Use FaSTTUBe CAN Abstraction Layer

.gitmodules

@@ -0,0 +1,3 @@
+[submodule "Core/Lib/FT_CAN_AL"]
+	path = Core/Lib/FT_CAN_AL
+	url = ssh://git@git.fasttube.de:313/FaSTTUBe/FT_CAN_AL.git

Core/Lib/FT_CAN_AL

@@ -0,0 +1 @@
+Subproject commit dc60f07b4a5f019bb1b44d43ea699b9961f143c6

Core/Src/main.c

@@ -304,7 +304,7 @@ static void MX_FDCAN1_Init(void) {
   hfdcan1.Init.DataTimeSeg1 = 1;
   hfdcan1.Init.DataTimeSeg2 = 1;
   hfdcan1.Init.MessageRAMOffset = 0;
-  hfdcan1.Init.StdFiltersNbr = 1;
+  hfdcan1.Init.StdFiltersNbr = 32;
   hfdcan1.Init.ExtFiltersNbr = 0;
   hfdcan1.Init.RxFifo0ElmtsNbr = 16;
   hfdcan1.Init.RxFifo0ElmtSize = FDCAN_DATA_BYTES_8;

Core/Src/vehicle.c

@@ -1,75 +1,29 @@
 #include "vehicle.h"
 
 #include "main.h"
+#include "ui.h"
+
+#include "FT_CAN_AL.h"
+
 #include "stm32h7xx.h"
 #include "stm32h7xx_hal.h"
 #include "stm32h7xx_hal_fdcan.h"
 #include "stm32h7xx_hal_gpio.h"
 #include "tx_api.h"
-#include "ui.h"
-
-FDCAN_HandleTypeDef *hcan;
 
 void vehicle_thread_entry(ULONG hfdcan_addr) {
-  hcan = (void *)hfdcan_addr;
+  ftcan_init((void *)hfdcan_addr);
+  ftcan_add_filter(0x123, 0x7FF);
 
-  FDCAN_FilterTypeDef filter;
-  filter.IdType = FDCAN_STANDARD_ID;
-  filter.FilterIndex = 0;
-  filter.FilterType = FDCAN_FILTER_MASK;
-  filter.FilterConfig = FDCAN_FILTER_TO_RXFIFO0;
-  filter.FilterID1 = 0x123;
-  filter.FilterID2 = 0x7FF;
-
-  if (HAL_FDCAN_ConfigFilter(hcan, &filter) != HAL_OK) {
-    Error_Handler();
-  }
-  // Reject non-matching messages
-  if (HAL_FDCAN_ConfigGlobalFilter(hcan, FDCAN_REJECT, FDCAN_REJECT,
-                                   FDCAN_REJECT_REMOTE,
-                                   FDCAN_REJECT_REMOTE) != HAL_OK) {
-    Error_Handler();
-  }
-  if (HAL_FDCAN_Start(hcan)) {
-    Error_Handler();
-  }
-  if (HAL_FDCAN_ActivateNotification(hcan, FDCAN_IT_RX_FIFO0_NEW_MESSAGE, 0) !=
-      HAL_OK) {
-    Error_Handler();
-  }
-
-  FDCAN_TxHeaderTypeDef tx_header;
-  tx_header.IdType = FDCAN_STANDARD_ID;
-  tx_header.TxFrameType = FDCAN_DATA_FRAME;
-  tx_header.ErrorStateIndicator = FDCAN_ESI_PASSIVE;
-  tx_header.BitRateSwitch = FDCAN_BRS_OFF;
-  tx_header.FDFormat = FDCAN_CLASSIC_CAN;
-  tx_header.TxEventFifoControl = FDCAN_NO_TX_EVENTS;
-  tx_header.MessageMarker = 0;
   while (1) {
-    tx_header.Identifier = 0x456;
-    tx_header.DataLength = FDCAN_DLC_BYTES_2;
     uint8_t data[] = {0xFF, 0xEE};
-    if (HAL_FDCAN_GetTxFifoFreeLevel(hcan) != 0) {
-      HAL_FDCAN_AddMessageToTxFifoQ(hcan, &tx_header, data);
-    }
+    ftcan_transmit(0x456, data, 2);
     tx_thread_sleep(10);
   }
 }
 
-void HAL_FDCAN_RxFifo0Callback(FDCAN_HandleTypeDef *hfdcan,
-                               uint32_t RxFifo0ITs) {
-  if (hfdcan != 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) {
-    Error_Handler();
-  }
-
-  if (header.IdType != FDCAN_STANDARD_ID || header.Identifier == 0x123) {
+void ftcan_msg_received_cb(uint16_t id, size_t datalen, const uint8_t *data) {
+  if (id == 0x123) {
     HAL_GPIO_TogglePin(STATUS2_GPIO_Port, STATUS2_Pin);
   }
 }

Makefile

@@ -1,5 +1,5 @@
 ##########################################################################################################################
-# File automatically-generated by tool: [projectgenerator] version: [3.19.2] date: [Wed Mar 15 18:54:30 CET 2023] 
+# File automatically-generated by tool: [projectgenerator] version: [3.19.2] date: [Thu Mar 16 22:32:27 CET 2023] 
 ##########################################################################################################################
 
 # ------------------------------------------------

STM32-for-VSCode.config.yaml

@@ -23,6 +23,8 @@ ldscript: STM32H7A3ZITx_FLASH.ld # linker script
 cDefinitions:
   - USE_HAL_DRIVER
   - STM32H7A3xx
+  - STM32H7
+  - FTCAN_NUM_FILTERS=32
 
 cxxDefinitions:
   - USE_HAL_DRIVER

STM32Make.make

@@ -37,6 +37,7 @@ BUILD_DIR = build
 # C sources
 C_SOURCES =  \
 AZURE_RTOS/App/app_azure_rtos.c \
+Core/Lib/FT_CAN_AL/FT_CAN_AL.c \
 Core/Src/app.c \
 Core/Src/app_threadx.c \
 Core/Src/hx8357d.c \
@@ -446,6 +447,8 @@ AS_DEFS =
 
 # C defines
 C_DEFS =  \
+-DFTCAN_NUM_FILTERS=32 \
+-DSTM32H7 \
 -DSTM32H7A3xx \
 -DTX_INCLUDE_USER_DEFINE_FILE \
 -DUSE_HAL_DRIVER
@@ -465,6 +468,7 @@ AS_INCLUDES = \
 C_INCLUDES =  \
 -IAZURE_RTOS/App \
 -ICore/Inc \
+-ICore/Lib/FT_CAN_AL \
 -IDrivers/CMSIS/Device/ST/STM32H7xx/Include \
 -IDrivers/CMSIS/Include \
 -IDrivers/STM32H7xx_HAL_Driver/Inc \

steering-wheel.ioc

@@ -15,7 +15,7 @@ FDCAN1.NominalSyncJumpWidth=1
 FDCAN1.NominalTimeSeg1=63
 FDCAN1.NominalTimeSeg2=16
 FDCAN1.RxFifo0ElmtsNbr=16
-FDCAN1.StdFiltersNbr=1
+FDCAN1.StdFiltersNbr=32
 FDCAN1.TxFifoQueueElmtsNbr=1
 File.Version=6
 GPIO.groupedBy=Show All