87 lines
2.8 KiB
C
87 lines
2.8 KiB
C
|
#ifndef __CAN_H
|
||
|
|
#define __CAN_H
|
||
|
|
|
||
|
|
#include "stm32h7xx.h"
|
||
|
|
#include <stdio.h>
|
||
|
|
|
||
|
|
extern FDCAN_HandleTypeDef Can_Handle;
|
||
|
|
|
||
|
|
#define CANx FDCAN2
|
||
|
|
#define CAN_CLK_ENABLE() __HAL_RCC_FDCAN_CLK_ENABLE()
|
||
|
|
#define CAN_RX_IRQ FDCAN2_IT0_IRQn
|
||
|
|
#define CAN_RX_IRQHandler FDCAN2_IRQHandler
|
||
|
|
|
||
|
|
#define CAN_RX_PIN GPIO_PIN_6
|
||
|
|
#define CAN_TX_PIN GPIO_PIN_5
|
||
|
|
#define CAN_TX_GPIO_PORT GPIOB
|
||
|
|
#define CAN_RX_GPIO_PORT GPIOB
|
||
|
|
#define CAN_TX_GPIO_CLK_ENABLE() __GPIOB_CLK_ENABLE()
|
||
|
|
#define CAN_RX_GPIO_CLK_ENABLE() __GPIOB_CLK_ENABLE()
|
||
|
|
#define CAN_AF_PORT GPIO_AF9_FDCAN2
|
||
|
|
|
||
|
|
|
||
|
|
/* Definition for FDCANx's NVIC IRQ and IRQ Handlers */
|
||
|
|
#define FDCANx_IT0_IRQn FDCAN1_IT0_IRQn
|
||
|
|
#define FDCANx_IT1_IRQn FDCAN1_IT1_IRQn
|
||
|
|
#define FDCANx_IRQHandler FDCAN1_IRQHandler
|
||
|
|
|
||
|
|
|
||
|
|
/*debug*/
|
||
|
|
|
||
|
|
#define CAN_DEBUG_ON 1
|
||
|
|
#define CAN_DEBUG_ARRAY_ON 1
|
||
|
|
#define CAN_DEBUG_FUNC_ON 1
|
||
|
|
|
||
|
|
|
||
|
|
// Log define
|
||
|
|
#define CAN_INFO(fmt,arg...) printf("<<-CAN-INFO->> "fmt"\n",##arg)
|
||
|
|
#define CAN_ERROR(fmt,arg...) printf("<<-CAN-ERROR->> "fmt"\n",##arg)
|
||
|
|
#define CAN_DEBUG(fmt,arg...) do{\
|
||
|
|
if(CAN_DEBUG_ON)\
|
||
|
|
printf("<<-CAN-DEBUG->> [%d]"fmt"\n",__LINE__, ##arg);\
|
||
|
|
}while(0)
|
||
|
|
|
||
|
|
#define CAN_DEBUG_ARRAY(array, num) do{\
|
||
|
|
int32_t i;\
|
||
|
|
uint8_t* a = array;\
|
||
|
|
if(CAN_DEBUG_ARRAY_ON)\
|
||
|
|
{\
|
||
|
|
printf("<<-CAN-DEBUG-ARRAY->>\n");\
|
||
|
|
for (i = 0; i < (num); i++)\
|
||
|
|
{\
|
||
|
|
printf("%02x ", (a)[i]);\
|
||
|
|
if ((i + 1 ) %10 == 0)\
|
||
|
|
{\
|
||
|
|
printf("\n");\
|
||
|
|
}\
|
||
|
|
}\
|
||
|
|
printf("\n");\
|
||
|
|
}\
|
||
|
|
}while(0)
|
||
|
|
|
||
|
|
#define CAN_DEBUG_FUNC() do{\
|
||
|
|
if(CAN_DEBUG_FUNC_ON)\
|
||
|
|
printf("<<-CAN-FUNC->> Func:%s@Line:%d\n",__func__,__LINE__);\
|
||
|
|
}while(0)
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
static void CAN_GPIO_Config(void);
|
||
|
|
static void CAN_NVIC_Config(void);
|
||
|
|
static void CAN_Mode_Config(void);
|
||
|
|
static void CAN_Filter_Config(void);
|
||
|
|
void CAN_Config(void);
|
||
|
|
void CAN_SetMsg(void);
|
||
|
|
void Init_RxMes(void);
|
||
|
|
#endif
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
|