Compare commits
4 Commits
main
...
ams-master
Author | SHA1 | Date | |
---|---|---|---|
aa0a1d0d05 | |||
2ab77d75d6 | |||
1b79e5cbea | |||
7de8bbdc3b |
@ -24,6 +24,8 @@ 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`).
|
||||
|
||||
If you want to use the dedicated buffers of the FDCAN, you must additionally define `FTCAN_NUM_TX_BUFFERS` (set to value of "Tx Buffers Nbr" in CubeMX).
|
||||
|
||||
If you use
|
||||
[VSCode with the stm-32-for-vscode extension](https://podio.com/fasttubede/modulubergreifend/apps/tech-tutorials/items/57),
|
||||
you can add these definitions in the `STM32-for-VSCode-config.yaml` file, e.g.:
|
||||
@ -33,6 +35,7 @@ you can add these definitions in the `STM32-for-VSCode-config.yaml` file, e.g.:
|
||||
cDefinitions:
|
||||
- STM32H7
|
||||
- FTCAN_NUM_FILTERS=32
|
||||
- FTCAN_NUM_TX_BUFFERS=10 # optional, only if using dedicated tx buffers
|
||||
```
|
||||
|
||||
## Usage
|
||||
|
61
can-halal.c
61
can-halal.c
@ -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 +220,22 @@ void HAL_FDCAN_RxFifo0Callback(FDCAN_HandleTypeDef *handle,
|
||||
|
||||
ftcan_msg_received_cb(header.Identifier, datalen, data);
|
||||
}
|
||||
|
||||
uint32_t ftcan_get_tx_queue_length() {
|
||||
return HAL_FDCAN_GetTxFifoFreeLevel(hcan);
|
||||
}
|
||||
|
||||
#if FTCAN_NUM_TX_BUFFERS
|
||||
static_assert(FDCAN_TX_BUFFER11 == 1 << 11 && FDCAN_TX_BUFFER21 == 1 << 21, "Your HAL version has a different definition for the transmit buffer indices. Please update your HAL version or change the code below.");
|
||||
|
||||
HAL_StatusTypeDef ftcan_transmit_buffer(uint16_t id, const uint8_t *data, size_t datalen, uint32_t buffer_index) {
|
||||
static FDCAN_TxHeaderTypeDef header;
|
||||
if (buffer_index >= FTCAN_NUM_TX_BUFFERS) {
|
||||
return HAL_ERROR;
|
||||
}
|
||||
return HAL_FDCAN_AddMessageToTxBuffer(hcan, fdcan_initialize_tx_header(&header, id, datalen), data, 1 << buffer_index);
|
||||
}
|
||||
#endif // FTCAN_NUM_TX_BUFFERS
|
||||
#endif
|
||||
|
||||
__weak void ftcan_msg_received_cb(uint16_t id, size_t datalen,
|
||||
@ -271,4 +290,4 @@ 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);
|
||||
}
|
||||
}
|
@ -41,11 +41,20 @@ HAL_StatusTypeDef ftcan_init(FDCAN_HandleTypeDef *handle);
|
||||
#error "Unknown CAN peripheral"
|
||||
#endif
|
||||
|
||||
#if defined(FTCAN_IS_FDCAN) && defined(FTCAN_NUM_TX_BUFFERS)
|
||||
static_assert(FTCAN_NUM_TX_BUFFERS > 0,
|
||||
"If you want to use the dedicated transmit buffers, you must define FTCAN_NUM_TX_BUFFERS as configured in CubeMX (at least 1).");
|
||||
|
||||
HAL_StatusTypeDef ftcan_transmit_buffer(uint16_t id, const uint8_t *data, size_t datalen, uint32_t buffer_index);
|
||||
#endif // FTCAN_IS_FDCAN && FTCAN_NUM_TX_BUFFERS
|
||||
|
||||
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);
|
||||
|
||||
uint32_t ftcan_get_tx_queue_length();
|
||||
|
||||
/**
|
||||
* Define this function to be notified of incoming CAN messages
|
||||
*/
|
||||
|
Loading…
x
Reference in New Issue
Block a user