minor changes

f1/can/include/can.h

@@ -90,7 +90,7 @@ void can_config(TComm *comm_dev,CAN_InitTypeDef *conf);
 void can_set_priorities(TComm *comm_dev,TCAN_IRQ_Priorities *priorities);
 void can_set_bitrate(TComm *comm_dev,CAN_SPEED bitrate);
 void can_set_filter(TComm *comm_dev,CAN_FilterConfTypeDef *filter);
-void can_set_can_id(TComm *comm_dev,unsigned char id);
+void can_set_can_id(TComm *comm_dev,unsigned int id);
 /* IRQ functions */
 unsigned char can_send_irq(unsigned char first_byte);
 unsigned char can_enable_tx_irq(void);

f1/can/src/can.c

@@ -126,8 +126,6 @@ void can_init(TComm *comm_dev,CAN_InitTypeDef *conf,TCAN_IRQ_Priorities *priorit
   CANHandle.pTxMsg->RTR = CAN_RTR_DATA;
   CANHandle.pTxMsg->IDE = CAN_ID_STD;
 
-  //HAL_CAN_Receive_IT(&CANHandle,CAN_FIFO0);
-
 }
 
 void can_config(TComm *comm_dev,CAN_InitTypeDef *conf)
@@ -216,10 +214,9 @@ void can_set_bitrate(TComm *comm_dev,CAN_SPEED bitrate)
 void can_set_filter(TComm *comm_dev,CAN_FilterConfTypeDef *filter)
 {
   HAL_CAN_ConfigFilter(&CANHandle, filter);
-  //HAL_CAN_Receive_IT(&CANHandle,CAN_FIFO0);
 }
 
-void can_set_can_id(TComm *comm_dev,unsigned char id)
+void can_set_can_id(TComm *comm_dev,unsigned int id)
 {
   CANHandle.pTxMsg->StdId = id;
 }
@@ -238,16 +235,11 @@ void HAL_CAN_ErrorCallback(CAN_HandleTypeDef* CANHandle)
 
 void HAL_CAN_TxCpltCallback(CAN_HandleTypeDef* CANHandle)
 {
-  // HAL_CAN_StateTypeDef status = HAL_CAN_GetState(CANHandle);
-  // while(HAL_CAN_STATE_READY != status)
-  // {
-  //   status = HAL_CAN_GetState(CANHandle);
-  // }
-
   if (can_send_lenght != 0)
   {
     if (can_send_lenght > 8)
     {
+      CANHandle->pTxMsg->DLC = 8;
       for (uint8_t i=0;i<8;i++)
       {
         CANHandle->pTxMsg->Data[i] = can_send_data[i+(8*can_send_iterations)];
@@ -258,6 +250,7 @@ void HAL_CAN_TxCpltCallback(CAN_HandleTypeDef* CANHandle)
     }
     else
     {
+      CANHandle->pTxMsg->DLC = can_send_lenght;
       for (uint8_t i=0;i<can_send_lenght;i++)
       {
         CANHandle->pTxMsg->Data[i] = can_send_data[i+(8*can_send_iterations)];
@@ -388,35 +381,6 @@ unsigned char can_cancel_receive_irq(void)
 /* DMA functions */
 unsigned char can_send_dma(unsigned char *data,unsigned short int length)
 {
-  // if (length <= 8)
-  // {
-  //   CANHandle.pTxMsg->DLC = length;
-  //   for (uint8_t i=0;i<length;i++)
-  //   {
-  //     CANHandle.pTxMsg->Data[i] = data[i];
-  //   }
-  //   HAL_CAN_Transmit_IT(&CANHandle);
-  // }
-  // else
-  // {
-  //   unsigned char iterations = 0x00;
-  //   while (length > 0)
-  //   {
-  //     if(length > 8)
-  //       CANHandle.pTxMsg->DLC = 8;
-  //     else
-  //       CANHandle.pTxMsg->DLC = length;
-  //     for (uint8_t i=0;i<CANHandle.pTxMsg->DLC;i++)
-  //     {
-  //       CANHandle.pTxMsg->Data[i] = data[i+iterations];
-  //     }
-  //     HAL_CAN_Transmit_IT(&CANHandle);
-  //     HAL_Delay(5);
-  //     iterations = iterations + 8;
-  //     length = length - CANHandle.pTxMsg->DLC;
-  //   }
-  // }
-
   if(length > 8){
     CANHandle.pTxMsg->DLC = 8;
     for (uint8_t i=0;i<length;i++)
@@ -464,6 +428,8 @@ unsigned char can_cancel_receive_dma(void)
   can_dma_phase_data=0x00;
   can_dma_phase_length=0;
   can_dma_phase_write_ptr=0;
+  //can_missing_bytes_length=0;
+  //can_missing_bytes_write_ptr=0;
 
   return 0x00;
 }