use_can_stm.h

00001 #ifndef USE_CAN_F303K8
00002 #define USE_CAN_F303K8
00003 
00004 #include "mbed.h"
00005 #include "stm32f3xx_hal_can.h"
00006 #include "stm32f3xx_hal.h"
00007 #include "core_cm4.h"
00008 
00009 namespace CAN_STATE{
00010     const int RESET             = 0x00U;  /*!< CAN not yet initialized or disabled */
00011     const int READY             = 0x01U;  /*!< CAN initialized and ready for use   */
00012     const int BUSY              = 0x02U; /*!< CAN process is ongoing              */
00013     const int BUSY_TX           = 0x12U;  /*!< CAN process is ongoing              */
00014     const int BUSY_RX0          = 0x22U;  /*!< CAN process is ongoing              */
00015     const int BUSY_RX1          = 0x32U;  /*!< CAN process is ongoing              */
00016     const int BUSY_TX_RX0       = 0x42U;  /*!< CAN process is ongoing              */
00017     const int BUSY_TX_RX1       = 0x52U;  /*!< CAN process is ongoing              */
00018     const int BUSY_RX0_RX1      = 0x62U;  /*!< CAN process is ongoing              */
00019     const int BUSY_TX_RX0_RX1   = 0x72U;  /*!< CAN process is ongoing              */
00020     const int TIMEOUT           = 0x03U;  /*!< CAN in Timeout state                */
00021     const int ERROR             = 0x04U;   /*!< CAN error state                     */
00022 };
00023 
00024 enum FIFO{
00025     FIFO_0,
00026     FIFO_1,
00027 };
00028 
00029 enum IRQ_MODE{
00030     RX_FIFO0,
00031     RX_FIFO1,
00032     TX_READY,
00033 };
00034 
00035 enum PROCESS_RESULT{
00036     //ERROR = 0,
00037     //SUCCESS = 1,
00038     BUSY = 2,
00039     TIMEOUT = 3,
00040 };
00041 
00042 enum BAUDRATE{
00043     CAN_125KHZ,
00044     CAN_250KHZ,
00045     CAN_500KHZ,
00046     CAN_1MHZ,
00047 };
00048 
00049 enum DATA_CATEGORY{
00050     STANDARD_ID,
00051     EXTENDED_ID,
00052     IDE,
00053     RTR,
00054     DLC,
00055     FMI,
00056     FIFO_NUMBER,
00057     RX_DATA_0,
00058     RX_DATA_1,
00059     RX_DATA_2,
00060     RX_DATA_3,
00061     RX_DATA_4,
00062     RX_DATA_5,
00063     RX_DATA_6,
00064     RX_DATA_7,
00065 };
00066 
00067 class CanStm{
00068     
00069     public:
00070         int init(int baudrate);
00071         int transmit(uint32_t id, int format, uint8_t* tx_array);
00072         int receive();
00073         int getData(int category_data);
00074         int attach(uint32_t id,void func(),int irq_mode);
00075         void exitIrqHandler(void);
00076         CanRxMsgTypeDef rx_data[2];
00077         CAN_HandleTypeDef canHandler;
00078     private:
00079         HAL_StatusTypeDef hal_can_init(CAN_HandleTypeDef* hcan);
00080         HAL_StatusTypeDef hal_can_transmit(CAN_HandleTypeDef* hcan, uint32_t Timeout);
00081         HAL_StatusTypeDef hal_can_configfilter(CAN_HandleTypeDef* hcan,CAN_FilterConfTypeDef* sFilterConfig);
00082         void hal_can_mspinit(CAN_HandleTypeDef* hcan);
00083         void setPriority(IRQn_Type IRQn);
00084         void ConvertMessage(CAN_HandleTypeDef* hcan,CanRxMsgTypeDef* rx_message,uint32_t FIFONumber);
00085 
00086         uint32_t use_fifo;
00087         uint32_t function;
00088         uint16_t can_rx_data[9];
00089         float CAN_TIMEOUT_VALUE;
00090         Timer timer;
00091 };
00092 #endif