Merge pull request 'adc-dma' (#22) from adc-dma into main

Reviewed-on: https://git.intern.spaceteamaachen.de/ALPAKA/sta-core/pulls/22
Reviewed-by: carlwachter <carlwachter@noreply.git.intern.spaceteamaachen.de>

include/sta/devices/stm32/adc.hpp

@@ -31,6 +31,14 @@ namespace sta
          */
         void start();
 
+        /**
+		 * @brief Starts conversion of the incoming analog signal in DMA mode.
+		 *
+		 * @param buffer The buffer to write the converted values to.
+		 * @param length The length of the buffer to write the converted values to.
+		 */
+		void startDMA(uint32_t * buffer, size_t length);
+
         /**
          * @brief Polls for the converted analog signal.
          * 

include/sta/devices/stm32/can.hpp

@@ -80,6 +80,14 @@ namespace sta
         void disableFilter(uint8_t idx) override;
         void clearFilters() override;
 
+        // Return pending RX FIFOs as iterable container
+        CanPendingRxFifos getPendingRxFifos() override;
+
+        // Const getters
+        uint8_t maxFilterCount() const override;
+        uint8_t maxFifoCount() const override;
+        uint8_t maxPayloadSize() const override;
+
     private:
         /**
          * @brief Initialize filter settings.

include/sta/devices/stm32/mcu/STM32F407xx.hpp

@@ -14,9 +14,10 @@
 
 #include <sta/devices/stm32/mcu/common.hpp>
 
-// uart setup
+// uart/CAN setup
 #ifdef STA_STM32_ASEAG
 #    define STA_STM32_USART_HANDLE huart1
+#    define STA_STM32_CAN_HANDLE hcan1
 #else
 #    ifdef STA_STM32_SWD_USART_IDX
 #        define STA_STM32_USART_HANDLE CONCAT(huart, STA_STM32_SWD_USART_IDX)

src/debug/printing/printable_uart.cpp

@@ -19,7 +19,9 @@ namespace sta
 
     void PrintableUART::print(const char * str, size_t length)
     {
+    	intf_->acquire();
         intf_->transfer(reinterpret_cast<const uint8_t *>(str), length);
+        intf_->release();
     }
 
 } // namespace sta

src/devices/stm32/adc.cpp

@@ -17,6 +17,17 @@ namespace sta
         HAL_ADC_Start(handle_);
     }
 
+    void STM32ADC::startDMA(uint32_t * buffer, size_t length)
+	{
+		STA_ASSERT(buffer != nullptr);
+		STA_ASSERT(length != 0);
+		STA_ASSERT(handle_->DMA_Handle != nullptr);
+
+		HAL_StatusTypeDef res = HAL_ADC_Start_DMA(handle_, buffer, length);
+
+		STA_ASSERT(res == HAL_OK);
+	}
+
     void STM32ADC::poll(uint32_t timeout)
     {
         HAL_StatusTypeDef res = HAL_ADC_PollForConversion(handle_, timeout);

src/devices/stm32/can.cpp

@@ -168,6 +168,38 @@ namespace sta
             config->SlaveStartFilterBank = MAX_FILTER_COUNT;
         }
     }
+
+    CanPendingRxFifos STM32CanController::getPendingRxFifos(){
+
+
+    	uint32_t rxFlags = 0;
+
+        // Conditions to set the least significant bits
+        if (HAL_CAN_GetRxFifoFillLevel(handle_, CAN_RX_FIFO0) != 0) {
+        	// Set the first least significant bit
+        	rxFlags |= 0x01; // 0x01 is 00000001 in binary (LSB set, others cleared)
+        }
+
+        if (HAL_CAN_GetRxFifoFillLevel(handle_, CAN_RX_FIFO1) != 0) {
+        	// Set the second least significant bit
+        	rxFlags |= 0x02; // 0x02 is 00000010 in binary (2nd LSB set, others cleared)
+        }
+
+        return CanPendingRxFifos(rxFlags, MAX_FIFO_COUNT);;
+    }
+
+    uint8_t STM32CanController::maxFilterCount() const{
+        return MAX_FILTER_COUNT;
+    }
+
+    uint8_t STM32CanController::maxFifoCount() const {
+        return MAX_FIFO_COUNT;
+    }
+
+    uint8_t STM32CanController::maxPayloadSize() const {
+        return MAX_PAYLOAD_SIZE;
+    }
+
 } // namespace sta