Stefano Calabretti
67 lines
1.7 KiB
C
67 lines
1.7 KiB
C
#include "mmr_can.h"
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HalStatus MMR_CAN_FilterConfig(CanHandle *hcan, MmrCanFilterSettings settings) {
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CAN_FilterTypeDef filter = {
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.FilterActivation = settings.enabled
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? CAN_FILTER_ENABLE
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: CAN_FILTER_DISABLE,
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.FilterIdHigh = settings.idMask,
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.FilterMaskIdHigh = settings.idMask,
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.FilterFIFOAssignment = settings.fifo,
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.FilterBank = settings.bank,
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.SlaveStartFilterBank = settings.slaveBankStart,
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.FilterMode = CAN_FILTERMODE_IDMASK,
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.FilterScale = CAN_FILTERSCALE_32BIT,
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};
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return HAL_CAN_ConfigFilter(hcan, &filter);
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}
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CanFilterMask MMR_CAN_AlignStandardMask(CanFilterMask baseMask) {
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static const uint8_t extendedMaskSurplusBytes = 5;
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return baseMask << extendedMaskSurplusBytes;
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}
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MmrCanFilterSettings MMR_CAN_GetDefaultFilterSettings() {
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return (MmrCanFilterSettings) {
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.enabled = true,
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.fifo = MMR_CAN_RX_FIFO,
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.idMask = 0,
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.bank = 0,
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.slaveBankStart = 14,
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};
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}
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HalStatus MMR_CAN_Send(CanHandle *hcan, MmrCanPacket packet) {
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CAN_TxHeaderTypeDef header = {
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.IDE = CAN_ID_STD,
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.RTR = CAN_RTR_DATA,
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.DLC = packet.length,
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.StdId = packet.remoteId,
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.TransmitGlobalTime = DISABLE,
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};
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return HAL_CAN_AddTxMessage(hcan, &header, packet.data, packet.mailbox);
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}
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static void __handleCanRxInterrupt(CAN_HandleTypeDef *hcan) {
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static CAN_RxHeaderTypeDef rxHeader = {};
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static CanRxBuffer rxData = {};
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HAL_CAN_GetRxMessage(hcan, MMR_CAN_RX_FIFO, &rxHeader, rxData);
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}
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#if MMR_CAN_RX_FIFO == CAN_RX_FIFO0
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void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan) {
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__handleCanRxInterrupt(hcan);
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}
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#elif MMR_CAN_RX_FIFO == CAN_RX_FIFO1
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void HAL_CAN_RxFifo1MsgPendingCallback(CAN_HandleTypeDef *hcan) {
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__handleCanRxInterrupt(hcan);
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}
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#endif
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