79 lines
2.1 KiB
C
79 lines
2.1 KiB
C
#include "FT_CAN_AL.h"
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#ifdef FTCAN_IS_BXCAN
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static CAN_HandleTypeDef *hcan;
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HAL_StatusTypeDef ftcan_init(CAN_HandleTypeDef *handle) {
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hcan = handle;
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HAL_StatusTypeDef status =
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HAL_CAN_ActivateNotification(hcan, CAN_IT_RX_FIFO0_MSG_PENDING);
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if (status != HAL_OK) {
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return status;
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}
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return HAL_CAN_Start(hcan);
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}
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HAL_StatusTypeDef ftcan_transmit(uint8_t id, const uint8_t *data,
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size_t datalen) {
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static CAN_TxHeaderTypeDef header;
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header.StdId = id;
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header.IDE = CAN_ID_STD;
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header.RTR = CAN_RTR_DATA;
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header.DLC = datalen;
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uint32_t mailbox;
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return HAL_CAN_AddTxMessage(hcan, &header, data, &mailbox);
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}
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HAL_StatusTypeDef ftcan_add_filter(uint8_t id, uint8_t mask) {
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static uint32_t next_filter_no = 0;
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static CAN_FilterTypeDef filter;
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if (next_filter_no % 2 == 0) {
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filter.FilterIdHigh = id;
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filter.FilterMaskIdHigh = mask;
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filter.FilterIdLow = 0;
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filter.FilterMaskIdLow = 0xFFFF;
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} else {
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// Leave high filter untouched from the last configuration
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filter.FilterIdLow = id;
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filter.FilterMaskIdLow = mask;
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}
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filter.FilterFIFOAssignment = CAN_FILTER_FIFO0;
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filter.FilterBank = next_filter_no / 2;
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if (filter.FilterBank > FTCAN_MAX_FILTER_NO) {
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return HAL_ERROR;
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}
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filter.FilterMode = CAN_FILTERMODE_IDMASK;
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filter.FilterScale = CAN_FILTERSCALE_16BIT;
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filter.FilterActivation = CAN_FILTER_ENABLE;
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// Disable slave filters
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// TODO: Some STM32 have multiple CAN peripherals, and one uses the slave
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// filter bank
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filter.SlaveStartFilterBank = FTCAN_MAX_FILTER_NO + 1;
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return HAL_CAN_ConfigFilter(hcan, &filter);
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}
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void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *handle) {
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if (handle != hcan) {
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return;
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}
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CAN_RxHeaderTypeDef header;
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uint8_t data[8];
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if (HAL_CAN_GetRxMessage(hcan, CAN_RX_FIFO0, &header, data) != HAL_OK) {
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return;
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}
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if (header.IDE != CAN_ID_STD) {
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return;
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}
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ftcan_msg_received_cb(header.StdId, header.DLC, data);
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}
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#endif // CAN_IS_BXCAN
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__weak void ftcan_msg_received_cb(uint8_t id, size_t datalen,
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const uint8_t *data) {}
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