58 lines
1.6 KiB
C
58 lines
1.6 KiB
C
/*
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* can_drive.h
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*
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* Created on: 2023年1月5日
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* Author: Administrator
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*/
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#ifndef USER_INTERFACE_CAN_H_
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#define USER_INTERFACE_CAN_H_
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#include "debug.h"
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/* CAN Mode Definition */
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#define TX_MODE 0
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#define RX_MODE 1
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/* Frame Format Definition */
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#define Standard_Frame 0
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#define Extended_Frame 1
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/* CAN Communication Mode Selection */
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//#define CAN_MODE TX_MODE
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#define CAN_MODE RX_MODE
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/* Frame Formate Selection */
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//#define Frame_Format Extended_Frame
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#define Frame_Format Extended_Frame
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#define Frame_Format Extended_Frame
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#define DF_CanIDbattery 0x18904001//电池接收
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#define DF_CanIDbattery1 0x100//电池接收
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#define DF_CanIDbattery2 0x101//电池接收
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#define DF_CanIDRCH_3 0x12000023//接受遥控器
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#define DF_CanIDMotor1 0x98//20251025 修改接收轮速
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#define DF_CanIDMotor2 0x99//20251025 修改接收轮速
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#define DF_ExtIDShift 3//扩展帧移位 32-29
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#define DF_StaIDShift 21//标准帧移位 32-11
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//外部变量声明
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//外部函数声明
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void CAN1_Mode_Init( u8 tsjw, u8 tbs2, u8 tbs1, u16 brp, u8 mode );
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void CAN2_Mode_Init( u8 tsjw, u8 tbs2, u8 tbs1, u16 brp, u8 mode );
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u8 CAN_Send_Msg( CAN_TypeDef *CANx, u32 ID, u8 ide, u8 rtr, u8 *msg, u8 len);
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u8 CAN_Receive_Msg(CAN_TypeDef *CANx, uint8_t FIFONumber, u8 *buf );
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void USB_LP_CAN1_RX0_IRQHandler(void) __attribute__((interrupt("WCH-Interrupt-fast")));
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void CAN2_RX1_IRQHandler(void) __attribute__((interrupt("WCH-Interrupt-fast")));
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#endif /* USER_INTERFACE_CAN_H_ */
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