN_FILTER_MODE_ID_MASK;
+    CAN_PORTS.Can2.can_filter0_init_struct.filter_fifo = CAN_FILTER_FIFO0;
+    CAN_PORTS.Can2.can_filter0_init_struct.filter_number = 0;
+    CAN_PORTS.Can2.can_filter0_init_struct.filter_bit = CAN_FILTER_32BIT;
+    CAN_PORTS.Can2.can_filter0_init_struct.filter_id_high = 0;
+    CAN_PORTS.Can2.can_filter0_init_struct.filter_id_low = 0;
+    CAN_PORTS.Can2.can_filter0_init_struct.filter_mask_high = 0;
+    CAN_PORTS.Can2.can_filter0_init_struct.filter_mask_low = 0;
+
+    CAN_PORTS.Can2.can_filter1_init_struct.filter_activate_enable = TRUE;
+    CAN_PORTS.Can2.can_filter1_init_struct.filter_mode = CAN_FILTER_MODE_ID_MASK;
+    CAN_PORTS.Can2.can_filter1_init_struct.filter_fifo = CAN_FILTER_FIFO1;
+    CAN_PORTS.Can2.can_filter1_init_struct.filter_number = 1;
+    CAN_PORTS.Can2.can_filter1_init_struct.filter_bit = CAN_FILTER_32BIT;
+    CAN_PORTS.Can2.can_filter1_init_struct.filter_id_high = 0;
+    CAN_PORTS.Can2.can_filter1_init_struct.filter_id_low = 0;
+    CAN_PORTS.Can2.can_filter1_init_struct.filter_mask_high = 0;
+    CAN_PORTS.Can2.can_filter1_init_struct.filter_mask_low = 0;
+
+    CanPort_SetSpeed(CAN2, CAN_BAUD_RATE_500K);
+}
+
+
+void CAN2_SE_IRQHandler(void) {
+    __IO uint32_t err_index = 0;
+    if (can_flag_get(CAN2, CAN_ETR_FLAG) != RESET) {
+        err_index = CAN2->ests & 0x70;
+        can_flag_clear(CAN2, CAN_ETR_FLAG);
+
+        if (err_index == 0x00000010) {
+//            gpio_bits_set(GPIOB, GPIO_PINS_7);
+//            gpio_bits_reset(GPIOB, GPIO_PINS_7);
+
+            can_reset(CAN2);
+            CanPort_SetSpeed(CAN2, CAN_PORTS.Can2.canBaudRate);
+
+        }
+    }
+}
+
+void CanPorts_Init() {
+    CAN_PORTS.Can1.reInit = false;
+    vCanPort_InitCan1();
+    CAN_PORTS.Can1_IO = CanPortFrame_GetIo(&CAN_PORTS.Can1);
+
+    CAN_PORTS.Can2.reInit = false;
+    vCanPort_InitCan2();
+    CAN_PORTS.Can2_IO = CanPortFrame_GetIo(&CAN_PORTS.Can2);
+}
\ No newline at end of file
diff --git a/CanPorts.h b/CanPorts.h
new file mode 100644
index 0000000..283e07e
--- /dev/null
+++ b/CanPorts.h
@@ -0,0 +1,30 @@
+//
+// Created by cfif on 03.06.2024.
+//
+
+#ifndef SMART_COMPONENTS_CANPORTS_H
+#define SMART_COMPONENTS_CANPORTS_H
+
+#include "CanSerialPortFrame.h"
+
+typedef struct {
+    tCanSerialPortFrameArtery Can1;
+    tSerialPortFrameIO Can1_IO;
+
+    tCanSerialPortFrameArtery Can2;
+    tSerialPortFrameIO Can2_IO;
+} tCanPorts;
+
+extern tCanPorts CAN_PORTS;
+
+void CanPorts_Init();
+
+void CanPort_SetSpeed(can_type *CANx, eCanBaudRate canBaudRate);
+
+void CanPort_GetSpeed(can_type *CANx, eCanBaudRate *canBaudRate);
+
+void CanPort_SetFilter(can_type *CANx,
+                       can_filter_init_type *can_filter0_init_struct,
+                       can_filter_init_type *can_filter1_init_struct);
+
+#endif //SMART_COMPONENTS_CANPORTS_H
diff --git a/modular.json b/modular.json
new file mode 100644
index 0000000..0dd1901
--- /dev/null
+++ b/modular.json
@@ -0,0 +1,10 @@
+{
+  "cmake": {
+    "inc_dirs": [
+      "./"
+    ],
+    "srcs": [
+      "./**.c"
+    ]
+  }
+}
\ No newline at end of file