added can_msg type

Northeastern-Electric-Racing · Dec 7, 2023 · 5109618 · 5109618
1 parent f68cd84
commit 5109618
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Showing 2 changed files with 12 additions and 7 deletions.
diff --git a/platforms/stm32f405/include/can.h b/platforms/stm32f405/include/can.h
@@ -16,8 +16,14 @@ typedef struct{
     void (*can_callback)(CAN_HandleTypeDef *hcan);
 } can_t;
 
+typedef struct{
+    uint16_t id;
+    uint8_t data[8];
+    uint8_t size;
+} can_msg_t;
+
 void can_init(can_t *can);
-void can_send_msg(can_t *can, uint16_t id, uint8_t *data, uint8_t size);
+void can_send_msg(can_t *can, can_msg_t *msg);
 
 
 

diff --git a/platforms/stm32f405/src/can.c b/platforms/stm32f405/src/can.c
@@ -49,17 +49,16 @@ void can_init(can_t *can)
     HAL_CAN_ActivateNotification(can->hcan, CAN_IT_RX_FIFO0_MSG_PENDING);
 }
 
-void can_send_msg(can_t *can, uint16_t id, uint8_t *data, uint8_t size)
+void can_send_msg(can_t *can, can_msg_t *msg)
 {
     CAN_TxHeaderTypeDef tx_header;
-    tx_header.StdId = id;
+    tx_header.StdId = msg->id;
     tx_header.ExtId = 0;
     tx_header.IDE = CAN_ID_STD;
     tx_header.RTR = CAN_RTR_DATA;
-    tx_header.DLC = size;
+    tx_header.DLC = msg->size;
     tx_header.TransmitGlobalTime = DISABLE;
 
     uint32_t tx_mailbox;
-    HAL_CAN_AddTxMessage(can->hcan, &tx_header, data, &tx_mailbox);
-}
-```
+    HAL_CAN_AddTxMessage(can->hcan, &tx_header, msg->data, &tx_mailbox);
+}