ALPAKA/CAN-Demo
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working but messy

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This commit is contained in:
CarlWachter
2023-12-08 15:27:32 +01:00
parent 026bd46137
commit 145294991d
46 changed files with 221 additions and 85 deletions
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65
Core/Src/main.c
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@@ -23,6 +23,9 @@
/* USER CODE BEGIN Includes */
//#include <sta/devices/stm32/can.hpp>
extern void testCan(CAN_HandleTypeDef * handle);
extern void testCanMsg(CAN_HandleTypeDef * handle, uint8_t payload[8]);
extern void unpackValues(uint8_t packedByte, uint8_t* type_id, uint8_t* sensor_ID, uint8_t* value, uint8_t* include);
extern uint8_t packValues(uint8_t type_id, uint8_t sensor_ID, uint8_t value, uint8_t include);
/* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/
@@ -35,8 +38,10 @@ extern void testCan(CAN_HandleTypeDef * handle);
CAN_RxHeaderTypeDef rxHeader; //CAN Bus Transmit Header
CAN_TxHeaderTypeDef txHeader; //CAN Bus Receive Header
uint8_t canRX[8] = {0,0,0,0,0,0,0,0}; //CAN Bus Receive Buffer
CAN_FilterTypeDef canfil; //CAN Bus Filter
CAN_FilterTypeDef canfilterconfig;
uint32_t canMailbox; //CAN Bus Mail box variable
uint8_t received = 0;
/* USER CODE END PD */
/* Private macro -------------------------------------------------------------*/
@@ -99,19 +104,35 @@ int main(void)
MX_CAN1_Init();
/* USER CODE BEGIN 2 */
txHeader.DLC = 8;
/*txHeader.DLC = 8;
txHeader.IDE = CAN_ID_STD;
txHeader.RTR = CAN_RTR_DATA;
txHeader.StdId = 0x030;
txHeader.ExtId = 0x02;
txHeader.TransmitGlobalTime = DISABLE;
txHeader.TransmitGlobalTime = DISABLE;*/
HAL_CAN_ConfigFilter(&hcan1,&canfil);
canfilterconfig.FilterActivation = CAN_FILTER_ENABLE;
canfilterconfig.FilterBank = 18;
canfilterconfig.FilterFIFOAssignment = CAN_RX_FIFO0;
canfilterconfig.FilterIdHigh = 0;
canfilterconfig.FilterIdLow = 0x466<<5;
canfilterconfig.FilterMaskIdHigh = 0;
canfilterconfig.FilterMaskIdLow = 0x466<<5;
canfilterconfig.FilterMode = CAN_FILTERMODE_IDMASK;
canfilterconfig.FilterScale = CAN_FILTERSCALE_32BIT;
canfilterconfig.SlaveStartFilterBank = 20;
HAL_CAN_ConfigFilter(&hcan1, &canfilterconfig);
HAL_CAN_Start(&hcan1);
//HAL_CAN_ActivateNotification(&hcan1,CAN_IT_RX_FIFO0_MSG_PENDING);
if (HAL_CAN_ActivateNotification(&hcan1, CAN_IT_RX_FIFO0_MSG_PENDING) != HAL_OK)
{
Error_Handler();
}
//HAL_GPIO_WritePin(GPIOB,GPIO_PIN_12, GPIO_PIN_SET);
//testCan(&hcan1);
testCan(&hcan1);
/* USER CODE END 2 */
@@ -124,18 +145,26 @@ int main(void)
//HAL_GPIO_WritePin(GPIOB,GPIO_PIN_12, GPIO_PIN_RESET);
//HAL_Delay(100);
//HAL_GPIO_WritePin(GPIOB,GPIO_PIN_12, GPIO_PIN_SET);#
//testCan(&hcan1);
HAL_CAN_GetRxMessage(&hcan1, CAN_RX_FIFO0, &rxHeader, canRX);
/*HAL_CAN_GetRxMessage(&hcan1, CAN_RX_FIFO0, &rxHeader, canRX);
if (canRX[0] != 0){
HAL_GPIO_TogglePin(GPIOD,GPIO_PIN_8);
HAL_Delay(1000);
}
uint8_t csend[] = {0x01,0x02,0x03,0x04,0x05,0x06,0x07,0x08};
HAL_CAN_AddTxMessage(&hcan1,&txHeader,csend,&canMailbox);
//HAL_CAN_AddTxMessage(&hcan1,&txHeader,csend,&canMailbox);*/
/*HAL_GPIO_WritePin(GPIOD,GPIO_PIN_8, GPIO_PIN_RESET);
HAL_Delay(100);
HAL_GPIO_WritePin(GPIOD,GPIO_PIN_8, GPIO_PIN_SET);*/
//testCanMsg(&hcan1, canRX);
if (received == 1){
testCanMsg(&hcan1, canRX);
received = 0;
}
HAL_Delay(1000);
/* USER CODE END WHILE */
@@ -282,7 +311,7 @@ static void MX_GPIO_Init(void)
HAL_GPIO_WritePin(GPIOB, GPIO_PIN_12|GPIO_PIN_13, GPIO_PIN_RESET);
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOD, GPIO_PIN_8, GPIO_PIN_RESET);
HAL_GPIO_WritePin(GPIOD, GPIO_PIN_8|GPIO_PIN_9, GPIO_PIN_RESET);
/*Configure GPIO pins : PB12 PB13 */
GPIO_InitStruct.Pin = GPIO_PIN_12|GPIO_PIN_13;
@@ -291,8 +320,8 @@ static void MX_GPIO_Init(void)
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
/*Configure GPIO pin : PD8 */
GPIO_InitStruct.Pin = GPIO_PIN_8;
/*Configure GPIO pins : PD8 PD9 */
GPIO_InitStruct.Pin = GPIO_PIN_8|GPIO_PIN_9;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
@@ -316,10 +345,22 @@ void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan1)
{
HAL_GPIO_TogglePin(GPIOD,GPIO_PIN_8);
HAL_Delay(1000);
received = 1;
HAL_CAN_GetRxMessage(hcan1, CAN_RX_FIFO0, &rxHeader, canRX);
/*uint8_t type_id, sensor_ID, value, include;
unpackValues(canRX, *type_id, *sensor_ID, *value, *include);
if (type_id == 0 && sensor_ID == 1){
if (value == 0){
HAL_GPIO_WritePin(GPIOD,GPIO_PIN_8, GPIO_PIN_RESET);
}else{
HAL_GPIO_WritePin(GPIOD,GPIO_PIN_8, GPIO_PIN_SET);
}
}*/
}
@@ -336,6 +377,8 @@ void Error_Handler(void)
__disable_irq();
while (1)
{
HAL_GPIO_TogglePin(GPIOD,GPIO_PIN_9);
HAL_Delay(1000);
}
/* USER CODE END Error_Handler_Debug */
}