63 lines
1.8 KiB
C
63 lines
1.8 KiB
C
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#ifndef CAN_HALAL_H
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#define CAN_HALAL_H
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// Define family macros if none are defined and we recognize a chip macro
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#if !defined(STM32F3) && !defined(STM32H7)
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#if defined(STM32F302x6) || defined(STM32F302x8) || defined(STM32F302xB) || \
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defined(STM32F302xC)
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#define STM32F3
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#endif
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#if defined(STM32H7A3xx)
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#define STM32H7
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#endif
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#endif
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#if defined(STM32F3)
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#include "stm32f3xx_hal.h"
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#define FTCAN_IS_BXCAN
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#define FTCAN_NUM_FILTERS 13
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#elif defined(STM32H7)
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#include "stm32h7xx_hal.h"
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#define FTCAN_IS_FDCAN
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#define FTCAN_NUM_FILTERS 13
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#else
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#error "Couldn't detect STM family"
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#endif
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#if defined(FTCAN_IS_BXCAN)
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HAL_StatusTypeDef ftcan_init(CAN_HandleTypeDef *handle);
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#elif defined(FTCAN_IS_FDCAN)
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HAL_StatusTypeDef ftcan_init(FDCAN_HandleTypeDef *handle);
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#else
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#error "Unknown CAN peripheral"
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#endif
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HAL_StatusTypeDef ftcan_transmit(uint16_t id, const uint8_t *data,
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size_t datalen);
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HAL_StatusTypeDef ftcan_add_filter(uint16_t id, uint16_t mask);
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/**
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* Define this function to be notified of incoming CAN messages
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*/
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void ftcan_msg_received_cb(uint16_t id, size_t datalen, const uint8_t *data);
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/**
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* Read num_bytes bytes from a message (unmarshalled network byte order). The
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* msg pointer is advanced by the corresponding number of bytes.
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*
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* Both methods return a 64-bit integer, but you can safely cast it to a smaller
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* integer type.
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*/
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uint64_t ftcan_unmarshal_unsigned(const uint8_t **data, size_t num_bytes);
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int64_t ftcan_unmarshal_signed(const uint8_t **data, size_t num_bytes);
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/**
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* Write num_bytes to a message (marshalled in network byte order). The pointer
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* is advanced by the corresponding number of bytes and returned.
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*/
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uint8_t *ftcan_marshal_unsigned(uint8_t *data, uint64_t val, size_t num_bytes);
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uint8_t *ftcan_marshal_signed(uint8_t *data, int64_t val, size_t num_bytes);
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#endif // CAN_HALAL_H
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