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29 lines
787 B
C
29 lines
787 B
C
#pragma once
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// IRQs: FDCAN1_IT0, FDCAN1_IT1
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// FDCAN2_IT0, FDCAN2_IT1
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// FDCAN3_IT0, FDCAN3_IT1
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#define CANFD
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typedef struct {
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volatile uint32_t header[2];
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volatile uint32_t data_word[CANPACKET_DATA_SIZE_MAX/4U];
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} canfd_fifo;
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#define CANS_ARRAY_SIZE 3
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extern FDCAN_GlobalTypeDef *cans[CANS_ARRAY_SIZE];
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#define CAN_ACK_ERROR 3U
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void can_clear_send(FDCAN_GlobalTypeDef *FDCANx, uint8_t can_number);
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void update_can_health_pkt(uint8_t can_number, uint32_t ir_reg);
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// ***************************** CAN *****************************
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// FDFDCANx_IT1 IRQ Handler (TX)
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void process_can(uint8_t can_number);
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// FDFDCANx_IT0 IRQ Handler (RX and errors)
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// blink blue when we are receiving CAN messages
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void can_rx(uint8_t can_number);
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bool can_init(uint8_t can_number);
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