55 lines
1.8 KiB
C++
55 lines
1.8 KiB
C++
#include "canhalal.h"
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#define FTCAN_NUM_FILTERS 2
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HAL_StatusTypeDef ftcan_init(CAN_HandleTypeDef *handle) {
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HAL_StatusTypeDef status = HAL_CAN_ActivateNotification(handle, 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(handle);
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}
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HAL_StatusTypeDef ftcan_transmit(CAN_HandleTypeDef *handle, uint16_t id, const uint8_t *data, 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(handle, &header, data, &mailbox);
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}
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HAL_StatusTypeDef ftcan_add_filter(CAN_HandleTypeDef *handle, uint16_t id, uint16_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 << 5;
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filter.FilterMaskIdHigh = mask << 5;
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filter.FilterIdLow = id << 5;
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filter.FilterMaskIdLow = mask << 5;
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} else {
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// Leave high filter untouched from the last configuration
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filter.FilterIdLow = id << 5;
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filter.FilterMaskIdLow = mask << 5;
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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_NUM_FILTERS + 1) {
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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_NUM_FILTERS;
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HAL_StatusTypeDef status = HAL_CAN_ConfigFilter(handle, &filter);
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if (status == HAL_OK) {
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next_filter_no++;
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}
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return status;
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}
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