/**
  ******************************************************************************
  * File Name          : main.c
  * Description        : Main program body
  ******************************************************************************
  *
  * COPYRIGHT(c) 2016 STMicroelectronics
  *
  * Redistribution and use in source and binary forms, with or without modification,
  * are permitted provided that the following conditions are met:
  *   1. Redistributions of source code must retain the above copyright notice,
  *      this list of conditions and the following disclaimer.
  *   2. Redistributions in binary form must reproduce the above copyright notice,
  *      this list of conditions and the following disclaimer in the documentation
  *      and/or other materials provided with the distribution.
  *   3. Neither the name of STMicroelectronics nor the names of its contributors
  *      may be used to endorse or promote products derived from this software
  *      without specific prior written permission.
  *
  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
  * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
  * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
  * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
  * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
  * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
  *
  ******************************************************************************
  */
/* Includes ------------------------------------------------------------------*/
#include "stm32f1xx_hal.h"

/* USER CODE BEGIN Includes */

/* USER CODE END Includes */

/* Private variables ---------------------------------------------------------*/
CAN_HandleTypeDef hcan1;
CAN_HandleTypeDef hcan2;

/* USER CODE BEGIN PV */
/* Private variables ---------------------------------------------------------*/

/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
void Error_Handler(void);
static void MX_GPIO_Init(void);
static void MX_CAN1_Init(void);
static void MX_CAN2_Init(void);

/* USER CODE BEGIN PFP */
/* Private function prototypes -----------------------------------------------*/

/* USER CODE END PFP */

/* USER CODE BEGIN 0 */
void HAL_CAN_RxCpltCallback(CAN_HandleTypeDef *CanHandle)
{
	if(CanHandle ==&hcan1)
	{
		  /* Receive */
		  if (HAL_CAN_Receive_IT(&hcan1, CAN_FIFO0) != HAL_OK)
		  {
			/* Reception Error */
			Error_Handler();
		  }
	}
	if(CanHandle ==&hcan2)
	{
		  /* Receive */
		  if (HAL_CAN_Receive_IT(&hcan2, CAN_FIFO1) != HAL_OK)
		  {
			/* Reception Error */
			Error_Handler();
		  }
	}
}
/* USER CODE END 0 */

int main(void)
{

  /* USER CODE BEGIN 1 */
  static CanTxMsgTypeDef        TxMessage1;
  static CanRxMsgTypeDef        RxMessage1;
  static CanTxMsgTypeDef        TxMessage2;
  static CanRxMsgTypeDef        RxMessage2;
  CAN_FilterConfTypeDef  		sFilterConfig;
  /* USER CODE END 1 */

  /* MCU Configuration----------------------------------------------------------*/

  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  HAL_Init();

  /* Configure the system clock */
  SystemClock_Config();

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_CAN1_Init();
  MX_CAN2_Init();

  /* USER CODE BEGIN 2 */

  sFilterConfig.FilterNumber = 0;
  sFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK;
  sFilterConfig.FilterScale = CAN_FILTERSCALE_32BIT;
  sFilterConfig.FilterIdHigh = 0x0000;
  sFilterConfig.FilterIdLow = 0x0000;
  sFilterConfig.FilterMaskIdHigh = 0x0000;
  sFilterConfig.FilterMaskIdLow = 0x0000;
  sFilterConfig.FilterFIFOAssignment = 0;
  sFilterConfig.FilterActivation = ENABLE;
  sFilterConfig.BankNumber = 14;

  if (HAL_CAN_ConfigFilter(&hcan1, &sFilterConfig) != HAL_OK)
  {
    /* Filter configuration Error */
    Error_Handler();
  }
  sFilterConfig.FilterNumber = 14;
  sFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK;
  sFilterConfig.FilterScale = CAN_FILTERSCALE_32BIT;
  sFilterConfig.FilterIdHigh = 0x0000;
  sFilterConfig.FilterIdLow = 0x0000;
  sFilterConfig.FilterMaskIdHigh = 0x0000;
  sFilterConfig.FilterMaskIdLow = 0x0000;
  sFilterConfig.FilterFIFOAssignment = 0;
  sFilterConfig.FilterActivation = ENABLE;
  sFilterConfig.BankNumber = 14;
  if (HAL_CAN_ConfigFilter(&hcan1, &sFilterConfig) != HAL_OK)
  {
    /* Filter configuration Error */
    Error_Handler();
  }
  hcan1.pTxMsg = &TxMessage1;
  hcan1.pRxMsg = &RxMessage1;
  hcan1.pTxMsg->StdId = 0x321;
  hcan1.pTxMsg->ExtId = 0x01;
  hcan1.pTxMsg->RTR = CAN_RTR_DATA;
  hcan1.pTxMsg->IDE = CAN_ID_STD;
  hcan1.pTxMsg->DLC = 8;
  hcan1.pTxMsg->Data[0] =0x01;
  hcan1.pTxMsg->Data[1] =0x02;
  hcan1.pTxMsg->Data[2] =0x03;
  hcan1.pTxMsg->Data[3] =0x04;
  hcan1.pTxMsg->Data[4] =0x05;
  hcan1.pTxMsg->Data[5] =0x06;
  hcan1.pTxMsg->Data[6] =0x07;
  hcan1.pTxMsg->Data[7] =0x08;

  hcan2.pTxMsg = &TxMessage2;
  hcan2.pRxMsg = &RxMessage2;
  hcan2.pTxMsg->StdId = 0x322;
  hcan2.pTxMsg->ExtId = 0x01;
  hcan2.pTxMsg->RTR = CAN_RTR_DATA;
  hcan2.pTxMsg->IDE = CAN_ID_STD;
  hcan2.pTxMsg->DLC = 6;
  hcan2.pTxMsg->Data[0] =0x01;
  hcan2.pTxMsg->Data[1] =0x02;
  hcan2.pTxMsg->Data[2] =0x03;
  hcan2.pTxMsg->Data[3] =0x04;
  hcan2.pTxMsg->Data[4] =0x05;
  hcan2.pTxMsg->Data[5] =0x06;
  hcan2.pTxMsg->Data[6] =0x07;
  hcan2.pTxMsg->Data[7] =0x08;

  if (HAL_CAN_Receive_IT(&hcan1, CAN_FIFO0) != HAL_OK)
  {
    /* Reception Error */
    Error_Handler();
  }
  if (HAL_CAN_Receive_IT(&hcan2, CAN_FIFO0) != HAL_OK)
  {
    /* Reception Error */
    Error_Handler();
  }
  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {
  /* USER CODE END WHILE */

  /* USER CODE BEGIN 3 */
	if (HAL_CAN_Transmit(&hcan1, 100) != HAL_OK)
	{
	  /* Transmition Error */
	  //Error_Handler();
	}
	HAL_Delay(10);
	if (HAL_CAN_Transmit(&hcan2, 100) != HAL_OK)
	{
	  /* Transmition Error */
	  //Error_Handler();
	}
	HAL_Delay(1000);
  }
  /* USER CODE END 3 */

}

/** System Clock Configuration
*/
void SystemClock_Config(void)
{

  RCC_OscInitTypeDef RCC_OscInitStruct;
  RCC_ClkInitTypeDef RCC_ClkInitStruct;

  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
  RCC_OscInitStruct.HSEState = RCC_HSE_ON;
  RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV5;
  RCC_OscInitStruct.Prediv1Source = RCC_PREDIV1_SOURCE_PLL2;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
  RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL9;
  RCC_OscInitStruct.PLL2.PLL2State = RCC_PLL2_ON;
  RCC_OscInitStruct.PLL2.PLL2MUL = RCC_PLL2_MUL8;
  RCC_OscInitStruct.PLL2.HSEPrediv2Value = RCC_HSE_PREDIV2_DIV5;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    Error_Handler();
  }

  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_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
  {
    Error_Handler();
  }

  HAL_SYSTICK_Config(HAL_RCC_GetHCLKFreq()/1000);

  HAL_SYSTICK_CLKSourceConfig(SYSTICK_CLKSOURCE_HCLK);

  __HAL_RCC_PLLI2S_ENABLE();

  /* SysTick_IRQn interrupt configuration */
  HAL_NVIC_SetPriority(SysTick_IRQn, 0, 0);
}

/* CAN1 init function */
static void MX_CAN1_Init(void)
{

  hcan1.Instance = CAN1;
  hcan1.Init.Prescaler = 6;
  hcan1.Init.Mode = CAN_MODE_NORMAL;
  hcan1.Init.SJW = CAN_SJW_1TQ;
  hcan1.Init.BS1 = CAN_BS1_5TQ;
  hcan1.Init.BS2 = CAN_BS2_6TQ;
  hcan1.Init.TTCM = DISABLE;
  hcan1.Init.ABOM = ENABLE;
  hcan1.Init.AWUM = DISABLE;
  hcan1.Init.NART = DISABLE;
  hcan1.Init.RFLM = DISABLE;
  hcan1.Init.TXFP = DISABLE;
  if (HAL_CAN_Init(&hcan1) != HAL_OK)
  {
    Error_Handler();
  }

}

/* CAN2 init function */
static void MX_CAN2_Init(void)
{

  hcan2.Instance = CAN2;
  hcan2.Init.Prescaler = 6;
  hcan2.Init.Mode = CAN_MODE_NORMAL;
  hcan2.Init.SJW = CAN_SJW_1TQ;
  hcan2.Init.BS1 = CAN_BS1_5TQ;
  hcan2.Init.BS2 = CAN_BS2_6TQ;
  hcan2.Init.TTCM = DISABLE;
  hcan2.Init.ABOM = ENABLE;
  hcan2.Init.AWUM = DISABLE;
  hcan2.Init.NART = DISABLE;
  hcan2.Init.RFLM = DISABLE;
  hcan2.Init.TXFP = DISABLE;
  if (HAL_CAN_Init(&hcan2) != HAL_OK)
  {
    Error_Handler();
  }

}

/** Configure pins as
        * Analog
        * Input
        * Output
        * EVENT_OUT
        * EXTI
*/
static void MX_GPIO_Init(void)
{

  /* GPIO Ports Clock Enable */
  __HAL_RCC_GPIOA_CLK_ENABLE();
  __HAL_RCC_GPIOD_CLK_ENABLE();
  __HAL_RCC_GPIOB_CLK_ENABLE();

}

/* USER CODE BEGIN 4 */

/* USER CODE END 4 */

/**
  * @brief  This function is executed in case of error occurrence.
  * @param  None
  * @retval None
  */
void Error_Handler(void)
{
  /* USER CODE BEGIN Error_Handler */
  /* User can add his own implementation to report the HAL error return state */
  while(1)
  {
  }
  /* USER CODE END Error_Handler */
}

#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

/**
  * @}
  */

/**
  * @}
*/

/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
