// Check if a CAN message has been received and is waiting in the FIFO
uint8_t is_can_msg_pending(uint8_t fifo)
{
if (bus_state == OFF_BUS)
{
return 0;
}
return (__HAL_CAN_MSG_PENDING(&can_handle, fifo) > 0);
}
/**
* @brief Receives a correct CAN frame.
* @param hcan: pointer to a CAN_HandleTypeDef structure that contains
* the configuration information for the specified CAN.
* @param FIFONumber: FIFO Number value
* @param Timeout: Specify Timeout value
* @retval HAL status
* @retval None
*/
HAL_StatusTypeDef HAL_CAN_Receive(CAN_HandleTypeDef* hcan, uint8_t FIFONumber, uint32_t Timeout)
{
uint32_t tickstart = 0;
/* Check the parameters */
assert_param(IS_CAN_FIFO(FIFONumber));
/* Process locked */
__HAL_LOCK(hcan);
if(hcan->State == HAL_CAN_STATE_BUSY_TX)
{
/* Change CAN state */
hcan->State = HAL_CAN_STATE_BUSY_TX_RX;
}
else
{
/* Change CAN state */
hcan->State = HAL_CAN_STATE_BUSY_RX;
}
/* Get tick */
tickstart = HAL_GetTick();
/* Check pending message */
while(__HAL_CAN_MSG_PENDING(hcan, FIFONumber) == 0)
{
/* Check for the Timeout */
if(Timeout != HAL_MAX_DELAY)
{
if((Timeout == 0) || ((HAL_GetTick()-tickstart) > Timeout))
{
hcan->State = HAL_CAN_STATE_TIMEOUT;
/* Process unlocked */
__HAL_UNLOCK(hcan);
return HAL_TIMEOUT;
}
}
}
/* Get the Id */
hcan->pRxMsg->IDE = (uint8_t)CAN_ID_EXT & hcan->Instance->sFIFOMailBox[FIFONumber].RIR;
if (hcan->pRxMsg->IDE == CAN_ID_STD)
{
hcan->pRxMsg->StdId = (uint32_t)0x000007FF & (hcan->Instance->sFIFOMailBox[FIFONumber].RIR >> 21);
}
int main(void)
{
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */
/* MCU Configuration----------------------------------------------------------*/
/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
HAL_Init();
/* Configure the system clock */
SystemClock_Config();
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_CAN_Init();
MX_USART1_UART_Init();
/* USER CODE BEGIN 2 */
setup_can_filter();
for (int i = 0; i < 10; ++i)
{
led_blink();
HAL_Delay(100);
}
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
CanRxMsgTypeDef rx_msg;
uint8_t prebuf[12];
uint8_t uart_msg[18];
while (1)
{
//
while (__HAL_CAN_MSG_PENDING(&hcan, CAN_FIFO0) <= 0) ;
hcan.pRxMsg = &rx_msg;
if (HAL_OK != HAL_CAN_Receive(&hcan, CAN_FIFO0, 3))
continue;
//
uint8_t flags = rx_msg.DLC & 0xf;
if (rx_msg.RTR == CAN_RTR_REMOTE)
flags |= 0x10;
if (rx_msg.IDE == CAN_ID_EXT)
flags |= 0x20;
uint32_t id = (rx_msg.IDE == CAN_ID_EXT ? rx_msg.ExtId : rx_msg.StdId);
for (int i = 3; i >= 0; --i)
{
prebuf[i] = (id & 0xff);
id >>= 8;
}
for (int i = 4; i < 12; ++i)
prebuf[i] = 0;
for (int i = 0; i < 8 && i < rx_msg.DLC; ++i)
prebuf[4+i] = rx_msg.Data[i];
//
int j = 0;
for (int i = 0; i < 12; i += 3, j += 4)
{
uint32_t triple = 0;
for (int k = 0; k < 3; ++k)
{
triple <<= 8;
triple += prebuf[i+k];
}
for (int k = 0; k < 4; ++k)
{
uart_msg[j+3-k] = basis_64[triple & 63];
triple >>= 6;
}
}
uart_msg[16] = basis_64[flags];
uart_msg[17] = '\n';
//
HAL_UART_Transmit(&huart1, uart_msg, 18, 1000);
//
led_blink();
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
}
/* USER CODE END 3 */
}
