1 | //Global
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2 | //---------------------------------
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3 | CAN_TxHeaderTypeDef TXHeader;
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4 | uint32_t usedMailbox;
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5 | uint8_t RXdata[8];
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6 | uint16_t RXid;
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7 | //---------------------------------
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8 |
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9 | void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan){
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10 |
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11 | RXid = can->rxFrame0.header.StdId;
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12 | RXdata[0] = can->rxFrame0.data[0];
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13 | RXdata[1] = can->rxFrame0.data[1];
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14 | RXdata[2] = can->rxFrame0.data[2];
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15 | RXdata[3] = can->rxFrame0.data[3];
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16 | RXdata[4] = can->rxFrame0.data[4];
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17 | RXdata[5] = can->rxFrame0.data[5];
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18 | RXdata[6] = can->rxFrame0.data[6];
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19 | RXdata[7] = can->rxFrame0.data[7];
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20 | }
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21 |
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22 | void HAL_CAN_RxFifo1MsgPendingCallback(CAN_HandleTypeDef *hcan){
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23 | RXid = can->rxFrame0.header.StdId;
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24 | RXdata[0] = can->rxFrame1.data[0];
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25 | RXdata[1] = can->rxFrame1.data[1];
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26 | RXdata[2] = can->rxFrame1.data[2];
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27 | RXdata[3] = can->rxFrame1.data[3];
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28 | RXdata[4] = can->rxFrame1.data[4];
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29 | RXdata[5] = can->rxFrame1.data[5];
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30 | RXdata[6] = can->rxFrame1.data[6];
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31 | RXdata[7] = can->rxFrame1.data[7];
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32 | }
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33 |
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34 | HAL_CAN_TxMailbox0CompleteCallback(CAN_HandleTypeDef *hcan){
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35 | //zu verschickende Daten handhaben
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36 | CAN_Send (uint16_t id, uint8_t * data, uint8_t dlc);
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37 | }
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38 |
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39 | HAL_CAN_TxMailbox1CompleteCallback(CAN_HandleTypeDef *hcan){
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40 | //zu verschickende Daten handhaben
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41 | CAN_Send (uint16_t id, uint8_t * data, uint8_t dlc);
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42 | }
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43 |
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44 | HAL_CAN_TxMailbox2CompleteCallback(CAN_HandleTypeDef *hcan){
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45 | //zu verschickende Daten handhaben
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46 | CAN_Send (uint16_t id, uint8_t * data, uint8_t dlc);
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47 | }
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48 |
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49 | void CAN_Init(){
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50 |
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51 | HAL_CAN_Start(hcan);
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52 |
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53 | HAL_CAN_ActivateNotification(hcan, CAN_IT_RX_FIFO0_MSG_PENDING);
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54 | HAL_CAN_ActivateNotification(hcan, CAN_IT_RX_FIFO1_MSG_PENDING);
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55 | HAL_CAN_ActivateNotification(hcan, CAN_IT_TX_MAILBOX_EMPTY);
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56 | HAL_CAN_ActivateNotification(hcan, CAN_IT_ERROR_PASSIVE);
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57 | HAL_CAN_ActivateNotification(hcan, CAN_IT_ERROR_WARNING);
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58 | HAL_CAN_ActivateNotification(hcan, CAN_IT_BUSOFF);
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59 | HAL_CAN_ActivateNotification(hcan, CAN_IT_LAST_ERROR_CODE);
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60 | HAL_CAN_ActivateNotification(hcan, CAN_IT_ERROR);
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61 |
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62 | }
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63 |
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64 | void CAN_Send (uint16_t id, uint8_t * data, uint8_t dlc) {
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65 |
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66 | TXHeader.StdId = id;
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67 | TXHeader.DLC = dlc;
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68 |
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69 | HAL_CAN_DeactivateNotification(hcan, CAN_IT_TX_MAILBOX_EMPTY);
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70 |
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71 | if (HAL_CAN_GetTxMailboxesFreeLevel(hcan)) {
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72 | HAL_CAN_AddTxMessage(hcan, &TXHeader, data, &usedMailbox);
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73 | }
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74 | HAL_CAN_ActivateNotification(can->IO.hcan, CAN_IT_TX_MAILBOX_EMPTY);
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75 | }
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