# Tank400_F042

**Repository Path**: gxswift/Tank400_F042

## Basic Information

- **Project Name**: Tank400_F042
- **Description**: No description available
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 1
- **Forks**: 0
- **Created**: 2024-08-08
- **Last Updated**: 2024-09-01

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# STM32F042

## 破解倒挡
波特率：500K  
CANID: 标准帧 数据帧 0x2E7

|data 2 3|事件|
|---|---|
30 04 |R松刹车
30 06 |R踩刹车
30 00 |D松刹车
30 02 |D刹车
30 00 |N松刹车
30 02 |N刹车
00 00 |P松刹车
00 02 |P刹车

```c
static uint8_t control = 0;
void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *handcan)
{
  uint8_t Data[8] = {0};
  HAL_StatusTypeDef HAL_RetVal;
  CAN_RxHeaderTypeDef RxMeg;
  if (handcan == &hcan)
  {
    HAL_RetVal = HAL_CAN_GetRxMessage(handcan, CAN_RX_FIFO0, &RxMeg, Data);
    if (HAL_OK == HAL_RetVal)
    {
      if (RxMeg.StdId == 0x2e7)
      {
        // if ((Data[3] & 0xFD) == 4)
        if (Data[3] & 1<<2)
        {
          control = 1;
        }
        else
        {
          control = 0;
        }
      }
    }
  }
}


void CAN_Config(void)
{
  CAN_FilterTypeDef hCAN1_Filter; // CAN滤波器
	hCAN1_Filter.FilterIdHigh = 0x02E7 << 5;
	hCAN1_Filter.FilterIdLow = 0;
	hCAN1_Filter.FilterMaskIdHigh = 0x02E8 << 5;
	hCAN1_Filter.FilterMaskIdLow = 0;
	hCAN1_Filter.FilterFIFOAssignment = CAN_FILTER_FIFO0;
	hCAN1_Filter.FilterBank = 1;
	hCAN1_Filter.FilterMode = CAN_FILTERMODE_IDLIST;
	hCAN1_Filter.FilterScale = CAN_FILTERSCALE_32BIT;
	hCAN1_Filter.FilterActivation = ENABLE;
  hCAN1_Filter.SlaveStartFilterBank = 14;
	HAL_CAN_ConfigFilter(&hcan, &hCAN1_Filter);

  HAL_CAN_ActivateNotification(&hcan, CAN_IT_RX_FIFO0_MSG_PENDING | CAN_IT_RX_FIFO0_FULL | CAN_IT_RX_FIFO0_OVERRUN);

  HAL_CAN_Start(&hcan);
}



HAL_GPIO_WritePin(GPIOA,GPIO_PIN_1,control);

```
## 控制

|信号|PA0|PA1|PA2|PA7
|---|---|---|---|---|
|有倒车无刹车|高 |PWM 0ms/20ms|500ms高低交替|低(灯亮)|
|无倒车有刹车|低 |PWM 20ms/20ms|500ms高低交替|低(灯亮)|
|有倒车有刹车|高 |PWM 20ms/20ms|500ms高低交替|低(灯亮)|
|无倒车无刹车|低 |PWM 0ms/20ms|500ms高低交替|高(灯灭)|

## 测试

宏定义TEST定义是否测试程序