mirror of
https://git.intern.spaceteamaachen.de/ALPAKA/CAN-Demo.git
synced 2025-08-06 14:07:35 +00:00
working but messy
This commit is contained in:
CarlWachter
@@ -56,6 +56,7 @@ void DebugMon_Handler(void);
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void PendSV_Handler(void);
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void SysTick_Handler(void);
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void CAN1_RX0_IRQHandler(void);
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void CAN1_RX1_IRQHandler(void);
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/* USER CODE BEGIN EFP */
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/* USER CODE END EFP */
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@@ -23,6 +23,9 @@
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/* USER CODE BEGIN Includes */
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//#include <sta/devices/stm32/can.hpp>
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extern void testCan(CAN_HandleTypeDef * handle);
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extern void testCanMsg(CAN_HandleTypeDef * handle, uint8_t payload[8]);
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extern void unpackValues(uint8_t packedByte, uint8_t* type_id, uint8_t* sensor_ID, uint8_t* value, uint8_t* include);
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extern uint8_t packValues(uint8_t type_id, uint8_t sensor_ID, uint8_t value, uint8_t include);
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/* USER CODE END Includes */
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/* Private typedef -----------------------------------------------------------*/
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@@ -35,8 +38,10 @@ extern void testCan(CAN_HandleTypeDef * handle);
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CAN_RxHeaderTypeDef rxHeader; //CAN Bus Transmit Header
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CAN_TxHeaderTypeDef txHeader; //CAN Bus Receive Header
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uint8_t canRX[8] = {0,0,0,0,0,0,0,0}; //CAN Bus Receive Buffer
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CAN_FilterTypeDef canfil; //CAN Bus Filter
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CAN_FilterTypeDef canfilterconfig;
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uint32_t canMailbox; //CAN Bus Mail box variable
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uint8_t received = 0;
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/* USER CODE END PD */
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/* Private macro -------------------------------------------------------------*/
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@@ -99,19 +104,35 @@ int main(void)
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MX_CAN1_Init();
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/* USER CODE BEGIN 2 */
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txHeader.DLC = 8;
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/*txHeader.DLC = 8;
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txHeader.IDE = CAN_ID_STD;
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txHeader.RTR = CAN_RTR_DATA;
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txHeader.StdId = 0x030;
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txHeader.ExtId = 0x02;
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txHeader.TransmitGlobalTime = DISABLE;
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txHeader.TransmitGlobalTime = DISABLE;*/
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HAL_CAN_ConfigFilter(&hcan1,&canfil);
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canfilterconfig.FilterActivation = CAN_FILTER_ENABLE;
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canfilterconfig.FilterBank = 18;
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canfilterconfig.FilterFIFOAssignment = CAN_RX_FIFO0;
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canfilterconfig.FilterIdHigh = 0;
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canfilterconfig.FilterIdLow = 0x466<<5;
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canfilterconfig.FilterMaskIdHigh = 0;
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canfilterconfig.FilterMaskIdLow = 0x466<<5;
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canfilterconfig.FilterMode = CAN_FILTERMODE_IDMASK;
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canfilterconfig.FilterScale = CAN_FILTERSCALE_32BIT;
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canfilterconfig.SlaveStartFilterBank = 20;
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HAL_CAN_ConfigFilter(&hcan1, &canfilterconfig);
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HAL_CAN_Start(&hcan1);
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//HAL_CAN_ActivateNotification(&hcan1,CAN_IT_RX_FIFO0_MSG_PENDING);
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if (HAL_CAN_ActivateNotification(&hcan1, CAN_IT_RX_FIFO0_MSG_PENDING) != HAL_OK)
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{
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Error_Handler();
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}
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//HAL_GPIO_WritePin(GPIOB,GPIO_PIN_12, GPIO_PIN_SET);
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//testCan(&hcan1);
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testCan(&hcan1);
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/* USER CODE END 2 */
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@@ -124,18 +145,26 @@ int main(void)
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//HAL_GPIO_WritePin(GPIOB,GPIO_PIN_12, GPIO_PIN_RESET);
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//HAL_Delay(100);
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//HAL_GPIO_WritePin(GPIOB,GPIO_PIN_12, GPIO_PIN_SET);#
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//testCan(&hcan1);
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HAL_CAN_GetRxMessage(&hcan1, CAN_RX_FIFO0, &rxHeader, canRX);
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/*HAL_CAN_GetRxMessage(&hcan1, CAN_RX_FIFO0, &rxHeader, canRX);
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if (canRX[0] != 0){
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HAL_GPIO_TogglePin(GPIOD,GPIO_PIN_8);
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HAL_Delay(1000);
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}
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uint8_t csend[] = {0x01,0x02,0x03,0x04,0x05,0x06,0x07,0x08};
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HAL_CAN_AddTxMessage(&hcan1,&txHeader,csend,&canMailbox);
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//HAL_CAN_AddTxMessage(&hcan1,&txHeader,csend,&canMailbox);*/
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/*HAL_GPIO_WritePin(GPIOD,GPIO_PIN_8, GPIO_PIN_RESET);
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HAL_Delay(100);
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HAL_GPIO_WritePin(GPIOD,GPIO_PIN_8, GPIO_PIN_SET);*/
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//testCanMsg(&hcan1, canRX);
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if (received == 1){
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testCanMsg(&hcan1, canRX);
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received = 0;
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}
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HAL_Delay(1000);
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/* USER CODE END WHILE */
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@@ -282,7 +311,7 @@ static void MX_GPIO_Init(void)
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HAL_GPIO_WritePin(GPIOB, GPIO_PIN_12|GPIO_PIN_13, GPIO_PIN_RESET);
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/*Configure GPIO pin Output Level */
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HAL_GPIO_WritePin(GPIOD, GPIO_PIN_8, GPIO_PIN_RESET);
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HAL_GPIO_WritePin(GPIOD, GPIO_PIN_8|GPIO_PIN_9, GPIO_PIN_RESET);
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/*Configure GPIO pins : PB12 PB13 */
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GPIO_InitStruct.Pin = GPIO_PIN_12|GPIO_PIN_13;
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@@ -291,8 +320,8 @@ static void MX_GPIO_Init(void)
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GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
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HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
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/*Configure GPIO pin : PD8 */
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GPIO_InitStruct.Pin = GPIO_PIN_8;
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/*Configure GPIO pins : PD8 PD9 */
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GPIO_InitStruct.Pin = GPIO_PIN_8|GPIO_PIN_9;
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GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
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GPIO_InitStruct.Pull = GPIO_NOPULL;
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GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
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@@ -316,10 +345,22 @@ void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan1)
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{
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HAL_GPIO_TogglePin(GPIOD,GPIO_PIN_8);
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HAL_Delay(1000);
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received = 1;
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HAL_CAN_GetRxMessage(hcan1, CAN_RX_FIFO0, &rxHeader, canRX);
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/*uint8_t type_id, sensor_ID, value, include;
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unpackValues(canRX, *type_id, *sensor_ID, *value, *include);
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if (type_id == 0 && sensor_ID == 1){
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if (value == 0){
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HAL_GPIO_WritePin(GPIOD,GPIO_PIN_8, GPIO_PIN_RESET);
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}else{
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HAL_GPIO_WritePin(GPIOD,GPIO_PIN_8, GPIO_PIN_SET);
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}
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}*/
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}
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@@ -336,6 +377,8 @@ void Error_Handler(void)
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__disable_irq();
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while (1)
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{
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HAL_GPIO_TogglePin(GPIOD,GPIO_PIN_9);
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HAL_Delay(1000);
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}
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/* USER CODE END Error_Handler_Debug */
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}
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@@ -109,6 +109,8 @@ void HAL_CAN_MspInit(CAN_HandleTypeDef* hcan)
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/* CAN1 interrupt Init */
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HAL_NVIC_SetPriority(CAN1_RX0_IRQn, 0, 0);
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HAL_NVIC_EnableIRQ(CAN1_RX0_IRQn);
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HAL_NVIC_SetPriority(CAN1_RX1_IRQn, 0, 0);
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HAL_NVIC_EnableIRQ(CAN1_RX1_IRQn);
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/* USER CODE BEGIN CAN1_MspInit 1 */
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/* USER CODE END CAN1_MspInit 1 */
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@@ -140,6 +142,7 @@ void HAL_CAN_MspDeInit(CAN_HandleTypeDef* hcan)
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/* CAN1 interrupt DeInit */
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HAL_NVIC_DisableIRQ(CAN1_RX0_IRQn);
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HAL_NVIC_DisableIRQ(CAN1_RX1_IRQn);
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/* USER CODE BEGIN CAN1_MspDeInit 1 */
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/* USER CODE END CAN1_MspDeInit 1 */
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@@ -212,6 +212,20 @@ void CAN1_RX0_IRQHandler(void)
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/* USER CODE END CAN1_RX0_IRQn 1 */
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}
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/**
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* @brief This function handles CAN1 RX1 interrupt.
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*/
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void CAN1_RX1_IRQHandler(void)
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{
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/* USER CODE BEGIN CAN1_RX1_IRQn 0 */
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/* USER CODE END CAN1_RX1_IRQn 0 */
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HAL_CAN_IRQHandler(&hcan1);
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/* USER CODE BEGIN CAN1_RX1_IRQn 1 */
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/* USER CODE END CAN1_RX1_IRQn 1 */
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}
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/* USER CODE BEGIN 1 */
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/* USER CODE END 1 */
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