stm32_can.hpp

#pragma once
 
#include "main.h"
 
#ifdef HAL_CAN_MODULE_ENABLED
 
#ifdef CAN
#undef CAN
#endif
 
#include "can.hpp"
#include "libxr.hpp"
 
typedef enum
{
#ifdef CAN1
  STM32_CAN1,
#endif
#ifdef CAN2
  STM32_CAN2,
#endif
#ifdef CAN3
  STM32_CAN3,
#endif
  STM32_CAN_NUMBER,
  STM32_CAN_ID_ERROR
} stm32_can_id_t;
 
stm32_can_id_t STM32_CAN_GetID(CAN_TypeDef* addr);  // NOLINT
 
namespace LibXR
{
class STM32CAN : public CAN
{
 public:
  STM32CAN(CAN_HandleTypeDef* hcan, uint32_t queue_size)
      : CAN(), hcan_(hcan), id_(STM32_CAN_GetID(hcan->Instance)), tx_queue_(queue_size)
  {
    map[id_] = this;
    Init();
  }
 
  ErrorCode Init(void)
  {
    CAN_FilterTypeDef can_filter = {};
 
    can_filter.FilterIdHigh = 0;
    can_filter.FilterIdLow = 0;
    can_filter.FilterMode = CAN_FILTERMODE_IDMASK;
    can_filter.FilterScale = CAN_FILTERSCALE_32BIT;
    can_filter.FilterMaskIdHigh = 0;
    can_filter.FilterMaskIdLow = 0;
    can_filter.FilterFIFOAssignment = fifo_;
    can_filter.FilterActivation = ENABLE;
#ifdef CAN3
    if (id_ == STM32_CAN1)
    {
      can_filter.FilterBank = 0;
      can_filter.SlaveStartFilterBank = 14;
      fifo_ = CAN_RX_FIFO0;
    }
    else if (id_ == STM32_CAN2)
    {
      can_filter.FilterBank = 14;
      can_filter.SlaveStartFilterBank = 14;
      fifo_ = CAN_RX_FIFO0;
    }
    else if (id_ == STM32_CAN3)
    {
      can_filter.FilterBank = 3;
      fifo_ = CAN_RX_FIFO1;
    }
#else
#ifdef CAN2
    if (id_ == STM32_CAN1)
    {
      can_filter.FilterBank = 0;
      can_filter.SlaveStartFilterBank = 14;
      fifo_ = CAN_RX_FIFO0;
    }
    else if (id_ == STM32_CAN2)
    {
      can_filter.FilterBank = 14;
      can_filter.SlaveStartFilterBank = 14;
      fifo_ = CAN_RX_FIFO1;
    }
#else
    if (id_ == STM32_CAN1)
    {
      can_filter.FilterBank = 0;
      can_filter.SlaveStartFilterBank = 14;
      fifo_ = CAN_RX_FIFO0;
    }
#endif
#endif
    else
    {
      ASSERT(false);
      return ErrorCode::FAILED;
    }
    can_filter.FilterFIFOAssignment = fifo_;
 
    if (HAL_CAN_ConfigFilter(hcan_, &can_filter) != HAL_OK)
    {
      return ErrorCode::FAILED;
    }
 
    if (HAL_CAN_Start(hcan_) != HAL_OK)
    {
      return ErrorCode::FAILED;
    }
 
    if (fifo_ == CAN_RX_FIFO0)
    {
      HAL_CAN_ActivateNotification(hcan_, CAN_IT_RX_FIFO0_MSG_PENDING);
    }
    else
    {
      HAL_CAN_ActivateNotification(hcan_, CAN_IT_RX_FIFO1_MSG_PENDING);
    }
 
    HAL_CAN_ActivateNotification(hcan_, CAN_IT_ERROR);
    HAL_CAN_ActivateNotification(hcan_, CAN_IT_TX_MAILBOX_EMPTY);
 
    return ErrorCode::OK;
  }
 
  ErrorCode AddMessage(const ClassicPack& pack) override
  {
    CAN_TxHeaderTypeDef txHeader;  // NOLINT
 
    txHeader.DLC = sizeof(pack.data);
 
    switch (pack.type)
    {
      case Type::STANDARD:
        txHeader.IDE = CAN_ID_STD;
        txHeader.RTR = CAN_RTR_DATA;
        break;
      case Type::EXTENDED:
        txHeader.IDE = CAN_ID_EXT;
        txHeader.RTR = CAN_RTR_DATA;
        break;
      case Type::REMOTE_STANDARD:
        txHeader.IDE = CAN_ID_STD;
        txHeader.RTR = CAN_RTR_REMOTE;
        break;
      case Type::REMOTE_EXTENDED:
        txHeader.IDE = CAN_ID_EXT;
        txHeader.RTR = CAN_RTR_REMOTE;
        break;
      default:
        ASSERT(false);
        return ErrorCode::FAILED;
    }
    txHeader.StdId = (pack.type == Type::EXTENDED) ? 0 : pack.id;
    txHeader.ExtId = (pack.type == Type::EXTENDED) ? pack.id : 0;
    txHeader.TransmitGlobalTime = DISABLE;
 
    if (HAL_CAN_AddTxMessage(hcan_, &txHeader, pack.data, &txMailbox) != HAL_OK)
    {
      Mutex::LockGuard lock(write_mutex_);
      if (tx_queue_.Push(pack) != ErrorCode::OK)
      {
        return ErrorCode::FULL;
      }
    }
 
    return ErrorCode::OK;
  }
 
  void ProcessRxInterrupt()
  {
    while (HAL_CAN_GetRxMessage(hcan_, fifo_, &rx_buff_.header, rx_buff_.pack.data) ==
           HAL_OK)
    {
      if (rx_buff_.header.IDE == CAN_ID_STD)
      {
        if (rx_buff_.header.StdId == 2046)
        {
          __NOP();
        }
        rx_buff_.pack.id = rx_buff_.header.StdId;
        rx_buff_.pack.type = Type::STANDARD;
      }
      else
      {
        rx_buff_.pack.id = rx_buff_.header.ExtId;
        rx_buff_.pack.type = Type::EXTENDED;
      }
 
      if (rx_buff_.header.RTR == CAN_RTR_REMOTE)
      {
        if (rx_buff_.pack.type == Type::STANDARD)
        {
          rx_buff_.pack.type = Type::REMOTE_STANDARD;
        }
        else
        {
          rx_buff_.pack.type = Type::REMOTE_EXTENDED;
        }
      }
      OnMessage(rx_buff_.pack, true);
    }
  }
 
  void ProcessTxInterrupt()
  {
    if (tx_queue_.Peek(tx_buff_.pack) == ErrorCode::OK)
    {
      tx_buff_.header.DLC = sizeof(tx_buff_.pack.data);
      switch (tx_buff_.pack.type)
      {
        case Type::STANDARD:
          tx_buff_.header.IDE = CAN_ID_STD;
          tx_buff_.header.RTR = CAN_RTR_DATA;
          break;
        case Type::EXTENDED:
          tx_buff_.header.IDE = CAN_ID_EXT;
          tx_buff_.header.RTR = CAN_RTR_DATA;
          break;
        case Type::REMOTE_STANDARD:
          tx_buff_.header.IDE = CAN_ID_STD;
          tx_buff_.header.RTR = CAN_RTR_REMOTE;
          break;
        case Type::REMOTE_EXTENDED:
          tx_buff_.header.IDE = CAN_ID_EXT;
          tx_buff_.header.RTR = CAN_RTR_REMOTE;
          break;
        default:
          ASSERT(false);
          return;
      }
      tx_buff_.header.StdId =
          (tx_buff_.pack.type == Type::EXTENDED) ? 0 : tx_buff_.pack.id;
      tx_buff_.header.ExtId =
          (tx_buff_.pack.type == Type::EXTENDED) ? tx_buff_.pack.id : 0;
      tx_buff_.header.TransmitGlobalTime = DISABLE;
 
      if (HAL_CAN_AddTxMessage(hcan_, &tx_buff_.header, tx_buff_.pack.data, &txMailbox) ==
          HAL_OK)
      {
        tx_queue_.Pop();
      }
    }
  }
 
  CAN_HandleTypeDef* hcan_;
 
  stm32_can_id_t id_;
  LockFreeQueue<ClassicPack> tx_queue_;
  uint32_t fifo_;
  static STM32CAN* map[STM32_CAN_NUMBER];  // NOLINT
 
  struct
  {
    CAN_RxHeaderTypeDef header;
    ClassicPack pack;
  } rx_buff_;
 
  struct
  {
    CAN_TxHeaderTypeDef header;
    ClassicPack pack;
  } tx_buff_;
 
  uint32_t txMailbox;
  Mutex write_mutex_;
};
}  // namespace LibXR
 
#endif