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humanoides
tools
stm32_libraries
Commits
f2b786c6
Commit
f2b786c6
authored
May 18, 2021
by
smartinezs
Browse files
minor changes
parent
e2bcc8f4
Changes
2
Hide whitespace changes
Inline
Side-by-side
f1/can/include/can.h
View file @
f2b786c6
...
...
@@ -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
View file @
f2b786c6
...
...
@@ -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
;
}
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