software v1

Software/Core/Inc/can-halal.h

@@ -0,0 +1,71 @@
+#ifndef CAN_HALAL_H
+#define CAN_HALAL_H
+
+// Define family macros if none are defined and we recognize a chip macro
+#if !defined(STM32F3) && !defined(STM32H7) && !defined(STM32F0)
+#if defined(STM32F302x6) || defined(STM32F302x8) || defined(STM32F302xB) ||    \
+    defined(STM32F302xC)
+#define STM32F3
+#endif
+#if defined(STM32H7A3xx) || defined(STM32H723xx)
+#define STM32H7
+#endif
+#if defined(STM32F042x6)
+#define STM32F0
+#endif
+#endif
+
+#if defined(STM32F3)
+    #include "stm32f3xx_hal.h"
+    #define FTCAN_IS_BXCAN
+    #define FTCAN_NUM_FILTERS 13
+#elif defined(STM32H7)
+    #include "stm32h7xx_hal.h"
+    #define FTCAN_IS_FDCAN
+    #ifndef FTCAN_NUM_FILTERS
+        #error "Please configure the number of filters in CubeMX, and then add a compiler define for FTCAN_NUM_FILTERS"
+    #endif
+#elif defined(STM32F0)
+    #include "stm32f0xx_hal.h"
+    #define FTCAN_IS_BXCAN
+    #define FTCAN_NUM_FILTERS 13
+#else
+    #error "Couldn't detect STM family"
+#endif
+
+#if defined(FTCAN_IS_BXCAN)
+HAL_StatusTypeDef ftcan_init(CAN_HandleTypeDef *handle);
+#elif defined(FTCAN_IS_FDCAN)
+HAL_StatusTypeDef ftcan_init(FDCAN_HandleTypeDef *handle);
+#else
+#error "Unknown CAN peripheral"
+#endif
+
+HAL_StatusTypeDef ftcan_transmit(uint16_t id, const uint8_t *data,
+                                 size_t datalen);
+
+HAL_StatusTypeDef ftcan_add_filter(uint16_t id, uint16_t mask);
+
+/**
+ * Define this function to be notified of incoming CAN messages
+ */
+void ftcan_msg_received_cb(uint16_t id, size_t datalen, const uint8_t *data);
+
+/**
+ * Read num_bytes bytes from a message (unmarshalled network byte order). The
+ * msg pointer is advanced by the corresponding number of bytes.
+ *
+ * Both methods return a 64-bit integer, but you can safely cast it to a smaller
+ * integer type.
+ */
+uint64_t ftcan_unmarshal_unsigned(const uint8_t **data, size_t num_bytes);
+int64_t ftcan_unmarshal_signed(const uint8_t **data, size_t num_bytes);
+
+/**
+ * Write num_bytes to a message (marshalled in network byte order). The pointer
+ * is advanced by the corresponding number of bytes and returned.
+ */
+uint8_t *ftcan_marshal_unsigned(uint8_t *data, uint64_t val, size_t num_bytes);
+uint8_t *ftcan_marshal_signed(uint8_t *data, int64_t val, size_t num_bytes);
+
+#endif // CAN_HALAL_H