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bjackson312006bjackson312006
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Added FDCAN support for STM32H563 (#302)
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‎platforms/stm32h563/include/fdcan.h‎

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#ifndef FDCAN_H
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#define FDCAN_H
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// clang-format off
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#include <stdbool.h>
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#include <stddef.h>
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#include <stdint.h>
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#include "stm32xx_hal.h"
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typedef struct
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{
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uint32_t id;
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uint8_t data[8]; // technically can go to 64 bytes but i cant count that high
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bool id_is_extended;
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uint8_t len;
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} can_msg_t;
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typedef struct
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{
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FDCAN_HandleTypeDef *hcan;
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uint32_t standard_filter_index;
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uint32_t extended_filter_index;
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} can_t;
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HAL_StatusTypeDef can_init(can_t *can);
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HAL_StatusTypeDef can_send_msg(can_t *can, can_msg_t *msg);
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HAL_StatusTypeDef can_add_filter_standard(can_t *can, uint16_t can_ids[2]);
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HAL_StatusTypeDef can_add_filter_extended(can_t *can, uint32_t can_ids[2]);
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// clang-format on
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#endif // FDCAN_H

‎platforms/stm32h563/include/stm32xx_hal.h‎

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#ifndef STM32XX_HAL_H
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#define STM32XX_HAL_H
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#ifdef STM32H745xx
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#include "stm32h7xx_hal.h"
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#endif
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#ifdef STM32G431xx
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#include "stm32g4xx_hal.h"
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#endif
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#ifdef STM32H563xx
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#include "stm32h5xx_hal.h"
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#endif
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#endif /* STM32XX_HAL_H*/

‎platforms/stm32h563/src/fdcan.c‎

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// clang-format off
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#include "fdcan.h"
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#include <stdint.h>
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#include <string.h>
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/* Initializes CAN */
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HAL_StatusTypeDef can_init(can_t *can)
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{
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/* Init these guys to 0 */
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can->standard_filter_index = 0;
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can->extended_filter_index = 0;
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/* Config interrupts */
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HAL_StatusTypeDef status = HAL_FDCAN_ConfigInterruptLines(can->hcan, FDCAN_IT_RX_FIFO0_NEW_MESSAGE, FDCAN_INTERRUPT_LINE0);
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if (status != HAL_OK)
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{
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printf("[fdcan.c/can_init()] ERROR: Failed to run HAL_FDCAN_ConfigInterruptLines() (Status: %d).\n", status);
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return status;
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}
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/* Activate interrupt notifications */
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status = HAL_FDCAN_ActivateNotification(can->hcan, FDCAN_IT_RX_FIFO0_NEW_MESSAGE, 0);
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if (status != HAL_OK)
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{
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printf("[fdcan.c/can_init()] ERROR: Failed to run HAL_FDCAN_ActivateNotification() (Status: %d).\n", status);
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return status;
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}
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/* Start FDCAN */
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status = HAL_FDCAN_Start(can->hcan);
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if (status != HAL_OK)
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{
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printf("[fdcan.c/can_init()] ERROR: Failed to run HAL_FDCAN_Start() (Status: %d).\n", status);
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return status;
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}
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return status;
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}
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/* Adds Standard CAN ID(s) to the CAN filter. */
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HAL_StatusTypeDef can_add_filter_standard(can_t *can, uint16_t can_ids[2])
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{
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FDCAN_FilterTypeDef filter;
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/* Config the filter */
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filter.IdType = FDCAN_STANDARD_ID;
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filter.FilterIndex = can->standard_filter_index;
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filter.FilterType = FDCAN_FILTER_DUAL;
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filter.FilterConfig = FDCAN_FILTER_TO_RXFIFO0;
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filter.FilterID1 = can_ids[0];
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filter.FilterID2 = can_ids[1];
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/* Send HAL the config, and check if it was sucessful */
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HAL_StatusTypeDef status = HAL_FDCAN_ConfigFilter(can->hcan, &filter);
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if (status != HAL_OK)
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{
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printf("[fdcan.c/can_add_filter_standard()] ERROR: Failed to config standard FDCAN filter (Status: %d, Filter Index: %d).\n", status, filter.FilterIndex);
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return status;
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}
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/* If successful, increment the standard filter index */
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can->standard_filter_index++;
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return status;
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}
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/* Adds Extended CAN ID(s) to the CAN filter. */
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HAL_StatusTypeDef can_add_filter_extended(can_t *can, uint32_t can_ids[2])
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{
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FDCAN_FilterTypeDef filter;
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/* Config the filter */
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filter.IdType = FDCAN_EXTENDED_ID;
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filter.FilterIndex = can->extended_filter_index;
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filter.FilterType = FDCAN_FILTER_DUAL;
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filter.FilterConfig = FDCAN_FILTER_TO_RXFIFO0;
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filter.FilterID1 = can_ids[0];
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filter.FilterID2 = can_ids[1];
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/* Send HAL the config, and check if it was sucessful */
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HAL_StatusTypeDef status = HAL_FDCAN_ConfigFilter(can->hcan, &filter);
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if (status != HAL_OK)
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{
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printf("[fdcan.c/can_add_filter_extended()] ERROR: Failed to config extended FDCAN filter (Status: %d, Filter Index: %d). \n", status, filter.FilterIndex);
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return status;
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}
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/* If successful, increment the extended filter index */
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can->extended_filter_index++;
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return status;
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}
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/* Sends a CAN message. */
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HAL_StatusTypeDef can_send_msg(can_t *can, can_msg_t *msg)
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{
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/* Validate message length */
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if (msg->len > 8)
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{
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printf("[fdcan.c/can_send_msg()] ERROR: FDCAN message length exceeds 8 bytes (Length: %d, Message ID: %d).\n", msg->len, msg->id);
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return HAL_ERROR;
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}
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FDCAN_TxHeaderTypeDef tx_header;
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tx_header.Identifier = msg->id;
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tx_header.DataLength = msg->len;
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tx_header.TxFrameType = FDCAN_DATA_FRAME;
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tx_header.ErrorStateIndicator = FDCAN_ESI_ACTIVE;
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tx_header.BitRateSwitch = FDCAN_BRS_OFF;
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tx_header.FDFormat = FDCAN_CLASSIC_CAN;
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/* Check if extended or not extended */
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if (msg->id_is_extended)
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tx_header.IdType = FDCAN_EXTENDED_ID;
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else
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tx_header.IdType = FDCAN_STANDARD_ID;
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if (HAL_FDCAN_GetTxFifoFreeLevel(can->hcan) == 0)
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return HAL_BUSY;
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HAL_StatusTypeDef status = HAL_FDCAN_AddMessageToTxFifoQ(can->hcan, &tx_header, msg->data);
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if (status != HAL_OK) {
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printf("[fdcan.c/can_send_msg()] ERROR: HAL_FDCAN_AddMessageToTxFifoQ() failed (Status: %d, Message ID: %d).\n", status, msg->id);
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return status;
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}
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return status;
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}

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