Can devel

f1/can/include/can.h

+#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