First commit

Inc/mmr_can.h

@@ -0,0 +1,77 @@
+#ifndef INC_MMR_CAN_H_
+#define INC_MMR_CAN_H_
+
+#include <stdint.h>
+#include <stdbool.h>
+#include "mmr_can_includes.h"
+#include "mmr_can_types.h"
+#include "mmr_can_optimize.h"
+
+#define MMR_CAN_RX_FIFO CAN_RX_FIFO0
+
+
+#if MMR_CAN_RX_FIFO == CAN_RX_FIFO0
+#define MMR_CAN_RX_INTERRUPT CAN_IT_RX_FIFO0_MSG_PENDING
+#else
+#define MMR_CAN_RX_INTERRUPT CAN_IT_RX_FIFO1_MSG_PENDING
+#endif
+
+#define MMR_CAN_ID 0x103
+#define MMR_CAN_BUFFER_LEN 8
+
+typedef uint8_t CanRxBuffer[MMR_CAN_BUFFER_LEN];
+
+
+typedef struct {
+  bool enabled;
+
+  /**
+   * The fifo that the filter should operate
+   * on
+   */
+  CanFilterFifo fifo;
+
+  /**
+   * The filter bank to use
+   *
+   * In systems with more than one CAN interface,
+   * this must go from 0 to slaveBankStart.
+   */
+  CanFilterBank bank;
+
+  /**
+   * The start of the slave filter banks.
+   * This value is ignored for single-CAN boards.
+   */
+  CanFilterBank slaveBankStart;
+
+  /**
+   * The mask to use with this filter.
+   */
+  CanFilterMask idMask;
+} MmrCanFilterSettings;
+
+typedef struct {
+  /**
+   * The id of the CAN interface that will receive the packet.
+   *
+   * If you are using the CANbus in loopback mode, it can be the
+   * id that the sender is using.
+   */
+  CanId remoteId;
+  CanMailbox *mailbox;
+  uint8_t *data;
+  uint8_t length;
+} MmrCanPacket;
+
+
+#define MMR_CAN_FilterConfigDefault(phcan) \
+  MMR_CAN_FilterConfig(phcan, MMR_CAN_GetDefaultFilterSettings())
+
+HalStatus MMR_CAN_FilterConfig(CanHandle *hcan, MmrCanFilterSettings settings);
+CanFilterMask MMR_CAN_AlignStandardMask(CanFilterMask baseMask);
+MmrCanFilterSettings MMR_CAN_GetDefaultFilterSettings();
+
+HalStatus MMR_CAN_Send(CanHandle *hcan, MmrCanPacket packet);
+
+#endif /* INC_MMR_CAN_H_ */

Inc/mmr_can_incudes.h

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+#ifndef INC_MMR_CAN_INCLUDES_H_
+#define INC_MMR_CAN_INCLUDES_H_
+
+#include "stm32f3xx_hal.h"
+
+#ifndef CAN
+#define CAN
+#endif
+
+
+#endif /* INC_MMR_CAN_INCLUDES_H_ */

Inc/mmr_can_optimize.h

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+#ifndef INC_MMR_CAN_OPTIMIZE_H_
+#define INC_MMR_CAN_OPTIMIZE_H_
+
+#ifdef __GNUC__
+#define always_inline inline __attribute__((always_inline))
+#else
+#define always_inline inline
+#endif
+
+#endif /* INC_OPTIMIZE_H_ */

Inc/mmr_can_types.h

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+#ifndef INC_MMR_CAN_TYPES_H_
+#define INC_MMR_CAN_TYPES_H_
+
+#include <stdint.h>
+#include "mmr_can_incudes.h"
+
+typedef uint32_t CanId;
+typedef uint32_t CanMailbox;
+
+/**
+ * A filter mask for the CANbus.
+ * It acts like a subnet mask, filtering the ids that
+ * do not match it.
+ * 
+ * The value 0 can be used to let any message pass through.
+ * 
+ * You should use the MMR_CAN_AlignStandardMask function
+ * to align the mask when using standard masks.
+ */
+typedef uint32_t CanFilterMask;
+
+/**
+ * Stores a value from CAN_filter_FIFO
+ * That is, CAN_FILTER_FIFOx
+ */
+typedef uint8_t CanFilterFifo;
+
+/** 
+ * Represents a filter bank.
+ * The values must be in the range [0, 27]
+ */
+typedef uint8_t CanFilterBank;
+
+typedef HAL_StatusTypeDef HalStatus;
+typedef CAN_HandleTypeDef CanHandle;
+
+#endif /* INC_MMR_TYPES_H_ */

Inc/mmr_can_util.h

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+#ifndef INC_MMR_CAN_UTIL_H_
+#define INC_MMR_CAN_UTIL_H_
+
+#include <stdint.h>
+#include <string.h>
+
+#define stringArrayLength(array) \
+  stringBufferLength((array), sizeof(array))
+
+size_t stringBufferLength(uint8_t *buffer, size_t maxLen) {
+  return strnlen((const char*)buffer, maxLen);
+}
+
+#endif /* INC_UTIL_H_ */