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Implement FDCAN for STM32H7

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This commit is contained in:
Jasper Blanckenburg
2023-03-16 22:45:44 +01:00
parent 1589839b44
commit dc60f07b4a
3 changed files with 165 additions and 12 deletions
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153
FT_CAN_AL.c
View File

@ -2,7 +2,7 @@
#include <string.h>
#ifdef FTCAN_IS_BXCAN
#if defined(FTCAN_IS_BXCAN)
static CAN_HandleTypeDef *hcan;
HAL_StatusTypeDef ftcan_init(CAN_HandleTypeDef *handle) {
@ -43,7 +43,7 @@ HAL_StatusTypeDef ftcan_add_filter(uint16_t id, uint16_t mask) {
}
filter.FilterFIFOAssignment = CAN_FILTER_FIFO0;
filter.FilterBank = next_filter_no / 2;
if (filter.FilterBank > FTCAN_MAX_FILTER_NO) {
if (filter.FilterBank > FTCAN_NUM_FILTERS + 1) {
return HAL_ERROR;
}
filter.FilterMode = CAN_FILTERMODE_IDMASK;
@ -53,9 +53,13 @@ HAL_StatusTypeDef ftcan_add_filter(uint16_t id, uint16_t mask) {
// Disable slave filters
// TODO: Some STM32 have multiple CAN peripherals, and one uses the slave
// filter bank
filter.SlaveStartFilterBank = FTCAN_MAX_FILTER_NO + 1;
filter.SlaveStartFilterBank = FTCAN_NUM_FILTERS;
return HAL_CAN_ConfigFilter(hcan, &filter);
HAL_StatusTypeDef status = HAL_CAN_ConfigFilter(hcan, &filter);
if (status == HAL_OK) {
next_filter_no++;
}
return status;
}
void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *handle) {
@ -74,7 +78,146 @@ void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *handle) {
ftcan_msg_received_cb(header.StdId, header.DLC, data);
}
#endif // CAN_IS_BXCAN
#elif defined(FTCAN_IS_FDCAN)
static FDCAN_HandleTypeDef *hcan;
HAL_StatusTypeDef ftcan_init(FDCAN_HandleTypeDef *handle) {
hcan = handle;
HAL_StatusTypeDef status =
HAL_FDCAN_ActivateNotification(hcan, FDCAN_IT_RX_FIFO0_NEW_MESSAGE, 0);
if (status != HAL_OK) {
return status;
}
// Reject non-matching messages
status =
HAL_FDCAN_ConfigGlobalFilter(hcan, FDCAN_REJECT, FDCAN_REJECT,
FDCAN_REJECT_REMOTE, FDCAN_REJECT_REMOTE);
if (status != HAL_OK) {
return status;
}
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;
switch (datalen) {
case 0:
header.DataLength = FDCAN_DLC_BYTES_0;
break;
case 1:
header.DataLength = FDCAN_DLC_BYTES_1;
break;
case 2:
header.DataLength = FDCAN_DLC_BYTES_2;
break;
case 3:
header.DataLength = FDCAN_DLC_BYTES_3;
break;
case 4:
header.DataLength = FDCAN_DLC_BYTES_4;
break;
case 5:
header.DataLength = FDCAN_DLC_BYTES_5;
break;
case 6:
header.DataLength = FDCAN_DLC_BYTES_6;
break;
case 7:
header.DataLength = FDCAN_DLC_BYTES_7;
break;
case 8:
default:
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;
return HAL_FDCAN_AddMessageToTxFifoQ(hcan, &header, data);
}
HAL_StatusTypeDef ftcan_add_filter(uint16_t id, uint16_t mask) {
static uint32_t next_filter_no = 0;
static FDCAN_FilterTypeDef filter;
filter.IdType = FDCAN_STANDARD_ID;
filter.FilterIndex = next_filter_no;
if (filter.FilterIndex > FTCAN_NUM_FILTERS + 1) {
return HAL_ERROR;
}
filter.FilterType = FDCAN_FILTER_MASK;
filter.FilterConfig = FDCAN_FILTER_TO_RXFIFO0;
filter.FilterID1 = id;
filter.FilterID2 = mask;
HAL_StatusTypeDef status = HAL_FDCAN_ConfigFilter(hcan, &filter);
if (status == HAL_OK) {
next_filter_no++;
}
return status;
}
void HAL_FDCAN_RxFifo0Callback(FDCAN_HandleTypeDef *handle,
uint32_t RxFifo0ITs) {
if (handle != hcan || (RxFifo0ITs & FDCAN_IT_RX_FIFO0_NEW_MESSAGE) == RESET) {
return;
}
static FDCAN_RxHeaderTypeDef header;
static uint8_t data[8];
if (HAL_FDCAN_GetRxMessage(hcan, FDCAN_RX_FIFO0, &header, data) != HAL_OK) {
return;
}
if (header.FDFormat != FDCAN_CLASSIC_CAN ||
header.RxFrameType != FDCAN_DATA_FRAME ||
header.IdType != FDCAN_STANDARD_ID) {
return;
}
size_t datalen;
switch (header.DataLength) {
case FDCAN_DLC_BYTES_0:
datalen = 0;
break;
case FDCAN_DLC_BYTES_1:
datalen = 1;
break;
case FDCAN_DLC_BYTES_2:
datalen = 2;
break;
case FDCAN_DLC_BYTES_3:
datalen = 3;
break;
case FDCAN_DLC_BYTES_4:
datalen = 4;
break;
case FDCAN_DLC_BYTES_5:
datalen = 5;
break;
case FDCAN_DLC_BYTES_6:
datalen = 6;
break;
case FDCAN_DLC_BYTES_7:
datalen = 7;
break;
case FDCAN_DLC_BYTES_8:
datalen = 8;
break;
default:
return;
}
ftcan_msg_received_cb(header.Identifier, datalen, data);
}
#endif
__weak void ftcan_msg_received_cb(uint16_t id, size_t datalen,
const uint8_t *data) {}

15
FT_CAN_AL.h
View File

@ -4,14 +4,21 @@
#if defined(STM32F3)
#include "stm32f3xx_hal.h"
#define FTCAN_IS_BXCAN
#define FTCAN_MAX_FILTER_NO 13
#define FTCAN_NUM_FILTERS 13
#elif defined(STM32H7)
#include "stm32h7xx_hal.h"
#define FTCAN_IS_FDCAN
#else
#error "Couldn't detect STM family"
#endif // STM32F3
#endif
#ifdef FTCAN_IS_BXCAN
#if defined(FTCAN_IS_BXCAN)
HAL_StatusTypeDef ftcan_init(CAN_HandleTypeDef *handle);
#endif // CAN_IS_BXCAN
#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);

9
README.md
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@ -3,8 +3,6 @@
This repository contains an abstraction layer to provide a simplified & unified
interface to the STM32 bxCAN and FDCAN peripherals.
**Warning**: Currently, only bxCAN (for the STM32F3 series) is supported.
## Installation
Simply add the repository to your `Core/Lib` directory. You can also add it as a
@ -18,7 +16,12 @@ The library needs to be told what STM family you're using, so make sure one of
the following symbols is defined when `FT_CAN_AL.c` is compiled or `FT_CAN_AL.h`
is included:
- STM32F3
- `STM32F3`
- `STM32H7`
When using the FDCAN peripheral (H7 series), you also need to define
`FTCAN_NUM_FILTERS` (and set it to the value of "Std Filters Nbr" you configured
in your `.ioc`).
## Usage