/*
 * can_drive.h
 *
 *  Created on: 2023年1月5日
 *      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//电池接收
#define DF_CanIDbattery1          0x100//电池接收
#define DF_CanIDbattery2          0x101//电池接收
#define DF_CanIDRCH_3             0x12000023//接受遥控器

#define DF_CanIDMotor1            0x98//20251025 修改接收轮速
#define DF_CanIDMotor2            0x99//20251025 修改接收轮速

#define DF_ExtIDShift             3//扩展帧移位  32-29
#define DF_StaIDShift             21//标准帧移位 32-11

//外部变量声明




//外部函数声明
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_ */