Initial commit

Core/Inc/CAN_Communication.h

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+/*
+ * CAN_Communication.h
+ *
+ *  Created on: Apr 26, 2022
+ *      Author: max
+ */
+
+#ifndef INC_CAN_COMMUNICATION_H_
+#define INC_CAN_COMMUNICATION_H_
+
+#include "AMS_Errorcodes.h"
+#include "Slave_Monitoring.h"
+#include "main.h"
+
+#include "stm32g4xx_hal.h"
+#include "stm32g4xx_hal_fdcan.h"
+
+#define CANFRAMEBUFFERSIZE 256
+
+// Frame ID = Base Address + Slave ID + MessageNr.
+#define SLAVE_STATUS_BASE_ADDRESS 0x600
+#define SLAVE_CMD_BASE_ADDRESS 0x500  //
+#define SLAVE_EMERGENCY_ADDRESS 0x001 // Emergency Frame
+
+typedef struct {
+  int16_t FrameID;
+  uint8_t data[8];
+  uint8_t length;
+  uint32_t timestamp;
+  uint8_t error;
+
+} canFrame;
+
+extern canFrame framebuffer[CANFRAMEBUFFERSIZE];
+
+void HAL_FDCAN_RxFifo0Callback(FDCAN_HandleTypeDef* handle,
+                               uint32_t interrupt_flags);
+
+void CAN_Init(FDCAN_HandleTypeDef* hcan);
+uint8_t CAN_Receive(FDCAN_HandleTypeDef* hcan);
+uint8_t CAN_Transmit(FDCAN_HandleTypeDef* hcan, uint16_t frameid,
+                     uint8_t* buffer, uint8_t datalen);
+void updateSlaveInfo(uint8_t slaveID, uint8_t MessageID, canFrame rxFrame);
+
+#endif /* INC_CAN_COMMUNICATION_H_ */