can.hpp

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 /* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * *
  *  _____.___.                 .___                    .__.__      *
  *  \__  |   | ____   ____   __| _/___________    _____|__|  |     *
  *   /   |   |/ ___\ / ___\ / __ |\_  __ \__  \  /  ___/  |  |     *
  *   \____   / /_/  > /_/  > /_/ | |  | \// __ \_\___ \|  |  |__   *
  *   / ______\___  /\___  /\____ | |__|  (____  /____  >__|____/   *
  *   \/     /_____//_____/      \/            \/     \/            *
  *                          - Midgard -                            *
  * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * *
  * This software can be used by students and other personal of the *
  * Bern University of Applied Sciences under the terms of the MIT  *
  * license.                                                        *
  * For other persons this software is under the terms of the GNU   *
  * General Public License version 2.                               *
  *                                                                 *
  * Copyright © 2021, Bern University of Applied Sciences.     *
  * All rights reserved.                                            *
  * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * */
#pragma once
 
#include <cpp/common/frontend/can.hpp>
 
#include <string>
#include <string_view>
#include <array>
 
namespace bsp::mid::drv {
 
    template<auto Context>
    struct CAN {
 
        static bool init() {
            setStdFilter(0, 0, 0);  // bank 0 will accept all IDs
            return HAL_CAN_Start(Context) == HAL_OK;
        }
 
        static bool deinit() {
            return true;
        }
 
        static bool enable() {
            return HAL_CAN_Start(Context) == HAL_OK;
        }
 
        static bool disable() {
            return HAL_CAN_Stop(Context) == HAL_OK;
        }
 
 
        static void read(u32 &id, u32 &extendedId, u32 &timestamp, std::array<u8, 8> &data) {
            CAN_RxHeaderTypeDef rxHeader = {0};
            while (HAL_CAN_GetRxFifoFillLevel(Context, CAN_RX_FIFO0) == 0);
            HAL_CAN_GetRxMessage(Context, CAN_RX_FIFO0, &rxHeader, data.data());
            id = rxHeader.StdId;
            extendedId = rxHeader.ExtId;
            timestamp = rxHeader.Timestamp;
        }
 
        template<typename T>
        static u32 write(bsp::drv::CANPacket<T> packet) {
            u32 pTxMailbox;
            CAN_TxHeaderTypeDef txHeader = {0};
            constexpr size_t Size = sizeof(T);
 
            std::array<u8, Size> data;
            std::memcpy(data.data(), &packet.data, Size);
            txHeader.StdId = packet.id;
            txHeader.ExtId = packet.extendedId;
            txHeader.TransmitGlobalTime = static_cast<FunctionalState>(packet.transmitGlobalTime);
            txHeader.DLC = Size;
 
            if(packet.extendedId > 0) txHeader.IDE = CAN_ID_EXT;
            else txHeader.IDE = CAN_ID_STD;
 
 
            HAL_CAN_AddTxMessage(Context, &txHeader, const_cast<u8*>(data.data()), &pTxMailbox);
            while (HAL_CAN_GetTxMailboxesFreeLevel(Context) != 3);
            return pTxMailbox;
        }
 
        static bool setStdFilter(u8 bank, u16 id, u16 mask) {
            if (bank > 28) return false;
            if (id > 0x7FF) return false;
            if (mask > 0x7FF) return false;
 
            CAN_FilterTypeDef sFilterConfig;
            sFilterConfig.FilterBank = bank;
            sFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK;
            sFilterConfig.FilterScale = CAN_FILTERSCALE_32BIT;
            sFilterConfig.FilterIdHigh = (id << 5);
            sFilterConfig.FilterIdLow = 0;
            sFilterConfig.FilterMaskIdHigh = (mask << 5);
            sFilterConfig.FilterMaskIdLow = 0;
            sFilterConfig.FilterFIFOAssignment = CAN_RX_FIFO0;
            sFilterConfig.FilterActivation = ENABLE;
            sFilterConfig.SlaveStartFilterBank = 0;
 
            if (HAL_CAN_ConfigFilter(Context, &sFilterConfig) != HAL_OK) return false;
            return true;
        }
 
 
        static bool setExtFilter(u8 bank, u32 id, u32 mask) {
            if (bank > 28) return false;
            if (id > 0x1FFFFFFF) return false;
            if (mask > 0x1FFFFFFF) return false;
 
            CAN_FilterTypeDef sFilterConfig;
            sFilterConfig.FilterBank = bank;
            sFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK;
            sFilterConfig.FilterScale = CAN_FILTERSCALE_32BIT;
            sFilterConfig.FilterIdHigh = ((id & 0x7FF) << 5) | ((id >> 27) & 0xFFFF);
            sFilterConfig.FilterIdLow = ((id >> 11) << 3) & 0xFFFF;
            sFilterConfig.FilterMaskIdHigh = ((mask & 0x7FF) << 5) | ((mask >> 27) & 0xFFFF);
            sFilterConfig.FilterMaskIdLow = ((mask >> 11) << 3) & 0xFFFF;
            sFilterConfig.FilterFIFOAssignment = CAN_RX_FIFO0;
            sFilterConfig.FilterActivation = ENABLE;
            sFilterConfig.SlaveStartFilterBank = 0;
 
            if (HAL_CAN_ConfigFilter(Context, &sFilterConfig) != HAL_OK)
                return false;
 
            return true;
        }
 
        static bool disableFilter(u8 bank) {
            if (bank > 28) return false;
 
            CAN_FilterTypeDef sFilterConfig;
            sFilterConfig.FilterBank = bank;
            sFilterConfig.FilterActivation = DISABLE;
 
            if (HAL_CAN_ConfigFilter(Context, &sFilterConfig) != HAL_OK) return false;
            return true;
        }
 
 
    };
 
}