firmware defines
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263
firmware/lib/can/can.cpp
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263
firmware/lib/can/can.cpp
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#include "can.h"
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enum canAction
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{
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WaitForCmd,
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TxDeviceInfo,
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SearchForID
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};
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FDCAN_HandleTypeDef hfdcan1;
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FDCAN_FilterTypeDef sFilterConfig;
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FDCAN_RxHeaderTypeDef RxHeader;
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FDCAN_TxHeaderTypeDef TxHeader;
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canAction FDCAN_State = WaitForCmd;
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const uint16_t FDCAN_GlobalID = 0x7CC;
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uint16_t FDCAN_TempID;
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uint8_t foundExtDevice = 0;
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uint8_t JunkBuf[8];
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uint8_t TxData[8];
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uint8_t RxData[8];
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extern "C" void FDCAN1_IT0_IRQHandler(void);
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void FDCAN_Error_Handler(void)
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{
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HAL_GPIO_WritePin(GPIOA, GPIO_PIN_7, GPIO_PIN_SET);
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}
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void FDCAN_Init(void)
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{
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hfdcan1.Instance = FDCAN1;
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hfdcan1.Init.ClockDivider = FDCAN_CLOCK_DIV1;
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hfdcan1.Init.FrameFormat = FDCAN_FRAME_FD_NO_BRS;
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hfdcan1.Init.Mode = FDCAN_MODE_NORMAL;
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hfdcan1.Init.AutoRetransmission = ENABLE;
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hfdcan1.Init.TransmitPause = DISABLE;
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hfdcan1.Init.ProtocolException = DISABLE;
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// transceiver and peripheral clock specific values
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hfdcan1.Init.NominalPrescaler = 1;
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hfdcan1.Init.NominalSyncJumpWidth = 2;
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hfdcan1.Init.NominalTimeSeg1 = 21;
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hfdcan1.Init.NominalTimeSeg2 = 2;
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hfdcan1.Init.DataPrescaler = 1;
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hfdcan1.Init.DataSyncJumpWidth = 5;
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hfdcan1.Init.DataTimeSeg1 = 6;
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hfdcan1.Init.DataTimeSeg2 = 5;
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//
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hfdcan1.Init.StdFiltersNbr = 1;
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hfdcan1.Init.ExtFiltersNbr = 0;
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hfdcan1.Init.TxFifoQueueMode = FDCAN_TX_FIFO_OPERATION;
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if (HAL_FDCAN_Init(&hfdcan1) != HAL_OK)
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{
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FDCAN_Error_Handler();
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}
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}
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void FDCAN_ConfigFilter(uint16_t canID)
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{
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sFilterConfig.IdType = FDCAN_STANDARD_ID;
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sFilterConfig.FilterIndex = 0;
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sFilterConfig.FilterType = FDCAN_FILTER_DUAL;
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sFilterConfig.FilterConfig = FDCAN_FILTER_TO_RXFIFO0;
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sFilterConfig.FilterID1 = canID;
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sFilterConfig.FilterID2 = FDCAN_GlobalID;
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if (HAL_FDCAN_ConfigFilter(&hfdcan1, &sFilterConfig) != HAL_OK)
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{
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/* Filter configuration Error */
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FDCAN_Error_Handler();
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}
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}
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void FDCAN_ConfigTxHeader(uint16_t canID)
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{
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TxHeader.Identifier = canID;
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TxHeader.IdType = FDCAN_STANDARD_ID;
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TxHeader.TxFrameType = FDCAN_DATA_FRAME;
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TxHeader.DataLength = FDCAN_DLC_BYTES_8;
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TxHeader.ErrorStateIndicator = FDCAN_ESI_ACTIVE;
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TxHeader.BitRateSwitch = FDCAN_BRS_OFF;
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TxHeader.FDFormat = FDCAN_FD_CAN;
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TxHeader.TxEventFifoControl = FDCAN_NO_TX_EVENTS;
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TxHeader.MessageMarker = 0;
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}
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void HAL_FDCAN_MspInit(FDCAN_HandleTypeDef *hfdcan)
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{
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GPIO_InitTypeDef GPIO_InitStruct = {0};
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RCC_PeriphCLKInitTypeDef PeriphClkInit = {0};
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if (hfdcan->Instance == FDCAN1)
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{
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PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_FDCAN;
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PeriphClkInit.FdcanClockSelection = RCC_FDCANCLKSOURCE_HSE;
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if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK)
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{
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Error_Handler();
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}
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__HAL_RCC_FDCAN_CLK_ENABLE();
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__HAL_RCC_GPIOB_CLK_ENABLE();
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/**FDCAN1 GPIO Configuration
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PB8-BOOT0 ------> FDCAN1_RX
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PB9 ------> FDCAN1_TX
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*/
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GPIO_InitStruct.Pin = GPIO_PIN_8 | GPIO_PIN_9;
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GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
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GPIO_InitStruct.Pull = GPIO_NOPULL;
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GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
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GPIO_InitStruct.Alternate = GPIO_AF9_FDCAN1;
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HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
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HAL_NVIC_SetPriority(FDCAN1_IT0_IRQn, 0, 0);
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HAL_NVIC_EnableIRQ(FDCAN1_IT0_IRQn);
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}
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}
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void HAL_FDCAN_MspDeInit(FDCAN_HandleTypeDef *hfdcan)
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{
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if (hfdcan->Instance == FDCAN1)
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{
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__HAL_RCC_FDCAN_CLK_DISABLE();
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/**FDCAN1 GPIO Configuration
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PB8-BOOT0 ------> FDCAN1_RX
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PB9 ------> FDCAN1_TX
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*/
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HAL_GPIO_DeInit(GPIOB, GPIO_PIN_8 | GPIO_PIN_9);
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HAL_NVIC_DisableIRQ(FDCAN1_IT0_IRQn);
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}
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}
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extern "C" void FDCAN1_IT0_IRQHandler(void)
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{
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HAL_FDCAN_IRQHandler(&hfdcan1);
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}
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void HAL_FDCAN_RxFifo0Callback(FDCAN_HandleTypeDef *hfdcan, uint32_t RxFifo0ITs)
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{
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if((RxFifo0ITs & FDCAN_IT_RX_FIFO0_NEW_MESSAGE) != RESET)
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{
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HAL_FDCAN_GetRxMessage(hfdcan, FDCAN_RX_FIFO0, &RxHeader, RxData);
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}
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if (RxHeader.RxFrameType == FDCAN_REMOTE_FRAME)
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{
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// Reply globally but put the replying ID in the data packet.
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TxHeader.Identifier = FDCAN_GlobalID;
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memset(TxData, 0x00, 8 * sizeof(uint8_t));
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memcpy(&TxData, (sFilterConfig.FilterID1), sizeof(uint16_t));
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FDCAN_SendMessage();
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}
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else
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{
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switch (FDCAN_State)
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{
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case WaitForCmd:
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// Set some flag to indicate that sfoc has a new command.
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if (RxHeader.Identifier = FDCAN_GlobalID)
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{
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}
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else
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{
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}
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break;
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case SearchForID:
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foundExtDevice = 1;
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break;
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default:
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break;
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}
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}
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}
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void FDCAN_SendMessage(void)
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{
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switch (FDCAN_State)
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{
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case TxDeviceInfo:
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break;
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case SearchForID:
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TxHeader.Identifier = FDCAN_TempID;
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TxHeader.TxFrameType = FDCAN_REMOTE_FRAME;
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TxHeader.DataLength = FDCAN_DLC_BYTES_0;
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break;
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default:
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break;
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}
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if (HAL_FDCAN_AddMessageToTxFifoQ(&hfdcan1, &TxHeader, TxData) != HAL_OK)
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{
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FDCAN_Error_Handler();
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}
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// Set the tx parameters back to normal.
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TxHeader.Identifier = sFilterConfig.FilterID1;
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TxHeader.TxFrameType = FDCAN_DATA_FRAME;
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TxHeader.DataLength = FDCAN_DLC_BYTES_8;
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}
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uint16_t FDCAN_FindUniqueID(void)
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{
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FDCAN_TempID = 0x000;
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FDCAN_State = SearchForID;
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while (1)
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{
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foundExtDevice = 0;
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FDCAN_SendMessage();
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delay(100);
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if (foundExtDevice)
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{
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// Try the next address.
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FDCAN_TempID++;
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}
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else
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{
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// We found a unique device ID!
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FDCAN_State = WaitForCmd;
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FDCAN_ChangeID(FDCAN_TempID);
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digitalWrite(PA7, HIGH);
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return FDCAN_TempID;
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}
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}
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}
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void FDCAN_ChangeID(uint16_t newID)
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{
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// HAL_FDCAN_Stop();
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FDCAN_ConfigFilter(newID);
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FDCAN_ConfigTxHeader(newID);
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// HAL_FDCAN_Start();
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}
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void FDCAN_Start(uint16_t canID)
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{
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FDCAN_Init();
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FDCAN_ConfigFilter(canID);
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FDCAN_ConfigTxHeader(canID);
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if (HAL_FDCAN_ActivateNotification(&hfdcan1, FDCAN_IT_RX_FIFO0_NEW_MESSAGE, 0) != HAL_OK)
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{
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FDCAN_Error_Handler();
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}
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if (HAL_FDCAN_Start(&hfdcan1) != HAL_OK)
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{
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FDCAN_Error_Handler();
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}
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}
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