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https://github.com/eddyem/stm32samples.git
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57 lines
1.6 KiB
C
57 lines
1.6 KiB
C
/*
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* This file is part of the hallinear project.
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* Copyright 2023 Edward V. Emelianov <edward.emelianoff@gmail.com>.
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#pragma once
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#include <stdint.h>
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// CAN bus oscillator frequency: 36MHz
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#define CAN_F_OSC (36000000UL)
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// timing values TBS1 and TBS2 (in BTR [TBS1-1] and [TBS2-1])
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// use 3 and 2 to get 6MHz
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#define CAN_TBS1 (3)
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#define CAN_TBS2 (2)
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// bitrate oscillator frequency
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#define CAN_BIT_OSC (CAN_F_OSC / (1+CAN_TBS1+CAN_TBS2))
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#define CAN_MIN_SPEED (9600)
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#define CAN_MAX_SPEED (3000000)
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// CAN message
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typedef struct{
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uint8_t data[8]; // up to 8 bytes of data
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uint8_t length; // data length
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uint16_t ID; // ID of receiver
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} CAN_message;
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typedef enum{
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CAN_STOP,
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CAN_READY,
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CAN_BUSY,
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CAN_OK,
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CAN_ERR,
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CAN_FIFO_OVERRUN
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} CAN_status;
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void CAN_setup();
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CAN_status CAN_send(CAN_message *msg);
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void CAN_proc();
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CAN_message *CAN_receive();
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void CAN_reinit();
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