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https://git.intern.spaceteamaachen.de/ALPAKA/CAN-Demo.git
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73 lines
2.3 KiB
C++
73 lines
2.3 KiB
C++
/*
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* test.cpp
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*
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* Created on: Oct 24, 2023
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* Author: carlw
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*/
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//#include <sta/bus/can/controller.hpp>
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#include <sta/devices/stm32/can.hpp>
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//extern STM32CanController(CAN_HandleTypeDef * handle);
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extern "C" void testCan(CAN_HandleTypeDef * handle){
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sta::STM32CanController canController(handle);
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canController.start();
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// Create a CanTxHeader for your message
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sta::CanTxHeader txHeader;
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txHeader.id.format = sta::CanIdFormat::STD; // Set to EXT for extended ID
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txHeader.id.sid = 0x010; // Set the standard ID or extended ID
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txHeader.payloadLength = 8; // Set the payload length (max 8 bytes)
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// Create your message payload
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uint8_t payload[8] = {0x01, 0x02, 0x03, 0x04, 0x05, 0x06, 0x07, 0x08};
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// Send the CAN message
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while (true){
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canController.sendFrame(txHeader, payload);
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HAL_Delay(1000);
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}
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}
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extern "C" void testCanMsg(CAN_HandleTypeDef * handle, uint8_t payload[8]){
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sta::STM32CanController canController(handle);
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//canController.start();
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// Create a CanTxHeader for your message
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sta::CanTxHeader txHeader;
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txHeader.id.format = sta::CanIdFormat::STD; // Set to EXT for extended ID
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txHeader.id.sid = 0x030; // Set the standard ID or extended ID
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txHeader.payloadLength = 8; // Set the payload length (max 8 bytes)
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// Send the CAN message
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canController.sendFrame(txHeader, payload);
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}
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extern "C" void unpackValues(uint8_t packedByte, uint8_t* type_id, uint8_t* sensor_ID, uint8_t* value, uint8_t* include) {
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*type_id = (packedByte >> 6) & 0x03; // Extracting two bits for type_id
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*sensor_ID = (packedByte >> 3) & 0x07; // Extracting three bits for sensorID
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*include = (packedByte >> 2) & 0x01; // Extracting the flag for included value
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*value = (packedByte >> 1) & 0x01; // Extracting one bit for value
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}
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extern "C" uint8_t packValues(uint8_t type_id, uint8_t sensor_ID, uint8_t value, uint8_t include) {
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uint8_t packedByte = 0;
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// Shifting and ORing the values
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packedByte |= (type_id & 0x03) << 6; // Two bits for type_id, left-shifted by 6
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packedByte |= (sensor_ID & 0x07) << 3; // Three bits for sensorID, left-shifted by 3
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packedByte |= (include & 0x01) << 2; // Flag for included value
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packedByte |= (value & 0x01) << 1; // One bit for value
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return packedByte;
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}
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