51 lines
1.2 KiB
C
51 lines
1.2 KiB
C
/*
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* CAN_Communication.h
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*
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* Created on: Apr 26, 2022
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* Author: max
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*/
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#ifndef INC_CAN_COMMUNICATION_H_
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#define INC_CAN_COMMUNICATION_H_
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#include "AMS_Errorcodes.h"
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#include "Slave_Monitoring.h"
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#include "main.h"
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#include "stm32g4xx_hal.h"
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#include "stm32g4xx_hal_fdcan.h"
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#define CANFRAMEBUFFERSIZE 512
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// Frame ID = Base Address + Slave ID + MessageNr.
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#define SLAVE_STATUS_BASE_ADDRESS 0x600
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#define SLAVE_CMD_BASE_ADDRESS 0x500 //
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#define SLAVE_EMERGENCY_ADDRESS 0x001 // Emergency Frame
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#define TIME_SYNC_ADDRESS 0x002
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typedef struct {
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int16_t FrameID;
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uint8_t data[8];
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uint8_t length;
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uint32_t timestamp;
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uint8_t error;
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} canFrame;
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extern canFrame framebuffer[CANFRAMEBUFFERSIZE];
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extern uint32_t framebufferwritepointer;
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extern uint32_t framebufferreadpointer;
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extern uint32_t frames_read;
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void HAL_FDCAN_RxFifo0Callback(FDCAN_HandleTypeDef* handle,
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uint32_t interrupt_flags);
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void CAN_Init(FDCAN_HandleTypeDef* hcan);
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uint8_t CAN_Receive(FDCAN_HandleTypeDef* hcan);
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uint8_t CAN_Transmit(FDCAN_HandleTypeDef* hcan, uint16_t frameid,
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uint8_t* buffer, uint8_t datalen);
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void updateSlaveInfo(uint8_t slaveID, uint8_t MessageID, canFrame rxFrame);
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#endif /* INC_CAN_COMMUNICATION_H_ */
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