ARM, RISC-V контроллеры

мой код для 32ф205, работает. но честно скажу, досконально не разбирался. /** * @brief Configures the CAN. * @param None * @retval None */ void CAN_Config(void) { GPIO_InitTypeDef GPIO_InitStructure = {0}; /* CAN GPIOs configuration **************************************************/ /* Enable GPIO clock */ RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB, ENABLE); /* Connect CAN pins to AF9 */ GPIO_PinAFConfig(GPIOB, GPIO_PinSource8, GPIO_AF_CAN1); GPIO_PinAFConfig(GPIOB, GPIO_PinSource9, GPIO_AF_CAN1); GPIO_PinAFConfig(GPIOB, GPIO_PinSource5, GPIO_AF_CAN2); GPIO_PinAFConfig(GPIOB, GPIO_PinSource6, GPIO_AF_CAN2); /* Configure CAN RX and TX pins */ GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8 | GPIO_Pin_9 | GPIO_Pin_5 | GPIO_Pin_6; GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF; GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz; GPIO_InitStructure.GPIO_OType = GPIO_OType_PP; GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP; GPIO_Init(GPIOB, &GPIO_InitStructure); /* CAN configuration ********************************************************/ /* Enable CAN clock */ RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE); RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN2, ENABLE); /* CAN register init */ CAN_DeInit(CAN1); CAN_DeInit(CAN2); CAN_StructInit(&CAN_InitStructure); /* CAN cell init */ CAN_InitStructure.CAN_TTCM = DISABLE; CAN_InitStructure.CAN_ABOM = ENABLE; CAN_InitStructure.CAN_AWUM = DISABLE; CAN_InitStructure.CAN_NART = DISABLE; CAN_InitStructure.CAN_RFLM = DISABLE; CAN_InitStructure.CAN_TXFP = DISABLE; CAN_InitStructure.CAN_Mode = CAN_Mode_Normal; CAN_InitStructure.CAN_SJW = CAN_SJW_1tq; CAN_InitStructure.CAN_BS1 = CAN_BS1_13tq; CAN_InitStructure.CAN_BS2 = CAN_BS2_2tq; CAN_InitStructure.CAN_Prescaler = 7; CAN_Init(CAN1, &CAN_InitStructure); CAN_Init(CAN2, &CAN_InitStructure); /* CAN filter init */ CAN_FilterInitStructure.CAN_FilterNumber = 0; CAN_FilterInitStructure.CAN_FilterMode = CAN_FilterMode_IdMask; CAN_FilterInitStructure.CAN_FilterScale = CAN_FilterScale_32bit; CAN_FilterInitStructure.CAN_FilterIdHigh = 0x0000; CAN_FilterInitStructure.CAN_FilterIdLow = 0x0000; CAN_FilterInitStructure.CAN_FilterMaskIdHigh = 0x0000; CAN_FilterInitStructure.CAN_FilterMaskIdLow = 0x0000; CAN_FilterInitStructure.CAN_FilterFIFOAssignment = 0; CAN_FilterInitStructure.CAN_FilterActivation = ENABLE; CAN_FilterInit(&CAN_FilterInitStructure); CAN_SlaveStartBank(1); CAN_FilterInitStructure.CAN_FilterNumber = 1; CAN_FilterInitStructure.CAN_FilterMode = CAN_FilterMode_IdMask; CAN_FilterInitStructure.CAN_FilterScale = CAN_FilterScale_32bit; CAN_FilterInitStructure.CAN_FilterIdHigh = 0x0000; CAN_FilterInitStructure.CAN_FilterIdLow = 0x0000; CAN_FilterInitStructure.CAN_FilterMaskIdHigh = 0x0000; CAN_FilterInitStructure.CAN_FilterMaskIdLow = 0x0000; CAN_FilterInitStructure.CAN_FilterFIFOAssignment = 0; CAN_FilterInitStructure.CAN_FilterActivation = ENABLE; CAN_FilterInit(&CAN_FilterInitStructure); /* Enable FIFO 0 message pending Interrupt */ CAN_ITConfig(CAN1, CAN_IT_FMP0, ENABLE); CAN_ITConfig(CAN2, CAN_IT_FMP0, ENABLE); }