ALPAKA/sta-core
1
0
Fork 0
mirror of https://git.intern.spaceteamaachen.de/ALPAKA/sta-core.git synced 2025-06-10 00:36:00 +00:00
Code Issues Actions Packages Projects Releases Wiki Activity

feat(can): Split filtering for multiple can peripherals

Browse Source
This commit is contained in:
CarlWachter 2024-09-11 16:28:58 +02:00
parent a6c92c9adc
commit f7f1b0bde0
2 changed files with 23 additions and 14 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

5
include/sta/devices/stm32/can.hpp
View File

@ -46,8 +46,10 @@ namespace sta
public:
/**
* @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.
@ -97,6 +99,7 @@ namespace sta
private:
CAN_HandleTypeDef * handle_; /**< CAN handle */
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
{
STM32CanController::STM32CanController(CAN_HandleTypeDef * handle)
: handle_{handle}
STM32CanController::STM32CanController(CAN_HandleTypeDef * handle, uint32_t filter_start)
: handle_{handle}, filter_start_{filter_start}
{
initFilters();
}
@ -141,7 +141,7 @@ namespace sta
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];
@ -157,17 +157,23 @@ namespace sta
void STM32CanController::initFilters()
{
for (uint32_t i = 0; i < MAX_FILTER_COUNT; ++i)
{
CAN_FilterTypeDef * config = &filters_[i];
config->FilterBank = i;
config->FilterMode = CAN_FILTERMODE_IDMASK;
config->FilterScale = CAN_FILTERSCALE_32BIT;
config->FilterActivation = CAN_FILTER_DISABLE;
config->SlaveStartFilterBank = MAX_FILTER_COUNT;
HAL_CAN_ConfigFilter(handle_, config);
CAN_FilterTypeDef * config = &filters_[filter_start_];
if (filter_start_ == 0){
config->FilterBank = 0;
}else{
// Split can peripheral bank for any STM F4 series supporting multiple CAN peripherals
config->FilterBank = filter_start_+1;
}
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(){