FaSTTUBe/can-halal
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add queue length and buffer transmit functions

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This commit is contained in:
Kilian Bracher 2025-06-18 15:51:10 +02:00
parent 887f92167d
commit 7de8bbdc3b
Signed by: k.bracher
SSH Key Fingerprint: SHA256:mXpyZkK7RDiJ7qeHCKJX108woM0cl5TrCvNBJASu6lM
1 changed files with 37 additions and 21 deletions
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58
can-halal.c
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@ -100,48 +100,51 @@ HAL_StatusTypeDef ftcan_init(FDCAN_HandleTypeDef *handle) {
return HAL_FDCAN_Start(hcan);
}
HAL_StatusTypeDef ftcan_transmit(uint16_t id, const uint8_t *data,
size_t datalen) {
static FDCAN_TxHeaderTypeDef header;
header.Identifier = id;
header.IdType = FDCAN_STANDARD_ID;
header.TxFrameType = FDCAN_DATA_FRAME;
static FDCAN_TxHeaderTypeDef * fdcan_initialize_tx_header(FDCAN_TxHeaderTypeDef * header, uint16_t id, size_t datalen) {
header->Identifier = id;
header->IdType = FDCAN_STANDARD_ID;
header->TxFrameType = FDCAN_DATA_FRAME;
switch (datalen) {
case 0:
header.DataLength = FDCAN_DLC_BYTES_0;
header->DataLength = FDCAN_DLC_BYTES_0;
break;
case 1:
header.DataLength = FDCAN_DLC_BYTES_1;
header->DataLength = FDCAN_DLC_BYTES_1;
break;
case 2:
header.DataLength = FDCAN_DLC_BYTES_2;
header->DataLength = FDCAN_DLC_BYTES_2;
break;
case 3:
header.DataLength = FDCAN_DLC_BYTES_3;
header->DataLength = FDCAN_DLC_BYTES_3;
break;
case 4:
header.DataLength = FDCAN_DLC_BYTES_4;
header->DataLength = FDCAN_DLC_BYTES_4;
break;
case 5:
header.DataLength = FDCAN_DLC_BYTES_5;
header->DataLength = FDCAN_DLC_BYTES_5;
break;
case 6:
header.DataLength = FDCAN_DLC_BYTES_6;
header->DataLength = FDCAN_DLC_BYTES_6;
break;
case 7:
header.DataLength = FDCAN_DLC_BYTES_7;
header->DataLength = FDCAN_DLC_BYTES_7;
break;
case 8:
default:
header.DataLength = FDCAN_DLC_BYTES_8;
header->DataLength = FDCAN_DLC_BYTES_8;
break;
}
header.ErrorStateIndicator = FDCAN_ESI_PASSIVE;
header.BitRateSwitch = FDCAN_BRS_OFF;
header.FDFormat = FDCAN_CLASSIC_CAN;
header.TxEventFifoControl = FDCAN_NO_TX_EVENTS;
header->ErrorStateIndicator = FDCAN_ESI_PASSIVE;
header->BitRateSwitch = FDCAN_BRS_OFF;
header->FDFormat = FDCAN_CLASSIC_CAN;
header->TxEventFifoControl = FDCAN_NO_TX_EVENTS;
return HAL_FDCAN_AddMessageToTxFifoQ(hcan, &header, data);
return header;
}
HAL_StatusTypeDef ftcan_transmit(uint16_t id, const uint8_t *data, size_t datalen) {
static FDCAN_TxHeaderTypeDef header;
return HAL_FDCAN_AddMessageToTxFifoQ(hcan, fdcan_initialize_tx_header(&header, id, datalen), data);
}
HAL_StatusTypeDef ftcan_add_filter(uint16_t id, uint16_t mask) {
@ -217,6 +220,19 @@ void HAL_FDCAN_RxFifo0Callback(FDCAN_HandleTypeDef *handle,
ftcan_msg_received_cb(header.Identifier, datalen, data);
}
HAL_StatusTypeDef ftcan_get_tx_queue_length(uint32_t *length) {
if (length == NULL) {
return HAL_ERROR;
}
*length = HAL_FDCAN_GetTxFifoFreeLevel(hcan);
return HAL_OK;
}
HAL_StatusTypeDef ftcan_transmit_buffer(uint16_t id, const uint8_t *data, size_t datalen, uint32_t buffer_index) {
static FDCAN_TxHeaderTypeDef header;
return HAL_FDCAN_AddMessageToTxBuffer(hcan, fdcan_initialize_tx_header(&header, id, datalen), data, buffer_index);
}
#endif
__weak void ftcan_msg_received_cb(uint16_t id, size_t datalen,
@ -271,4 +287,4 @@ 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) {
return ftcan_marshal_unsigned(data, val, num_bytes);
}
}