53 lines
1.5 KiB
C
53 lines
1.5 KiB
C
#ifndef BSP_CAN_H
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#define BSP_CAN_H
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#include "struct_typedef.h"
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#include "can.h"
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#define MX_REGISTER_DEVICE_CNT 12 // maximum number of device can be registered to CAN service
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// this number depends on the load of CAN bus.
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#define MX_CAN_FILTER_CNT (2 * 14) // temporarily useless
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#define DEVICE_CAN_CNT 2 // CAN1,CAN2
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/* can instance typedef, every module registered to CAN should have this variable */
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typedef struct _
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{
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CAN_HandleTypeDef *can_handle;
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CAN_TxHeaderTypeDef txconf;
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uint32_t tx_id;
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uint32_t tx_mailbox;
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uint8_t tx_buff[8];
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uint8_t rx_buff[8];
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uint32_t rx_id;
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void (*can_module_callback)(struct _ *); // callback needs an instance to tell among registered ones
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} can_instance;
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/* this structure is used as initialization*/
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typedef struct
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{
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CAN_HandleTypeDef *can_handle;
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uint32_t tx_id;
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uint32_t rx_id;
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void (*can_module_callback)(can_instance *);
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} can_instance_config_s;
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/* module callback,which resolve protocol when new mesg arrives*/
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typedef void (*can_callback)(can_instance *);
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/**
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* @brief transmit mesg through CAN device
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*
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* @param _instance can instance owned by module
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*/
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void CANTransmit(can_instance *_instance);
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/**
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* @brief Register a module to CAN service,remember to call this before using a CAN device
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*
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* @param config init config
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* @return can_instance* can instance owned by module
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*/
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void CANRegister(can_instance *instance, can_instance_config_s config);
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#endif
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