Fix CAN

starfactorypixel · Oct 17, 2024 · 9189313 · 9189313
1 parent 5b890ba
commit 9189313
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Showing 2 changed files with 52 additions and 51 deletions.
diff --git a/include/CANLogic.h b/include/CANLogic.h
@@ -6,10 +6,11 @@
 
 
 extern CAN_HandleTypeDef hcan;
+extern void HAL_CAN_Send(can_object_id_t id, uint8_t *data, uint8_t length);
 
 namespace CANLib
 {
-	void HAL_CAN_Send(can_object_id_t id, uint8_t *data, uint8_t length);
+
 
 	EasyPinD can_rs(GPIOA, {GPIO_PIN_15, GPIO_MODE_OUTPUT_OD, GPIO_NOPULL, GPIO_SPEED_FREQ_LOW}, GPIO_PIN_SET);
 
@@ -187,57 +188,7 @@ namespace CANLib
 	CANObject<int8_t, 1> obj_battery_state(0x0058);
 
 
-	void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan)
-	{
-		CAN_RxHeaderTypeDef RxHeader = {0};
-		uint8_t RxData[8] = {0};
-
-		if( HAL_CAN_GetRxMessage(hcan, CAN_RX_FIFO0, &RxHeader, RxData) == HAL_OK )
-		{
-			CANLib::can_manager.IncomingCANFrame(RxHeader.StdId, RxData, RxHeader.DLC);
-		}
-
-		return;
-	}
-
-	void HAL_CAN_ErrorCallback(CAN_HandleTypeDef *hcan)
-	{
-		Leds::obj.SetOn(Leds::LED_RED, 100);
-
-		DEBUG_LOG_TOPIC("CAN", "RX error event, code: 0x%08lX\n", HAL_CAN_GetError(hcan));
-
-		return;
-	}
-
-	void HAL_CAN_Send(can_object_id_t id, uint8_t *data, uint8_t length)
-	{
-		CAN_TxHeaderTypeDef TxHeader = {0};
-		uint8_t TxData[8] = {0};
-		uint32_t TxMailbox = 0;
-
-		TxHeader.StdId = id;
-		TxHeader.ExtId = 0;
-		TxHeader.RTR  = CAN_RTR_DATA;
-		TxHeader.IDE = CAN_ID_STD;
-		TxHeader.DLC = length;
-		TxHeader.TransmitGlobalTime = DISABLE;
-		memcpy(TxData, data, length);
-
-		while( HAL_CAN_GetTxMailboxesFreeLevel(&hcan) == 0 )
-		{
-			Leds::obj.SetOn(Leds::LED_RED);
-		}
-		Leds::obj.SetOff(Leds::LED_RED);
-
-		if( HAL_CAN_AddTxMessage(&hcan, &TxHeader, TxData, &TxMailbox) != HAL_OK )
-		{
-			Leds::obj.SetOn(Leds::LED_RED, 100);
 
-			DEBUG_LOG_TOPIC("CAN", "TX error event, code: 0x%08lX\n", HAL_CAN_GetError(&hcan));
-		}
-
-		return;
-	}
 
 
 

diff --git a/src/main.cpp b/src/main.cpp
@@ -50,7 +50,57 @@ static void MX_GPIO_Init(void);
 
 
 
+void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan)
+{
+	CAN_RxHeaderTypeDef RxHeader = {0};
+	uint8_t RxData[8] = {0};
+
+	if( HAL_CAN_GetRxMessage(hcan, CAN_RX_FIFO0, &RxHeader, RxData) == HAL_OK )
+	{
+		CANLib::can_manager.IncomingCANFrame(RxHeader.StdId, RxData, RxHeader.DLC);
+	}
+
+	return;
+}
+
+void HAL_CAN_ErrorCallback(CAN_HandleTypeDef *hcan)
+{
+	Leds::obj.SetOn(Leds::LED_RED, 100);
+
+	DEBUG_LOG_TOPIC("CAN", "RX error event, code: 0x%08lX\n", HAL_CAN_GetError(hcan));
+
+	return;
+}
 
+void HAL_CAN_Send(can_object_id_t id, uint8_t *data, uint8_t length)
+{
+	CAN_TxHeaderTypeDef TxHeader = {0};
+	uint8_t TxData[8] = {0};
+	uint32_t TxMailbox = 0;
+
+	TxHeader.StdId = id;
+	TxHeader.ExtId = 0;
+	TxHeader.RTR  = CAN_RTR_DATA;
+	TxHeader.IDE = CAN_ID_STD;
+	TxHeader.DLC = length;
+	TxHeader.TransmitGlobalTime = DISABLE;
+	memcpy(TxData, data, length);
+
+	while( HAL_CAN_GetTxMailboxesFreeLevel(&hcan) == 0 )
+	{
+		Leds::obj.SetOn(Leds::LED_RED);
+	}
+	Leds::obj.SetOff(Leds::LED_RED);
+
+	if( HAL_CAN_AddTxMessage(&hcan, &TxHeader, TxData, &TxMailbox) != HAL_OK )
+	{
+		Leds::obj.SetOn(Leds::LED_RED, 100);
+
+		DEBUG_LOG_TOPIC("CAN", "TX error event, code: 0x%08lX\n", HAL_CAN_GetError(&hcan));
+	}
+
+	return;
+}