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/Inc/stm32h7xx_hal_conf.h

@@ -46,6 +46,7 @@
 /* #define HAL_DCMI_MODULE_ENABLED   */
 #define HAL_DMA2D_MODULE_ENABLED
 /* #define HAL_ETH_MODULE_ENABLED   */
+/* #define HAL_ETH_LEGACY_MODULE_ENABLED   */
 /* #define HAL_NAND_MODULE_ENABLED   */
 /* #define HAL_NOR_MODULE_ENABLED   */
 /* #define HAL_OTFDEC_MODULE_ENABLED   */
@@ -220,8 +221,8 @@
 #define  USE_HAL_WWDG_REGISTER_CALLBACKS    0U /* WWDG register callback disabled    */
 
 /* ########################### Ethernet Configuration ######################### */
-#define ETH_TX_DESC_CNT         4  /* number of Ethernet Tx DMA descriptors */
+#define ETH_TX_DESC_CNT         4U  /* number of Ethernet Tx DMA descriptors */
-#define ETH_RX_DESC_CNT         4  /* number of Ethernet Rx DMA descriptors */
+#define ETH_RX_DESC_CNT         4U  /* number of Ethernet Rx DMA descriptors */
 
 #define ETH_MAC_ADDR0    (0x02UL)
 #define ETH_MAC_ADDR1    (0x00UL)
@@ -286,6 +287,10 @@
   #include "stm32h7xx_hal_eth.h"
 #endif /* HAL_ETH_MODULE_ENABLED */
 
+#ifdef HAL_ETH_LEGACY_MODULE_ENABLED
+  #include "stm32h7xx_hal_eth_legacy.h"
+#endif /* HAL_ETH_LEGACY_MODULE_ENABLED */
+
 #ifdef HAL_EXTI_MODULE_ENABLED
   #include "stm32h7xx_hal_exti.h"
 #endif /* HAL_EXTI_MODULE_ENABLED */

Core/Src/main.c

@@ -174,10 +174,6 @@ void SystemClock_Config(void) {
   while (!__HAL_PWR_GET_FLAG(PWR_FLAG_VOSRDY)) {
   }
 
-  /** Macro to configure the PLL clock source
-   */
-  __HAL_RCC_PLL_PLLSOURCE_CONFIG(RCC_PLLSOURCE_HSE);
-
   /** Initializes the RCC Oscillators according to the specified parameters
    * in the RCC_OscInitTypeDef structure.
    */
@@ -308,7 +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;
@@ -689,6 +685,8 @@ static void MX_TIM4_Init(void) {
  */
 static void MX_GPIO_Init(void) {
   GPIO_InitTypeDef GPIO_InitStruct = {0};
+  /* USER CODE BEGIN MX_GPIO_Init_1 */
+  /* USER CODE END MX_GPIO_Init_1 */
 
   /* GPIO Ports Clock Enable */
   __HAL_RCC_GPIOE_CLK_ENABLE();
@@ -768,6 +766,9 @@ static void MX_GPIO_Init(void) {
 
   HAL_NVIC_SetPriority(EXTI9_5_IRQn, 0, 0);
   HAL_NVIC_EnableIRQ(EXTI9_5_IRQn);
+
+  /* USER CODE BEGIN MX_GPIO_Init_2 */
+  /* USER CODE END MX_GPIO_Init_2 */
 }
 
 /* USER CODE BEGIN 4 */

Core/Src/stm32h7xx_hal_timebase_tim.c

@@ -84,6 +84,7 @@ HAL_StatusTypeDef HAL_InitTick(uint32_t TickPriority)
   htim6.Instance = TIM6;
 
   /* Initialize TIMx peripheral as follow:
+
   + Period = [(TIM6CLK/1000) - 1]. to have a (1/1000) s time base.
   + Prescaler = (uwTimclock/1000000 - 1) to have a 1MHz counter clock.
   + ClockDivision = 0

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) {
+    ftcan_transmit(0x456, data, 2);
-      HAL_FDCAN_AddMessageToTxFifoQ(hcan, &tx_header, data);
-    }
     tx_thread_sleep(10);
   }
 }
 
-void HAL_FDCAN_RxFifo0Callback(FDCAN_HandleTypeDef *hfdcan,
+void ftcan_msg_received_cb(uint16_t id, size_t datalen, const uint8_t *data) {
-                               uint32_t RxFifo0ITs) {
+  if (id == 0x123) {
-  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) {
     HAL_GPIO_TogglePin(STATUS2_GPIO_Port, STATUS2_Pin);
   }
 }

Makefile

@@ -1,5 +1,5 @@
 ##########################################################################################################################
-# File automatically-generated by tool: [projectgenerator] version: [3.18.0-B7] date: [Wed Mar 08 21:28:20 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
@@ -139,8 +139,8 @@ Mcu.ThirdParty1=STMicroelectronics.X-CUBE-TOUCHGFX.4.21.2
 Mcu.ThirdPartyNb=2
 Mcu.UserConstants=
 Mcu.UserName=STM32H7A3ZITx
-MxCube.Version=6.7.0
+MxCube.Version=6.8.0
-MxDb.Version=DB.6.0.70
+MxDb.Version=DB.6.0.80
 NRST.Locked=true
 NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
 NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
@@ -414,12 +414,13 @@ ProjectManager.PreviousToolchain=
 ProjectManager.ProjectBuild=false
 ProjectManager.ProjectFileName=steering-wheel.ioc
 ProjectManager.ProjectName=steering-wheel
+ProjectManager.ProjectStructure=
 ProjectManager.RegisterCallBack=
 ProjectManager.StackSize=0x400
 ProjectManager.TargetToolchain=Makefile
 ProjectManager.ToolChainLocation=
 ProjectManager.UnderRoot=false
-ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_DMA2D_Init-DMA2D-false-HAL-true,4-MX_FDCAN1_Init-FDCAN1-false-HAL-true,5-MX_LTDC_Init-LTDC-false-HAL-true,6-MX_JPEG_Init-JPEG-false-HAL-true,7-MX_OCTOSPI1_Init-OCTOSPI1-false-HAL-true,8-MX_SPI3_Init-SPI3-false-HAL-true,9-MX_TIM1_Init-TIM1-false-HAL-true,10-MX_TIM2_Init-TIM2-false-HAL-true,11-MX_TIM4_Init-TIM4-false-HAL-true,12-MX_CRC_Init-CRC-false-HAL-true,13-MX_TouchGFX_Init-STMicroelectronics.X-CUBE-TOUCHGFX.4.21.2-false-HAL-false,14-MX_TouchGFX_Process-STMicroelectronics.X-CUBE-TOUCHGFX.4.21.2-false-HAL-false,0-MX_CORTEX_M7_Init-CORTEX_M7-false-HAL-true
+ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_DMA2D_Init-DMA2D-false-HAL-true,4-MX_FDCAN1_Init-FDCAN1-false-HAL-true,5-MX_LTDC_Init-LTDC-false-HAL-true,6-MX_JPEG_Init-JPEG-false-HAL-true,7-MX_OCTOSPI1_Init-OCTOSPI1-false-HAL-true,8-MX_SPI3_Init-SPI3-false-HAL-true,9-MX_TIM1_Init-TIM1-false-HAL-true,10-MX_TIM2_Init-TIM2-false-HAL-true,11-MX_TIM4_Init-TIM4-false-HAL-true,12-MX_CRC_Init-CRC-false-HAL-true,14-MX_TouchGFX_Init-STMicroelectronics.X-CUBE-TOUCHGFX.4.21.2-false-HAL-false,15-MX_TouchGFX_Process-STMicroelectronics.X-CUBE-TOUCHGFX.4.21.2-false-HAL-false,0-MX_CORTEX_M7_Init-CORTEX_M7-false-HAL-true
 RCC.ADCFreq_Value=24000000
 RCC.AHB12Freq_Value=160000000
 RCC.AHB4Freq_Value=160000000