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Lots of improvements, FDCAN preparation #45

Merged
merged 51 commits into from
Jan 23, 2025
Merged

Lots of improvements, FDCAN preparation #45

merged 51 commits into from
Jan 23, 2025

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duckylotl
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I implemented FDCAN support for this library (see FDCAN branch in my fork). During this I implemented a few new features.

This PR only includes the changes that apply to the current CAN peripheral (bxCAN). The FDCAN implementation essentially uses this as a base.

This PR includes quite a lot of changes:

  • Define CAN interface by Tx and Rx pins
    • allows all possible combinations of Tx/Rx pins
    • checks if alternate functions are correctly grouped on the F1 platform (special case)
    • old style still supported
  • setters for additional options
    • IRQ Priority, AutoBusOff, AutoRetransmission, ...
  • expanded filter api
    • current filter function is bugged. Added fixed version and extra functions for ease of use
  • allow setBaudRate to be called before or after begin()
    • also while running to switch baudrate
  • complete lifecycle functions
    • added end() to tear down CAN and free resources
  • changed how instances reserve CAN instances
    • class objects contain peripheral handler, no risk of writing into non valid memory
    • register in global to claim peripheral once peripheral will be started
    • IRQ can retrieve STM32_CAN instances from global by "container_of" magic
    • inspired by Arduino core Hardware Timer implementation
  • IRQ mapping of all platforms
    • added special handling for F0 for shared CEC IRQ
    • workaround for F1 and F3 for shared IRQ with USB

The current API should be untouched. Old projects should work as before. I tried to only expand the API.

Tested on Nucleo-F303K8, Nucleo-F767ZI. Loopback only, no CAN Transceiver.

This fixes the following issues:

@duckylotl
add alternative constructors for more pin configuration options
41ad5e8
@duckylotl
add setMode function to set a mode by arg. Better hints that modes ar…
f099f77 
…e exclusive to each other.
@duckylotl
allow configuration of the IRQ priorities, default to lowest priority
c2ae037
@duckylotl
be specific with IRQ aliasing, add notes
0817a12
@duckylotl
enable / disable the Rx0 IRQ as well
ca37a27
@duckylotl
add hook for the CEC Handler for the F0 Platform.
7d0bb7c 
Inspired by how Arduino core does it for shared FDCAN+TIM IRQ on G0 Platform in HardwareTimer implementation
@duckylotl
detect USB Driver and print incompatibility error
fe2af09
@duckylotl
Add workaround (enabled by user) for F1 in case USB is used. Uses FIF…
6cbfeb8 
…O1 instead of 0. Need to call polling function for TX event handling.
@duckylotl
add constructor that takes digital pins as arguments
9239e50
@duckylotl
move CAN_HandleTypeDef object into the class together with a pointer …
8cdb947 
…to self. Now always has a valid object to configure. Register pointer to it in global canObj list once CAN is actually started.
@duckylotl
protect HAL calls from uninitialized handle
064f6d9
@duckylotl
fix: do not enable the Tx interrupt flag if TX IRQ is blocked by USB
817fa8a
@duckylotl
fix: handle the special case with shared USB IRQ in enableMBInterrupt…
4898233 
…s() and disableMBInterrupts()
@duckylotl
fix: don't setup not connected pin
be7ae1a
@duckylotl
move peripheral resolving and registration with globals into begin()
374018c
@duckylotl
let setBaudrate() be called before begin(). Save baudrate and use on …
fb81317 
…begin()
@duckylotl
allow restarting bus with other baudrate
a9038c1
@duckylotl
only initialize filters on first start, not on each re-start
807198b
@duckylotl
add end() function to de-initialize and release can peripheral
8a821fe
@duckylotl
on F1 platform verify that both pins are using the same alternate fun…
53271d9 
…ction setting
@duckylotl
fix: set SlaveStartFilterBank for all ConfigFilter calls. And cleanup…
f3aa639 
… some magic numbers
@duckylotl
turn off unused filters during init
a05be3d
@duckylotl
add feedback to baudrate calculation, don't start with impossible clo…
b583569 
…ck configs
@duckylotl
use HAL function to get bus clock directly
dc12061
@duckylotl
remove redundant mode member variable
6d50b4f
@duckylotl
move static init value initialization from begin() to init()
ff8fbfc
@duckylotl
add proper support for all filter types. Legacy function still has ol…
53d09a0 
…d broken behaviour.
@duckylotl
change FIFO target to action in prep for FDCAN
f44452a
@duckylotl
add setFilter variant that sets filter state without changing filter …
473b58d 
…rules
@duckylotl
fix: add CAN2 filter index offset
ea1900b
duckylotl added 21 commits January 2, 2025 16:47
@duckylotl
fix: properly only set state without clobbering other filter settings…
a2d634f 
… in setMBFilter(bank_num) and setMBFilter(bank_num, input)
@duckylotl
add macros to select default FIFO based on platform limitations
221a84c
@duckylotl
use custom filter functions for filter initialization
972ca0e
@duckylotl
read all pending messages. Multiple message events can happen before …
6e07d48 
…IRQ handler is called
@duckylotl
rename getAPB1Clock() to more generic getCanPeripheralClock()
6b1f21f
@duckylotl
remove CanHandle arg from baudrate calculation functions, use member …
60a9e2d 
…variable
@duckylotl
formatting, group functions according to operational state
50edb2f
@duckylotl
change STM32 style filter function return value to true on success. K…
c13ee3e 
…eep FlexCan compat value as false for success
@duckylotl
fix: check filter bank bounds
a9bcfa3
@duckylotl
fix: check if instance is initialized
f594cf6
@duckylotl
fix: rename state arg to enabled
6add54a
@duckylotl
add discovery functions for type and amount of filter banks
db1bca5
@duckylotl
Rename enums to upper snake case
053cfb3
@duckylotl
add setters for pre-begin() configuration options
0cb3e84
@duckylotl
add additional workaround for USB+CAN on F3 Platform. If USB IRQs are…
8e3e6b5 
… re-mapped, CAN IRQs are not blocked by USB anymore.
@duckylotl
fix: don't use ifdef for combined logic
eb6de54
@duckylotl
fix: don't lock up (Error_Handler) when calling hasPeripheral or free…
392b5e1 
…Peripheral when no peripheral has been allocated.
@duckylotl
allocatePeripheral() takes peripheral as arg and sets up handle.Insta…
b1351e6 
…nce if successful.
@duckylotl
add destructor, stop peripheral and release everything
89dd4d9
@duckylotl
enable RX pullup. Eases use of loopback modes without external circui…
7589260 
…try.
@duckylotl
update readme
9900652
@pazi88
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pazi88 commented Jan 23, 2025

Thanks! Sounds really good and something that I have been meaning to do for long time. I'll check and pull in, if everything checks out.

@pazi88 pazi88 merged commit 8796acf into pazi88:main Jan 23, 2025
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This was referenced Jan 23, 2025
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@duckylotl @pazi88