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liumin
2025-09-05 21:09:02 +08:00
commit f0106c0f17
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57
ETH/UdpServer/User/interface_can.h Normal file
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/*
* can_drive.h
*
* Created on: 2023<32><33>1<EFBFBD><31>5<EFBFBD><35>
* Author: Administrator
*/
#ifndef USER_INTERFACE_CAN_H_
#define USER_INTERFACE_CAN_H_
#include "debug.h"
/* CAN Mode Definition */
#define TX_MODE 0
#define RX_MODE 1
/* Frame Format Definition */
#define Standard_Frame 0
#define Extended_Frame 1
/* CAN Communication Mode Selection */
//#define CAN_MODE TX_MODE
#define CAN_MODE RX_MODE
/* Frame Formate Selection */
//#define Frame_Format Extended_Frame
#define Frame_Format Extended_Frame
#define Frame_Format Extended_Frame
#define DF_CanIDbattery 0x18904001//<2F><><EFBFBD>ؽ<EFBFBD><D8BD><EFBFBD>
#define DF_CanIDbattery1 0x100//<2F><><EFBFBD>ؽ<EFBFBD><D8BD><EFBFBD>
#define DF_CanIDbattery2 0x101//<2F><><EFBFBD>ؽ<EFBFBD><D8BD><EFBFBD>
#define DF_CanIDRCH_3 0x12000023//<2F><><EFBFBD><EFBFBD>ң<EFBFBD><D2A3><EFBFBD><EFBFBD>
#define DF_CanIDMotor1 0x101//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
#define DF_CanIDMotor2 0x102//<2F>ҵ<EFBFBD><D2B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
#define DF_ExtIDShift 3//<2F><>չ֡<D5B9><D6A1>λ 32-29
#define DF_StaIDShift 21//<2F><>׼֡<D7BC><D6A1>λ 32-11
//<2F>ⲿ<EFBFBD><E2B2BF><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
//<2F>ⲿ<EFBFBD><E2B2BF><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
void CAN1_Mode_Init( u8 tsjw, u8 tbs2, u8 tbs1, u16 brp, u8 mode );
void CAN2_Mode_Init( u8 tsjw, u8 tbs2, u8 tbs1, u16 brp, u8 mode );
u8 CAN_Send_Msg( CAN_TypeDef *CANx, u32 ID, u8 ide, u8 rtr, u8 *msg, u8 len);
u8 CAN_Receive_Msg(CAN_TypeDef *CANx, uint8_t FIFONumber, u8 *buf );
void USB_LP_CAN1_RX0_IRQHandler(void) __attribute__((interrupt("WCH-Interrupt-fast")));
void CAN2_RX1_IRQHandler(void) __attribute__((interrupt("WCH-Interrupt-fast")));
#endif /* USER_INTERFACE_CAN_H_ */