init commit

bsp/bsp_can.h

@@ -0,0 +1,46 @@
+#ifndef BSP_CAN_H
+#define BSP_CAN_H
+
+#include "struct_typedef.h"
+#include "can.h"
+
+#define MX_REGISTER_DEVICE_CNT 12  // maximum number of device can be registered to CAN service
+                                   // this number depends on the load of CAN bus.
+#define MX_CAN_FILTER_CNT (4 * 14) // temporarily useless
+#define DEVICE_CAN_CNT 2           // CAN1,CAN2
+
+/* module callback,which resolve protocol when new mesg arrives*/
+
+
+/* can instance typedef, every module registered to CAN should have this variable */
+typedef struct tmp
+{
+    CAN_HandleTypeDef* can_handle;
+    uint32_t tx_id;
+    uint32_t tx_mailbox;
+    uint8_t* tx_buff; 
+    uint8_t* rx_buff;
+    uint32_t rx_id;
+    void (*can_module_callback)(struct tmp*); // callback needs an instance to tell among registered ones
+} can_instance;
+
+/**
+ * @brief transmit mesg through CAN device
+ * 
+ * @param _instance can instance owned by module
+ */
+void CANTransmit(can_instance* _instance);
+
+/**
+ * @brief Register a module to CAN service,remember to call this before using a CAN device
+ * 
+ * @attention  tx_id, rx_id, can_handle and module_callback should be set before calling this func
+ *             for the rest configs, this func will do for you
+ * 
+ * @param _instance can instance owned by a specific device, remember to initialize it!
+ * 
+ */
+void CANRegister(can_instance* _instance);
+
+
+#endif