msts/App/Can/Src/can_interface.c

#include "can_interface.h"
#include "can.h"
#include <string.h>

CAN_TxHeaderTypeDef tx_header;
CAN_RxHeaderTypeDef rx_header;

pcan_rx pcan_rx_back = NULL;
pcan_tx pcan_tx_back = NULL;

void can_rx_back_init(pcan_rx p_fun)
{
    pcan_rx_back = p_fun;
}

void can_tx_back_init(pcan_tx p_fun)
{
    pcan_tx_back = p_fun;
}

uint8_t can_write(uint32_t id, uint8_t id_type, uint8_t *p_data, uint8_t len)
{
    uint32_t TxMailbox;
    if (id_type)
    {
        tx_header.ExtId = id; // 设置扩展标示符（29位）
    }
    else
    {
        tx_header.StdId = id_type; // 标准标识符为0
    }

    tx_header.IDE = id_type; // 使用扩展标识符
    tx_header.DLC = len;     // 发送两帧信息
    if (len == 0)
    {
        tx_header.RTR = CAN_RTR_REMOTE; // 消息类型为远程帧
    }
    else
    {
        tx_header.RTR = CAN_RTR_DATA; // 消息类型为数据帧
    }
    if (HAL_CAN_AddTxMessage(&hcan, &tx_header, p_data, &TxMailbox) != HAL_OK) /* 发送消息 */
    {
        return 1;
    }
    return 0;
}

void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan_interface)
{
    uint8_t rxbuf[8];

    if (hcan_interface->Instance == hcan.Instance)
    {
        HAL_CAN_GetRxMessage(hcan_interface, CAN_RX_FIFO0, &rx_header, rxbuf);

        if (pcan_rx_back != NULL)
        {
            pcan_rx_back(rx_header, rxbuf);
        }
    }
}

void HAL_CAN_TxMailbox0CompleteCallback(CAN_HandleTypeDef *hcan_interface)
{
    if (hcan_interface->Instance == hcan.Instance)
    {
        if (pcan_tx_back != NULL)
        {
            pcan_tx_back();
        }
    }
}

void HAL_CAN_TxMailbox1CompleteCallback(CAN_HandleTypeDef *hcan_interface)
{
    if (hcan_interface->Instance == hcan.Instance)
    {
        if (pcan_tx_back != NULL)
        {
            pcan_tx_back();
        }
    }
}

void HAL_CAN_TxMailbox2CompleteCallback(CAN_HandleTypeDef *hcan_interface)
{
    if (hcan_interface->Instance == hcan.Instance)
    {
        if (pcan_tx_back != NULL)
        {
            pcan_tx_back();
        }
    }
}