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Use FaSTTUBe CAN Abstraction Layer

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This commit is contained in:
Jasper Blanckenburg
2023-03-16 22:46:51 +01:00
parent 533a09e5dd
commit b47d71cf42
8 changed files with 22 additions and 58 deletions
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2
Core/Src/main.c
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@ -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;

64
Core/Src/vehicle.c
View File

@ -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);
}
}