can-halal/can-halal.h

#ifndef CAN_HALAL_H
#define CAN_HALAL_H

#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
#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