Added macros for the most used chips at fasttube.

can-halal.c

@@ -32,14 +32,14 @@ HAL_StatusTypeDef ftcan_add_filter(uint16_t id, uint16_t mask) {
   static uint32_t next_filter_no = 0;
   static CAN_FilterTypeDef filter;
   if (next_filter_no % 2 == 0) {
-    filter.FilterIdHigh = id;
-    filter.FilterMaskIdHigh = mask;
-    filter.FilterIdLow = 0;
-    filter.FilterMaskIdLow = 0xFFFF;
+    filter.FilterIdHigh = id << 5;
+    filter.FilterMaskIdHigh = mask << 5;
+    filter.FilterIdLow = id << 5;
+    filter.FilterMaskIdLow = mask << 5;
   } else {
     // Leave high filter untouched from the last configuration
-    filter.FilterIdLow = id;
-    filter.FilterMaskIdLow = mask;
+    filter.FilterIdLow = id << 5;
+    filter.FilterMaskIdLow = mask << 5;
   }
   filter.FilterFIFOAssignment = CAN_FILTER_FIFO0;
   filter.FilterBank = next_filter_no / 2;
@@ -141,7 +141,10 @@ HAL_StatusTypeDef ftcan_transmit(uint16_t id, const uint8_t *data,
   header.FDFormat = FDCAN_CLASSIC_CAN;
   header.TxEventFifoControl = FDCAN_NO_TX_EVENTS;
 
-  return HAL_FDCAN_AddMessageToTxFifoQ(hcan, &header, data);
+  // HAL_FDCAN_AddMessageToTxFifoQ doesn't modify the data, but it's not marked
+  // as const for some reason.
+  uint8_t *data_nonconst = (uint8_t *)data;
+  return HAL_FDCAN_AddMessageToTxFifoQ(hcan, &header, data_nonconst);
 }
 
 HAL_StatusTypeDef ftcan_add_filter(uint16_t id, uint16_t mask) {

can-halal.h

@@ -1,7 +1,7 @@
 #ifndef CAN_HALAL_H
 #define CAN_HALAL_H
 
-#if defined(STM32F3)
+#if defined(STM32F302x8) || defined(STM32F302xB)  || defined(STM32F302xC) || defined(STM32F3)
 #include "stm32f3xx_hal.h"
 #define FTCAN_IS_BXCAN
 #define FTCAN_NUM_FILTERS 13