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https://git.intern.spaceteamaachen.de/ALPAKA/sta-core.git
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130 lines
2.5 KiB
C++
130 lines
2.5 KiB
C++
/**
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* @file
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* @brief Implementation of CanController using STM32 HAL.
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*/
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#ifndef STA_STM32_CAN_HPP
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#define STA_STM32_CAN_HPP
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/**
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* @defgroup stm32CAN CAN
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* @ingroup stm32
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* @brief STM32 CAN module.
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*
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* Check @ref stm32BuildConfig for configuration options.
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*/
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#ifdef DOXYGEN
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/**
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* @def STA_STM32_CAN_ENABLE
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* @brief Enable module.
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*
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* @ingroup stm32BuildConfig
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*/
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# define STA_STM32_CAN_ENABLE
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/**
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* @def STA_STM32_CAN_GLOBAL
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* @brief Create global CanBus object using this CAN instance.
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*
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* @ingroup stm32BuildConfig
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*/
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# define STA_STM32_CAN_GLOBAL
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#endif // DOXYGEN
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#include <sta/config.hpp>
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#ifdef STA_STM32_CAN_ENABLE
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#include <sta/can_bus/controller.hpp>
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#include <sta/stm32/hal.hpp>
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namespace sta
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{
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/**
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* @brief Implementation of CanController interface using HAL.
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*
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* @ingroup stm32CAN
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*/
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class STM32CanController : public CanController
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{
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public:
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static constexpr uint8_t MAX_FILTER_COUNT = 14; /**< Max number of filters */
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static constexpr uint8_t MAX_FIFO_COUNT = 2; /**< Max number of FIFOs */
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static constexpr uint8_t MAX_PAYLOAD_SIZE = 8; /**< Maximum payload size */
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public:
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/**
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* @param handle CAN handle
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*/
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STM32CanController(CAN_HandleTypeDef * handle);
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/**
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* @brief Enable RX pending interrupts.
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*/
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void enableRxInterrupts();
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/**
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* @brief Start CAN controller.
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*/
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void start();
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/**
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* @brief Stop CAN controller.
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*/
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void stop();
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// RX/TX
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//
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bool sendFrame(const CanTxHeader & header, const uint8_t * payload) override;
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bool receiveFrame(uint8_t fifo, CanRxHeader * header, uint8_t * payload) override;
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uint32_t getRxFifoFlags() override;
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// RX Filter
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//
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void configureFilter(uint8_t idx, const CanFilter & filter, bool active = false) override;
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void enableFilter(uint8_t idx) override;
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void disableFilter(uint8_t idx) override;
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void clearFilters() override;
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private:
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/**
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* @brief Initialize filter settings.
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*/
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void initFilters();
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private:
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CAN_HandleTypeDef * handle_; /**< CAN handle */
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CAN_FilterTypeDef filters_[MAX_FILTER_COUNT]; /**< Filter settings */
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};
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#ifdef STA_STM32_CAN_GLOBAL
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/**
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* @brief Global CAN instance.
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*
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* @ingroup stm32CAN
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*/
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extern STM32CanController CanBus;
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/**
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* @brief Interrupt handler for pending RX frames.
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*
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* May be implemented by application.
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*
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* @ingroup stm32CAN
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*/
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void CanBus_RxPendingCallback();
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#endif // STA_STM32_CAN_GLOBAL
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} // namespace sta
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#endif // STA_STM32_CAN_ENABLE
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#endif // STA_STM32_CAN_HPP
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