76 lines
2.1 KiB
C
76 lines
2.1 KiB
C
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#include "vehicle.h"
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#include "main.h"
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#include "stm32h7xx.h"
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#include "stm32h7xx_hal.h"
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#include "stm32h7xx_hal_fdcan.h"
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#include "stm32h7xx_hal_gpio.h"
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#include "tx_api.h"
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#include "ui.h"
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FDCAN_HandleTypeDef *hcan;
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void vehicle_thread_entry(ULONG hfdcan_addr) {
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hcan = (void *)hfdcan_addr;
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FDCAN_FilterTypeDef filter;
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filter.IdType = FDCAN_STANDARD_ID;
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filter.FilterIndex = 0;
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filter.FilterType = FDCAN_FILTER_MASK;
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filter.FilterConfig = FDCAN_FILTER_TO_RXFIFO0;
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filter.FilterID1 = 0x123;
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filter.FilterID2 = 0x7FF;
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if (HAL_FDCAN_ConfigFilter(hcan, &filter) != HAL_OK) {
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Error_Handler();
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}
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// Reject non-matching messages
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if (HAL_FDCAN_ConfigGlobalFilter(hcan, FDCAN_REJECT, FDCAN_REJECT,
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FDCAN_REJECT_REMOTE,
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FDCAN_REJECT_REMOTE) != HAL_OK) {
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Error_Handler();
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}
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if (HAL_FDCAN_Start(hcan)) {
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Error_Handler();
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}
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if (HAL_FDCAN_ActivateNotification(hcan, FDCAN_IT_RX_FIFO0_NEW_MESSAGE, 0) !=
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HAL_OK) {
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Error_Handler();
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}
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FDCAN_TxHeaderTypeDef tx_header;
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tx_header.IdType = FDCAN_STANDARD_ID;
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tx_header.TxFrameType = FDCAN_DATA_FRAME;
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tx_header.ErrorStateIndicator = FDCAN_ESI_PASSIVE;
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tx_header.BitRateSwitch = FDCAN_BRS_OFF;
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tx_header.FDFormat = FDCAN_CLASSIC_CAN;
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tx_header.TxEventFifoControl = FDCAN_NO_TX_EVENTS;
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tx_header.MessageMarker = 0;
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while (1) {
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tx_header.Identifier = 0x456;
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tx_header.DataLength = FDCAN_DLC_BYTES_2;
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uint8_t data[] = {0xFF, 0xEE};
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if (HAL_FDCAN_GetTxFifoFreeLevel(hcan) != 0) {
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HAL_FDCAN_AddMessageToTxFifoQ(hcan, &tx_header, data);
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}
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tx_thread_sleep(10);
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}
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}
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void HAL_FDCAN_RxFifo0Callback(FDCAN_HandleTypeDef *hfdcan,
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uint32_t RxFifo0ITs) {
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if (hfdcan != hcan || (RxFifo0ITs & FDCAN_IT_RX_FIFO0_NEW_MESSAGE) == RESET) {
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return;
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}
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static FDCAN_RxHeaderTypeDef header;
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static uint8_t data[8];
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if (HAL_FDCAN_GetRxMessage(hcan, FDCAN_RX_FIFO0, &header, data) != HAL_OK) {
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Error_Handler();
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}
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if (header.IdType != FDCAN_STANDARD_ID || header.Identifier == 0x123) {
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HAL_GPIO_TogglePin(STATUS2_GPIO_Port, STATUS2_Pin);
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}
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}
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