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feat(can): Split filtering for multiple can peripherals

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This commit is contained in:
CarlWachter 2024-09-11 16:28:58 +02:00 committed by dario
parent a080c39643
commit 961cdd7a9a
2 changed files with 23 additions and 14 deletions
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5
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 */
}; };

32
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(){