diff --git a/f1/can/include/can.h b/f1/can/include/can.h
new file mode 100644
index 0000000000000000000000000000000000000000..3c1d1f589e3b588c609559a9fc3a1f385c2fc1a9
--- /dev/null
+++ b/f1/can/include/can.h
@@ -0,0 +1,104 @@
+#ifndef CAN_F1_H
+#define CAN_F1_H
+
+#include "stm32f1xx_hal.h"
+#include "comm.h"
+
+typedef struct
+{
+ unsigned char irq_priority;
+ unsigned char irq_subpriority;
+}TCAN_IRQ_Priorities;
+
+typedef enum
+{
+ CAN_10KBPS,
+ CAN_20KBPS,
+ CAN_50KBPS,
+ CAN_83K3BPS,
+ CAN_100KBPS,
+ CAN_125KBPS,
+ CAN_250KBPS,
+ CAN_500KBPS,
+ CAN_1000KBPS
+} CAN_SPEED;
+
+typedef enum
+{
+ VERSION_1,
+ VERSION_2,
+ VERSION_NULL
+} DynamixelVersion;
+
+typedef struct TDynamixelMessage
+{
+ unsigned char received_bytes;
+/**
+ * \brief
+ *
+ */
+ unsigned char rx_buffer[MAX_DYN_SLAVE_RX_BUFFER_LEN];
+/**
+ * \brief
+ *
+ */
+ unsigned char Len_L;
+/**
+ * \brief
+ *
+ */
+ unsigned char Len_H;
+/**
+ * \brief
+ *
+ */
+ unsigned int length;
+/**
+ * \brief
+ *
+ */
+ DynamixelVersion version;
+/**
+ * \brief
+ *
+ */
+ unsigned char packet_init;
+/**
+ * \brief
+ *
+ */
+ unsigned char packet_incomplete;
+/**
+ * \brief
+ *
+ */
+ unsigned char send_packet;
+/**
+ * \brief
+ *
+ */
+ unsigned char iterations;
+/**
+ * \brief
+ *
+ */
+}TDynamixelMessage;
+
+/* public functions */
+void can_init(TComm *comm_dev,CAN_InitTypeDef *conf,TCAN_IRQ_Priorities *priorities);
+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);
+/* IRQ functions */
+unsigned char can_send_irq(unsigned char first_byte);
+unsigned char can_enable_tx_irq(void);
+unsigned char can_receive_irq(void);
+unsigned char can_cancel_receive_irq(void);
+/* DMA functions */
+unsigned char can_send_dma(unsigned char *data,unsigned short int length);
+unsigned char can_receive_dma(unsigned char *data,unsigned short int length);
+unsigned char can_cancel_receive_dma(void);
+
+#endif
diff --git a/f1/can/include/can_common.h b/f1/can/include/can_common.h
new file mode 100644
index 0000000000000000000000000000000000000000..f7eabaff39d5986f886369ab1df4663a2b8ff2ad
--- /dev/null
+++ b/f1/can/include/can_common.h
@@ -0,0 +1,22 @@
+#ifndef CAN_COMMON_F1_H
+#define CAN_COMMON_F1_H
+
+typedef struct
+{
+ unsigned char irq_priority;
+ unsigned char irq_subpriority;
+}TCAN_IRQ_Priorities;
+
+enum CAN_SPEED { //only applies when APB1 = 36Mhz
+ CAN_10KBPS,
+ CAN_20KBPS,
+ CAN_50KBPS,
+ CAN_83K3BPS,
+ CAN_100KBPS,
+ CAN_125KBPS,
+ CAN_250KBPS,
+ CAN_500KBPS,
+ CAN_1000KBPS
+};
+
+#endif
diff --git a/f1/can/src/can.c b/f1/can/src/can.c
new file mode 100644
index 0000000000000000000000000000000000000000..bc95bcb1affd6685e2bfdcc5212e49d8da8a549e
--- /dev/null
+++ b/f1/can/src/can.c
@@ -0,0 +1,469 @@
+#include "can.h"
+
+#define CAN CAN1
+#define CAN_ENABLE_CLK __HAL_RCC_CAN1_CLK_ENABLE()
+#define CAN_IRQnRX USB_LP_CAN1_RX0_IRQn
+#define CAN_IRQnTX USB_HP_CAN1_TX_IRQn
+#define CAN_IRQHandler USB_LP_CAN1_RX0CAN_IRQHandler
+
+#define CAN_TX_PIN GPIO_PIN_9
+#define CAN_TX_GPIO_PORT GPIOB
+#define CAN_ENABLE_TX_GPIO_CLK __HAL_RCC_GPIOB_CLK_ENABLE()
+
+#define CAN_RX_PIN GPIO_PIN_8
+#define CAN_RX_GPIO_PORT GPIOB
+#define CAN_ENABLE_RX_GPIO_CLK __HAL_RCC_GPIOB_CLK_ENABLE()
+
+// private variables
+CAN_HandleTypeDef CANHandle;
+CAN_FilterConfTypeDef CANFilterConfig;
+CanTxMsgTypeDef CAN_txMessage;
+CanRxMsgTypeDef CAN_rxMessage;
+
+TComm *can_comm_dev;
+unsigned char can_dma_phase;
+unsigned char *can_dma_phase_data;
+unsigned short int can_dma_phase_length;
+unsigned short int can_dma_phase_write_ptr;
+
+unsigned char can_missing_bytes_data[255];
+unsigned short int can_missing_bytes_length;
+unsigned short int can_missing_bytes_write_ptr;
+
+unsigned short int can_send_lenght;
+unsigned short int can_send_iterations;
+unsigned char can_send_data[255];
+
+TDynamixelMessage message;
+
+// 1
+void can_init(TComm *comm_dev,CAN_InitTypeDef *conf,TCAN_IRQ_Priorities *priorities)
+{
+ CANHandle.Instance = CAN1;
+ can_config(comm_dev,conf);
+
+ GPIO_InitTypeDef GPIO_InitStructure;
+
+ /* Enable GPIO clock */
+ CAN_ENABLE_TX_GPIO_CLK;
+ CAN_ENABLE_RX_GPIO_CLK;
+
+ CAN_ENABLE_CLK;
+
+ /**CAN GPIO Configuration
+ PB8 ------> CAN_RX
+ PB9 ------> CAN_TX
+ */
+ /* Configure CAN Tx and Rx as alternate function push-pull */
+ GPIO_InitStructure.Pin = CAN_RX_PIN;
+ GPIO_InitStructure.Pull = GPIO_MODE_INPUT;
+ GPIO_InitStructure.Mode = GPIO_MODE_INPUT;
+ HAL_GPIO_Init(CAN_RX_GPIO_PORT, &GPIO_InitStructure);
+
+ GPIO_InitStructure.Pin = CAN_TX_PIN;
+ GPIO_InitStructure.Mode = GPIO_MODE_AF_PP;
+ GPIO_InitStructure.Speed = GPIO_SPEED_FREQ_HIGH;
+ HAL_GPIO_Init(CAN_TX_GPIO_PORT, &GPIO_InitStructure);
+
+ __HAL_AFIO_REMAP_CAN1_2();
+
+ can_set_priorities(comm_dev,priorities);
+
+ HAL_CAN_Init(&CANHandle);
+
+ /* Initialize the comm structure */
+ comm_dev->send_irq=can_send_irq;
+ comm_dev->enable_tx_irq=can_enable_tx_irq;
+ comm_dev->receive_irq=can_receive_irq;
+ comm_dev->cancel_receive_irq=can_cancel_receive_irq;
+ if(comm_dev->use_dma)
+ {
+ comm_dev->send_dma=can_send_dma;
+ comm_dev->receive_dma=can_receive_dma;
+ comm_dev->cancel_receive_dma=can_cancel_receive_dma;
+ }
+ comm_dev->irq_send_cb=0x00000000;
+ comm_dev->irq_receive_cb=0x00000000;
+ comm_dev->dma_send_cb=0x00000000;
+ comm_dev->dma_receive_cb=0x00000000;
+
+ // /* initialize internal variables */
+ can_comm_dev=comm_dev;
+
+ can_dma_phase=0x00;
+ 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;
+ can_send_lenght = 0;
+ can_send_iterations = 0;
+
+ message.packet_init = 0x00;
+ message.packet_incomplete = 0x00;
+ message.send_packet = 0x00;
+ message.iterations = 0;
+ ///////////////////////////////////////////////////////////////////////////
+ CANFilterConfig.FilterNumber = 0;
+ CANFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK;
+ CANFilterConfig.FilterScale = CAN_FILTERSCALE_32BIT;
+ CANFilterConfig.FilterIdHigh = 0x0000;
+ CANFilterConfig.FilterIdLow = 0x0000;
+ CANFilterConfig.FilterMaskIdHigh = 0x0000;
+ CANFilterConfig.FilterMaskIdLow = 0x0000;
+ CANFilterConfig.FilterFIFOAssignment = 0;
+ CANFilterConfig.FilterActivation = ENABLE;
+ CANFilterConfig.BankNumber = 0;
+
+ HAL_CAN_ConfigFilter(&CANHandle, &CANFilterConfig);
+
+
+ CANHandle.pRxMsg = &CAN_rxMessage;
+ CANHandle.pTxMsg = &CAN_txMessage;
+
+ CANHandle.pTxMsg->StdId = 0x00;
+ CANHandle.pTxMsg->ExtId = 0x01;
+ 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)
+{
+ CANHandle.Init.Prescaler = conf->Prescaler;
+ CANHandle.Init.Mode = conf->Mode;
+ CANHandle.Init.SJW = conf->SJW;
+ CANHandle.Init.BS1 = conf->BS1;
+ CANHandle.Init.BS2 = conf->BS2;
+ CANHandle.Init.TTCM = conf->TTCM;
+ CANHandle.Init.ABOM = conf->ABOM;
+ CANHandle.Init.AWUM = conf->AWUM;
+ CANHandle.Init.NART = conf->NART;
+ CANHandle.Init.RFLM = conf->RFLM;
+ CANHandle.Init.TXFP = conf->TXFP;
+}
+
+void can_set_priorities(TComm *comm_dev,TCAN_IRQ_Priorities *priorities)
+{
+ HAL_NVIC_SetPriority(CAN_IRQnRX, priorities->irq_priority, priorities->irq_subpriority);
+ HAL_NVIC_EnableIRQ(CAN_IRQnRX);
+ HAL_NVIC_SetPriority(CAN_IRQnTX, priorities->irq_priority, priorities->irq_subpriority);
+ HAL_NVIC_EnableIRQ(CAN_IRQnTX);
+}
+
+void can_set_bitrate(TComm *comm_dev,CAN_SPEED bitrate)
+{
+ switch (bitrate) {
+ case CAN_10KBPS:
+ CANHandle.Init.Prescaler = 225;
+ CANHandle.Init.BS1 = CAN_BS1_13TQ;
+ CANHandle.Init.BS2 = CAN_BS2_2TQ;
+ CANHandle.Init.SJW = CAN_SJW_1TQ;
+ break;
+ case CAN_20KBPS:
+ CANHandle.Init.Prescaler = 100;
+ CANHandle.Init.BS1 = CAN_BS1_15TQ;
+ CANHandle.Init.BS2 = CAN_BS2_2TQ;
+ CANHandle.Init.SJW = CAN_SJW_1TQ;
+ break;
+ case CAN_50KBPS:
+ CANHandle.Init.Prescaler = 45;
+ CANHandle.Init.BS1 = CAN_BS1_13TQ;
+ CANHandle.Init.BS2 = CAN_BS2_2TQ;
+ CANHandle.Init.SJW = CAN_SJW_1TQ;
+ break;
+ case CAN_83K3BPS:
+ CANHandle.Init.Prescaler = 27;
+ CANHandle.Init.BS1 = CAN_BS1_13TQ;
+ CANHandle.Init.BS2 = CAN_BS2_2TQ;
+ CANHandle.Init.SJW = CAN_SJW_1TQ;
+ break;
+ case CAN_100KBPS:
+ CANHandle.Init.Prescaler = 20;
+ CANHandle.Init.BS1 = CAN_BS1_15TQ;
+ CANHandle.Init.BS2 = CAN_BS2_2TQ;
+ CANHandle.Init.SJW = CAN_SJW_1TQ;
+ break;
+ case CAN_125KBPS:
+ CANHandle.Init.Prescaler = 18;
+ CANHandle.Init.BS1 = CAN_BS1_13TQ;
+ CANHandle.Init.BS2 = CAN_BS2_2TQ;
+ CANHandle.Init.SJW = CAN_SJW_1TQ;
+ break;
+ case CAN_250KBPS:
+ CANHandle.Init.Prescaler = 9;
+ CANHandle.Init.BS1 = CAN_BS1_13TQ;
+ CANHandle.Init.BS2 = CAN_BS2_2TQ;
+ CANHandle.Init.SJW = CAN_SJW_1TQ;
+ break;
+ case CAN_500KBPS:
+ CANHandle.Init.Prescaler = 4;
+ CANHandle.Init.BS1 = CAN_BS1_15TQ;
+ CANHandle.Init.BS2 = CAN_BS2_2TQ;
+ CANHandle.Init.SJW = CAN_SJW_1TQ;
+ break;
+ case CAN_1000KBPS:
+ CANHandle.Init.Prescaler = 2;
+ CANHandle.Init.BS1 = CAN_BS1_15TQ;
+ CANHandle.Init.BS2 = CAN_BS2_2TQ;
+ CANHandle.Init.SJW = CAN_SJW_1TQ;
+ break;
+ }
+}
+
+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)
+{
+ CANHandle.pTxMsg->StdId = id;
+}
+
+/**
+ * HAL_CAN_ErrorCallback
+ * Callback function for CAN errors.
+ * @param CANHandle Pointer to a CAN_HandleTypeDef structure that contains
+ * the configuration information for a given CAN peripheral.
+ */
+void HAL_CAN_ErrorCallback(CAN_HandleTypeDef* CANHandle)
+{
+ //HAL_GPIO_WritePin(GPIOA, GPIO_PIN_4,GPIO_PIN_SET);
+}
+
+
+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)
+ {
+ for (uint8_t i=0;i<8;i++)
+ {
+ CANHandle->pTxMsg->Data[i] = can_send_data[i+(8*can_send_iterations)];
+ }
+ can_send_lenght = can_send_lenght - 8;
+ can_send_iterations++;
+ HAL_CAN_Transmit_IT(CANHandle);
+ }
+ else
+ {
+ for (uint8_t i=0;i<can_send_lenght;i++)
+ {
+ CANHandle->pTxMsg->Data[i] = can_send_data[i+(8*can_send_iterations)];
+ }
+ can_send_lenght = 0;
+ can_send_iterations = 0;
+ HAL_CAN_Transmit_IT(CANHandle);
+ uint8_t byte;
+ comm_do_dma_send(can_comm_dev);
+ comm_do_irq_send(can_comm_dev,&byte);
+ }
+ }
+ //__HAL_CAN_DISABLE_IT(CANHandle,CAN_IT_TME);
+ __HAL_CAN_CLEAR_FLAG(CANHandle,CAN_FLAG_RQCP0);
+ __HAL_CAN_CLEAR_FLAG(CANHandle,CAN_FLAG_TXOK0);
+}
+
+void HAL_CAN_RxCpltCallback(CAN_HandleTypeDef* CANHandle)
+{
+ if(can_missing_bytes_length == 0){
+ for(uint8_t i=0;i<CAN_rxMessage.DLC;i++)
+ {
+ if(!can_dma_phase)
+ comm_do_irq_receive(can_comm_dev,CAN_rxMessage.Data[i]);
+ else
+ {
+ if(can_dma_phase_length<5){
+ can_dma_phase_data[can_dma_phase_write_ptr]=CAN_rxMessage.Data[i];
+ can_dma_phase_length--;
+ can_dma_phase_write_ptr++;
+ if(can_dma_phase_length==0){
+ comm_do_dma_receive(can_comm_dev);
+ }
+ }
+ }
+ }
+ if(can_dma_phase_length>4){
+ for(uint8_t i=0;i<CAN_rxMessage.DLC;i++)
+ can_missing_bytes_data[i] = CAN_rxMessage.Data[i];
+ can_missing_bytes_length = can_dma_phase_length-4;
+ can_missing_bytes_write_ptr = 7;
+ }
+ }
+ else
+ {
+ if(can_missing_bytes_length<=8){
+ for(uint8_t i=0;i<CAN_rxMessage.DLC;i++)
+ {
+ can_missing_bytes_write_ptr++;
+ can_missing_bytes_length--;
+ can_missing_bytes_data[can_missing_bytes_write_ptr] = CAN_rxMessage.Data[i];
+ }
+ for(uint8_t i=0;i<=can_missing_bytes_write_ptr;i++)
+ {
+ if(!can_dma_phase)
+ comm_do_irq_receive(can_comm_dev,can_missing_bytes_data[i]);
+ else
+ {
+ can_dma_phase_data[can_dma_phase_write_ptr]=can_missing_bytes_data[i];
+ can_dma_phase_length--;
+ can_dma_phase_write_ptr++;
+ if(can_dma_phase_length==0){
+ comm_do_dma_receive(can_comm_dev);
+ can_missing_bytes_length = 0;
+ can_missing_bytes_write_ptr = 0;
+ }
+ }
+ }
+ }
+ else
+ {
+ for(uint8_t i=0;i<CAN_rxMessage.DLC;i++)
+ {
+ can_missing_bytes_write_ptr++;
+ can_missing_bytes_length--;
+ can_missing_bytes_data[can_missing_bytes_write_ptr] = CAN_rxMessage.Data[i];
+ }
+ }
+ }
+}
+
+// interrupt handlers
+void USB_LP_CAN1_RX0_IRQHandler(void)
+{
+ /* USER CODE BEGIN USB_LP_CAN1_RX0_IRQn 0 */
+
+ /* USER CODE END USB_LP_CAN1_RX0_IRQn 0 */
+ HAL_CAN_IRQHandler(&CANHandle);
+ /* USER CODE BEGIN USB_LP_CAN1_RX0_IRQn 1 */
+
+ /* USER CODE END USB_LP_CAN1_RX0_IRQn 1 */
+}
+
+void USB_HP_CAN1_TX_IRQHandler(void)
+{
+ /* USER CODE BEGIN USB_HP_CAN1_TX_IRQn 0 */
+
+ /* USER CODE END USB_HP_CAN1_TX_IRQn 0 */
+ HAL_CAN_IRQHandler(&CANHandle);
+ /* USER CODE BEGIN USB_HP_CAN1_TX_IRQn 1 */
+
+ /* USER CODE END USB_HP_CAN1_TX_IRQn 1 */
+}
+
+unsigned char can_send_irq(unsigned char first_byte)
+{
+ return 0x00;
+}
+
+unsigned char can_enable_tx_irq(void)
+{
+ return 0x00;
+}
+
+unsigned char can_receive_irq(void)
+{
+ can_dma_phase=0x00;
+ can_dma_phase_write_ptr=0x00;
+ HAL_CAN_Receive_IT(&CANHandle,CAN_FIFO0);
+ return 0x00;
+}
+
+unsigned char can_cancel_receive_irq(void)
+{
+ return 0x00;
+}
+
+/* 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++)
+ {
+ can_send_data[i] = data[i];
+ }
+ can_send_lenght = length - 8;
+ can_send_iterations = 1;
+ for (uint8_t i=0;i<8;i++)
+ {
+ CANHandle.pTxMsg->Data[i] = data[i];
+ }
+ HAL_CAN_Transmit_IT(&CANHandle);
+ }
+ else{
+ CANHandle.pTxMsg->DLC = length;
+ for (uint8_t i=0;i<length;i++)
+ {
+ CANHandle.pTxMsg->Data[i] = data[i];
+ }
+ HAL_CAN_Transmit_IT(&CANHandle);
+ uint8_t byte;
+ comm_do_dma_send(can_comm_dev);
+ comm_do_irq_send(can_comm_dev,&byte);
+ }
+ //HAL_CAN_Transmit_IT(&CANHandle);
+ __HAL_CAN_CLEAR_FLAG(&CANHandle,CAN_FLAG_RQCP0);
+ __HAL_CAN_CLEAR_FLAG(&CANHandle,CAN_FLAG_TXOK0);
+ return 0x00;
+}
+
+unsigned char can_receive_dma(unsigned char *data,unsigned short int length)
+{
+ can_dma_phase=0x01;
+ can_dma_phase_data=data;
+ can_dma_phase_length=length;
+ can_dma_phase_write_ptr=0;
+
+ return 0x00;
+}
+
+unsigned char can_cancel_receive_dma(void)
+{
+ can_dma_phase=0x00;
+ can_dma_phase_data=0x00;
+ can_dma_phase_length=0;
+ can_dma_phase_write_ptr=0;
+
+ return 0x00;
+}