TuxMonkey/bf_original_balance_chassis
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新增了CAN变长度数据帧的基本支持

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This commit is contained in:
NeoZeng
2022-11-27 23:06:45 +08:00
parent 36df442214
commit cb3f5d92d1
4 changed files with 24 additions and 7 deletions
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13
bsp/bsp_can.c
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@@ -86,6 +86,14 @@ void CANTransmit(can_instance *_instance)
HAL_CAN_AddTxMessage(_instance->can_handle, &_instance->txconf, _instance->tx_buff, &_instance->tx_mailbox);
}
void CANSetDLC(can_instance *_instance, uint8_t length)
{
if (length > 8)
while (1)
;
_instance->txconf.DLC = length;
}
/* -----------------------belows are callback definitions--------------------------*/
/**
@@ -102,11 +110,12 @@ static void CANFIFOxCallback(CAN_HandleTypeDef *_hcan, uint32_t fifox)
HAL_CAN_GetRxMessage(_hcan, fifox, &rxconf, can_rx_buff);
for (size_t i = 0; i < DEVICE_CAN_CNT; i++)
{
if(instance[i]!=NULL)
if (instance[i] != NULL)
{
if (_hcan == instance[i]->can_handle && rxconf.StdId == instance[i]->rx_id)
{
memcpy(instance[i]->rx_buff, can_rx_buff, 8);
instance[i]->rx_len=rxconf.DLC;
memcpy(instance[i]->rx_buff, can_rx_buff, rxconf.DLC);
instance[i]->can_module_callback(instance[i]);
break;
}