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Merge pull request 'feature/secondary_can' (#33) from feature/secondary_can into main

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Reviewed-on: https://git.intern.spaceteamaachen.de/ALPAKA/sta-core/pulls/33
This commit is contained in:
carlwachter 2024-09-23 10:17:37 +00:00
commit 519048b32b
2 changed files with 43 additions and 14 deletions
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14
include/sta/devices/stm32/can.hpp
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@ -46,8 +46,10 @@ namespace sta
public: public:
/** /**
* @param handle CAN handle * @param handle CAN handle
*
* @param filter_start Start index for filters (default: 0 for can1, 14 for can2)
*/ */
STM32CanController(CAN_HandleTypeDef * handle); STM32CanController(CAN_HandleTypeDef * handle, uint32_t filter_start = 0);
/** /**
* @brief Enable RX pending interrupts. * @brief Enable RX pending interrupts.
@ -97,6 +99,7 @@ namespace sta
private: private:
CAN_HandleTypeDef * handle_; /**< CAN handle */ CAN_HandleTypeDef * handle_; /**< CAN handle */
CAN_FilterTypeDef filters_[MAX_FILTER_COUNT]; /**< Filter settings */ CAN_FilterTypeDef filters_[MAX_FILTER_COUNT]; /**< Filter settings */
uint32_t filter_start_; /**< Start index for filters */
}; };
@ -117,6 +120,15 @@ namespace sta
* @ingroup sta_core_stm32_can * @ingroup sta_core_stm32_can
*/ */
void CanBus_RxPendingCallback(); void CanBus_RxPendingCallback();
/**
* @brief Interrupt handler for pending RX frames. Secondary handler.
*
* May be implemented by application.
*
* @ingroup sta_core_stm32_can
*/
void CanBus_RxPendingCallbackSecondary();
#endif // STA_STM32_CAN_GLOBAL #endif // STA_STM32_CAN_GLOBAL
} // namespace sta } // namespace sta

43
src/devices/stm32/can.cpp
View File

@ -7,8 +7,8 @@
namespace sta namespace sta
{ {
STM32CanController::STM32CanController(CAN_HandleTypeDef * handle) STM32CanController::STM32CanController(CAN_HandleTypeDef * handle, uint32_t filter_start)
: handle_{handle} : handle_{handle}, filter_start_{filter_start}
{ {
initFilters(); initFilters();
} }
@ -141,7 +141,7 @@ namespace sta
void STM32CanController::clearFilters() void STM32CanController::clearFilters()
{ {
for (uint32_t i = 0; i < MAX_FILTER_COUNT; ++i) for (uint32_t i = filter_start_; i < filter_start_ + MAX_FILTER_COUNT; ++i)
{ {
CAN_FilterTypeDef * config = &filters_[i]; CAN_FilterTypeDef * config = &filters_[i];
@ -157,17 +157,23 @@ namespace sta
void STM32CanController::initFilters() void STM32CanController::initFilters()
{ {
for (uint32_t i = 0; i < MAX_FILTER_COUNT; ++i) CAN_FilterTypeDef * config = &filters_[filter_start_];
{ if (filter_start_ == 0){
CAN_FilterTypeDef * config = &filters_[i]; config->FilterBank = 0;
}else{
config->FilterBank = i; // Split can peripheral bank for any STM F4 series supporting multiple CAN peripherals
config->FilterMode = CAN_FILTERMODE_IDMASK; config->FilterBank = filter_start_+1;
config->FilterScale = CAN_FILTERSCALE_32BIT;
config->FilterActivation = CAN_FILTER_DISABLE;
config->SlaveStartFilterBank = MAX_FILTER_COUNT;
HAL_CAN_ConfigFilter(handle_, config);
} }
config->FilterMode = CAN_FILTERMODE_IDMASK;
config->FilterScale = CAN_FILTERSCALE_32BIT;
config->FilterActivation = ENABLE;
config->FilterIdHigh = 0x0000;
config->FilterIdLow = 0x0000;
config->FilterMaskIdHigh = 0x0000;
config->FilterMaskIdLow = 0x0000;
config->SlaveStartFilterBank = filter_start_;
HAL_CAN_ConfigFilter(handle_, config);
} }
CanPendingRxFifos STM32CanController::getPendingRxFifos(){ CanPendingRxFifos STM32CanController::getPendingRxFifos(){
@ -215,6 +221,10 @@ namespace sta
STA_WEAK STA_WEAK
void CanBus_RxPendingCallback(uint32_t fifo) void CanBus_RxPendingCallback(uint32_t fifo)
{} {}
STA_WEAK
void CanBus_RxPendingCallbackSecondary(uint32_t fifo)
{}
} // namespace sta } // namespace sta
@ -226,6 +236,10 @@ extern "C"
{ {
sta::CanBus_RxPendingCallback(CAN_RX_FIFO0); sta::CanBus_RxPendingCallback(CAN_RX_FIFO0);
} }
else
{
sta::CanBus_RxPendingCallbackSecondary(CAN_RX_FIFO0);
}
} }
void HAL_CAN_RxFifo1MsgPendingCallback(CAN_HandleTypeDef *hcan) void HAL_CAN_RxFifo1MsgPendingCallback(CAN_HandleTypeDef *hcan)
@ -234,6 +248,9 @@ extern "C"
{ {
sta::CanBus_RxPendingCallback(CAN_RX_FIFO1); sta::CanBus_RxPendingCallback(CAN_RX_FIFO1);
} }
else{
sta::CanBus_RxPendingCallbackSecondary(CAN_RX_FIFO1);
}
} }
} }