92 lines
2.7 KiB
C
92 lines
2.7 KiB
C
/*******************************************************************************
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* the includes
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******************************************************************************/
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#include "CanDrv.h"
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#include <stdio.h>
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/*******************************************************************************
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* the defines
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******************************************************************************/
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#define TEST_ID 0x222
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/*******************************************************************************
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* the typedefs
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******************************************************************************/
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/*******************************************************************************
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* the globals
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******************************************************************************/
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extern CAN_HandleTypeDef hcan1;
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static CAN_TxHeaderTypeDef txhead;
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static uint32_t TxMailbox = CAN_TX_MAILBOX0;
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/*******************************************************************************
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* the const
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******************************************************************************/
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/*******************************************************************************
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* the functions
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******************************************************************************/
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uint8_t CanDrv_Init(void)
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{
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txhead.StdId = TEST_ID;
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txhead.IDE = CAN_ID_STD;
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txhead.RTR = CAN_RTR_DATA;
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txhead.TransmitGlobalTime = DISABLE;
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txhead.DLC = 8;
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HAL_CAN_Start(&hcan1);
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CAN_FilterTypeDef filter;
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filter.FilterMode = CAN_FILTERMODE_IDMASK;
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filter.FilterIdHigh = 0x7B2 << 5; // 注意：标准 ID 要左移 5 位
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filter.FilterMaskIdHigh = 0x7FF << 5;
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filter.FilterFIFOAssignment = CAN_RX_FIFO0;
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filter.FilterBank = 0;
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filter.FilterScale = CAN_FILTERSCALE_32BIT;
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filter.FilterActivation = CAN_FILTER_ENABLE;
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HAL_CAN_ConfigFilter(&hcan1,&filter);
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HAL_CAN_ActivateNotification(&hcan1, CAN_IT_RX_FIFO0_MSG_PENDING);
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return 0;
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}
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uint8_t CanDrv_Txmsg(uint16_t id,uint8_t * data)
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{
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txhead.StdId = id;
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HAL_StatusTypeDef ret = HAL_CAN_AddTxMessage(&hcan1,&txhead,data,&TxMailbox);
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//printf("ret=%d",ret);
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return ret;
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}
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uint8_t txtestdata[8] = {1,2,3,4,5,6,7,8};
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void CanDrv_Test()
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{
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CanDrv_Txmsg(TEST_ID,txtestdata);
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}
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uint8_t CanDrv_GetCANTxEmpty(void)
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{
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uint32_t ret = HAL_CAN_IsTxMessagePending(&hcan1,CAN_TX_MAILBOX0|CAN_TX_MAILBOX1|CAN_TX_MAILBOX2);
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if (ret == 0)
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{ //空闲
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return 1;
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}
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return 0;
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}
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void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan)
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{
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CAN_RxHeaderTypeDef rxmsg;
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uint8_t data[8];
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HAL_CAN_GetRxMessage(hcan,CAN_RX_FIFO0,&rxmsg,data);
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if (rxmsg.StdId >= 0x600)
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{
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printf("get id:0x%03x",rxmsg.StdId);
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}
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} |