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can halal added to inc and src , includes included

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This commit is contained in:
n.jayaprakash
2024-05-23 19:15:57 +02:00
parent 7d7276d126
commit 44d911f2c5
2 changed files with 337 additions and 0 deletions
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64
Core/Inc/can-halal.h Normal file
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#ifndef CAN_HALAL_H
#define CAN_HALAL_H
// Define family macros if none are defined and we recognize a chip macro
#if !defined(STM32F3) && !defined(STM32H7)
#if defined(STM32F302x6) || defined(STM32F302x8) || defined(STM32F302xB) || \
defined(STM32F302xC)
#define STM32F3
#endif
#if defined(STM32H7A3xx)
#define STM32H7
#endif
#endif
#if defined(STM32F3)
#include "stm32f3xx_hal.h"
#define FTCAN_IS_BXCAN
#define FTCAN_NUM_FILTERS 13
#elif defined(STM32H7)
#include "stm32h7xx_hal.h"
#define FTCAN_IS_FDCAN
#ifndef FTCAN_NUM_FILTERS
#error "Please configure the number of filters in CubeMX, and then add a compiler define for FTCAN_NUM_FILTERS"
#endif
#else
#error "Couldn't detect STM family"
#endif
#if defined(FTCAN_IS_BXCAN)
HAL_StatusTypeDef ftcan_init(CAN_HandleTypeDef *handle);
#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);
HAL_StatusTypeDef ftcan_add_filter(uint16_t id, uint16_t mask);
/**
* Define this function to be notified of incoming CAN messages
*/
void ftcan_msg_received_cb(uint16_t id, size_t datalen, const uint8_t *data);
/**
* Read num_bytes bytes from a message (unmarshalled network byte order). The
* msg pointer is advanced by the corresponding number of bytes.
*
* Both methods return a 64-bit integer, but you can safely cast it to a smaller
* integer type.
*/
uint64_t ftcan_unmarshal_unsigned(const uint8_t **data, size_t num_bytes);
int64_t ftcan_unmarshal_signed(const uint8_t **data, size_t num_bytes);
/**
* Write num_bytes to a message (marshalled in network byte order). The pointer
* is advanced by the corresponding number of bytes and returned.
*/
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);
#endif // CAN_HALAL_H

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Core/Src/can-halal.c Normal file
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#include "can-halal.h"
#include <string.h>
#if defined(FTCAN_IS_BXCAN)
static CAN_HandleTypeDef *hcan;
HAL_StatusTypeDef ftcan_init(CAN_HandleTypeDef *handle) {
hcan = handle;
HAL_StatusTypeDef status =
HAL_CAN_ActivateNotification(hcan, CAN_IT_RX_FIFO0_MSG_PENDING);
if (status != HAL_OK) {
return status;
}
return HAL_CAN_Start(hcan);
}
HAL_StatusTypeDef ftcan_transmit(uint16_t id, const uint8_t *data,
size_t datalen) {
static CAN_TxHeaderTypeDef header;
header.StdId = id;
header.IDE = CAN_ID_STD;
header.RTR = CAN_RTR_DATA;
header.DLC = datalen;
uint32_t mailbox;
return HAL_CAN_AddTxMessage(hcan, &header, data, &mailbox);
}
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 << 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 << 5;
filter.FilterMaskIdLow = mask << 5;
}
filter.FilterFIFOAssignment = CAN_FILTER_FIFO0;
filter.FilterBank = next_filter_no / 2;
if (filter.FilterBank > FTCAN_NUM_FILTERS + 1) {
return HAL_ERROR;
}
filter.FilterMode = CAN_FILTERMODE_IDMASK;
filter.FilterScale = CAN_FILTERSCALE_16BIT;
filter.FilterActivation = CAN_FILTER_ENABLE;
// Disable slave filters
// TODO: Some STM32 have multiple CAN peripherals, and one uses the slave
// filter bank
filter.SlaveStartFilterBank = FTCAN_NUM_FILTERS;
HAL_StatusTypeDef status = HAL_CAN_ConfigFilter(hcan, &filter);
if (status == HAL_OK) {
next_filter_no++;
}
return status;
}
void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *handle) {
if (handle != hcan) {
return;
}
CAN_RxHeaderTypeDef header;
uint8_t data[8];
if (HAL_CAN_GetRxMessage(hcan, CAN_RX_FIFO0, &header, data) != HAL_OK) {
return;
}
if (header.IDE != CAN_ID_STD) {
return;
}
ftcan_msg_received_cb(header.StdId, header.DLC, data);
}
#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;
// 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) {
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) {}
uint64_t ftcan_unmarshal_unsigned(const uint8_t **data_ptr, size_t num_bytes) {
if (num_bytes > 8) {
num_bytes = 8;
}
const uint8_t *data = *data_ptr;
uint64_t result = 0;
for (size_t i = 0; i < num_bytes; i++) {
result <<= 8;
result |= data[i];
}
*data_ptr += num_bytes;
return result;
}
int64_t ftcan_unmarshal_signed(const uint8_t **data_ptr, size_t num_bytes) {
if (num_bytes > 8) {
num_bytes = 8;
}
uint64_t result_unsigned = ftcan_unmarshal_unsigned(data_ptr, num_bytes);
// Sign extend by shifting left, then copying to a signed int and shifting
// back to the right
size_t diff_to_64 = 64 - num_bytes * 8;
result_unsigned <<= diff_to_64;
int64_t result;
memcpy(&result, &result_unsigned, 8);
return result >> diff_to_64;
}
uint8_t *ftcan_marshal_unsigned(uint8_t *data, uint64_t val, size_t num_bytes) {
if (num_bytes > 8) {
num_bytes = 8;
}
for (int i = num_bytes - 1; i >= 0; i--) {
data[i] = val & 0xFF;
val >>= 8;
}
return data + 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);
}