stm32_canfd.hpp

#pragma once
 
#include "main.h"
 
#ifdef HAL_FDCAN_MODULE_ENABLED
 
#ifdef FDCAN
#undef FDCAN
#endif
 
#include "can.hpp"
#include "libxr.hpp"
 
typedef enum
{
#ifdef FDCAN1
  STM32_FDCAN1,
#endif
#ifdef FDCAN2
  STM32_FDCAN2,
#endif
#ifdef FDCAN3
  STM32_FDCAN3,
#endif
  STM32_FDCAN_NUMBER,
  STM32_FDCAN_ID_ERROR
} stm32_fdcan_id_t;
 
stm32_fdcan_id_t STM32_FDCAN_GetID(FDCAN_GlobalTypeDef* addr);  // NOLINT
 
namespace LibXR
{
class STM32CANFD : public FDCAN
{
 public:
  STM32CANFD(FDCAN_HandleTypeDef* hcan, uint32_t queue_size);
 
  ErrorCode Init(void);
 
  ErrorCode AddMessage(const ClassicPack& pack) override;
 
  static constexpr uint32_t FDCAN_PACK_LEN_MAP[16] = {
      FDCAN_DLC_BYTES_0,  FDCAN_DLC_BYTES_1,  FDCAN_DLC_BYTES_2,  FDCAN_DLC_BYTES_3,
      FDCAN_DLC_BYTES_4,  FDCAN_DLC_BYTES_5,  FDCAN_DLC_BYTES_6,  FDCAN_DLC_BYTES_7,
      FDCAN_DLC_BYTES_8,  FDCAN_DLC_BYTES_12, FDCAN_DLC_BYTES_16, FDCAN_DLC_BYTES_20,
      FDCAN_DLC_BYTES_24, FDCAN_DLC_BYTES_32, FDCAN_DLC_BYTES_48, FDCAN_DLC_BYTES_64,
  };
 
  static constexpr uint32_t FDCAN_PACK_LEN_TO_INT_MAP[16] = {
      0, 1, 2, 3, 4, 5, 6, 7, 8, 12, 16, 20, 24, 32, 48, 64,
  };
 
  ErrorCode AddMessage(const FDPack& pack) override;
 
  void ProcessRxInterrupt(uint32_t fifo);
 
  void ProcessTxInterrupt();
 
  FDCAN_HandleTypeDef* hcan_;
 
  stm32_fdcan_id_t id_;
  LockFreeQueue<ClassicPack> tx_queue_;
  LockFreeQueue<FDPack> tx_queue_fd_;
  Mutex write_mutex_, write_mutex_fd_;
  static STM32CANFD* map[STM32_FDCAN_NUMBER];  // NOLINT
 
  struct
  {
    FDCAN_RxHeaderTypeDef header;
    ClassicPack pack;
    FDPack pack_fd;
  } rx_buff_;
 
  struct
  {
    FDCAN_TxHeaderTypeDef header;
    ClassicPack pack;
    FDPack pack_fd;
  } tx_buff_;
 
  uint32_t txMailbox;
};
}  // namespace LibXR
 
#endif