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https://git.intern.spaceteamaachen.de/ALPAKA/sta-core.git
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127 lines
3.1 KiB
C++
127 lines
3.1 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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* Configuration:
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* * STA_STM32_CAN_GLOBAL: Create global CanBus object using this CAN instance
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*/
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#ifndef STA_CORE_STM32_CAN_HPP
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#define STA_CORE_STM32_CAN_HPP
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/**
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* @defgroup sta_core_stm32_can CAN
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* @ingroup sta_core_stm32
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* @brief STM32 CAN module.
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*/
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// Only enable module on STM32 platform w/ HAL CAN module enabled
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#include <sta/config.hpp>
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#ifdef STA_PLATFORM_STM32
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# include <sta/devices/stm32/hal.hpp>
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# ifdef HAL_CAN_MODULE_ENABLED
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# define STA_STM32_CAN_ENABLED
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# endif // HAL_CAN_MODULE_ENABLED
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#endif // STA_PLATFORM_STM32
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#if defined(STA_STM32_CAN_ENABLED) || defined(DOXYGEN)
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#include <sta/bus/can/controller.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 sta_core_stm32_can
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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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// Return pending RX FIFOs as iterable container
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CanPendingRxFifos getPendingRxFifos() override;
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// Const getters
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uint8_t maxFilterCount() const override;
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uint8_t maxFifoCount() const override;
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uint8_t maxPayloadSize() const 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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#if defined(STA_STM32_CAN_GLOBAL) || DOXYGEN
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/**
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* @brief Global CAN instance.
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*
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* @ingroup sta_core_stm32_can
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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 sta_core_stm32_can
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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_ENABLED
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#endif // STA_CORE_STM32_CAN_HPP
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