Merge pull request #63 from WattRex/feature/HAL_CAN

Enhancement Feature/hal_can  Add/Del filters and return error message

firmware/Sources/HAL/HAL_CAN/hal_can.c

@@ -107,7 +107,7 @@ HAL_CAN_result_e HAL_CanInit (){
     return res;
 }
 
-HAL_CAN_result_e HAL_CanFilters(const uint16_t id, const uint16_t mask){
+HAL_CAN_result_e HAL_CanAddFilters(const uint16_t id, const uint16_t mask){
 	if (filterBank >13){
 		filterBank=0;
 	}
@@ -134,25 +134,69 @@ HAL_CAN_result_e HAL_CanFilters(const uint16_t id, const uint16_t mask){
 	return res;
 }
 
+HAL_CAN_result_e HAL_CanDelFilters(void){
+	HAL_CAN_result_e res = HAL_CAN_Stop(&hcan);
+	CAN_FilterTypeDef  sFilterConfig;
+	sFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK;
+	sFilterConfig.FilterScale = CAN_FILTERSCALE_16BIT; // STID[10:3] STID[2:0] RTR IDE EXID[17:15]
+	sFilterConfig.FilterIdHigh = id << 5; // STDID + RTR=0 IDE=0 EXID = 00
+	/* In list mode the Mask also works as part of the list.
+	* In the 16bit scale you have 4 ids per filter bank
+	*/
+	sFilterConfig.FilterIdLow = 0x000;
+	sFilterConfig.FilterMaskIdHigh= 0xFFFF;
+	sFilterConfig.FilterMaskIdLow=0xFFFF;
+	sFilterConfig.FilterFIFOAssignment = CAN_RX_FIFO0;
+	sFilterConfig.FilterActivation = ENABLE;
+	sFilterConfig.SlaveStartFilterBank = 14;
+	for (filterBank = 1; filterBank<14;filterBank++){		
+		sFilterConfig.FilterBank = filterBank;
+		res = HAL_CAN_ConfigFilter(&hcan, &sFilterConfig);
+	}
+	filterBank = 0;
+	sFilterConfig.FilterBank = filterBank;
+	sFilterConfig.FilterMaskIdHigh=0x000;//filter mask number or identification number,according to the mode - MSBs for a 32-bit configuration
+	sFilterConfig.FilterMaskIdLow=0x000;//filter mask number or identification number,according to the mode - LSBs for a 32-bit configuration
+	res = HAL_CAN_ConfigFilter(&hcan, &sFilterConfig);
+	if (res == HAL_CAN_RESULT_SUCCESS){
+		res = HAL_CAN_Start(&hcan);
+	}
+	return res;
+
+}
 
 HAL_CAN_result_e HAL_CanTransmit (const uint32_t id, const uint8_t* data, const uint8_t size)
 {
 	/* Start the Transmission process */
 	HAL_CAN_result_e res = HAL_CAN_RESULT_ERROR;
-	if (size <= 8){
+	uint32_t tsr = READ_REG(hcan.Instance->TSR);
+	/* Check that all the Tx mailboxes are not full */
+    if (((tsr & CAN_TSR_TME0) != 0U) ||
+        ((tsr & CAN_TSR_TME1) != 0U) ||
+        ((tsr & CAN_TSR_TME2) != 0U)){
+		if (size <= 8){
 		TxHeader.DLC =size;
 		TxHeader.StdId = id;
 		res = HAL_CAN_AddTxMessage(&hcan, &TxHeader, data, &TxMailbox);
+		}
+	}else{
+		res = HAL_CAN_RESULT_BUSY;
 	}
 	return res;
 }
 
 
 HAL_CAN_result_e HAL_CanReceive (uint32_t* const id, uint8_t* data, uint8_t* const size)
 {
+	HAL_CAN_result_e res = HAL_CAN_RESULT_ERROR;
 	/* Get RX message */
-	HAL_CAN_result_e res = HAL_CAN_GetRxMessage(&hcan, CAN_RX_FIFO0, &RxHeader, data);
-	*id = RxHeader.StdId;
-	*size = RxHeader.DLC;
+	/* Check that the Rx FIFO 0 is not empty */
+    if ((hcan.Instance->RF0R & CAN_RF0R_FMP0) != 0U){
+		res = HAL_CAN_GetRxMessage(&hcan, CAN_RX_FIFO0, &RxHeader, data);
+		*id = RxHeader.StdId;
+		*size = RxHeader.DLC;
+	}else{
+		res = HAL_CAN_RESULT_NO_MESSAGE;
+	}
 	return res;
 }

firmware/Sources/HAL/HAL_CAN/hal_can.h

@@ -33,10 +33,11 @@
  */
 typedef enum
 {
-	HAL_CAN_RESULT_SUCCESS = 0x00U,	/**< HAL_CAN success operation result **/
-	HAL_CAN_RESULT_ERROR = 0x01U,	/**< HAL_CAN error operation result **/
-	HAL_CAN_RESULT_BUSY = 0x02U,	/**< HAL_CAN busy result **/
-	HAL_CAN_RESULT_TIMEOUT  = 0x03	/**< HAL_CAN timeout expired **/
+	HAL_CAN_RESULT_SUCCESS 		= 0x00U,	/**< HAL_CAN success operation result **/
+	HAL_CAN_RESULT_ERROR 		= 0x01U,	/**< HAL_CAN error operation result **/
+	HAL_CAN_RESULT_BUSY 		= 0x02U,	/**< HAL_CAN busy result **/
+	HAL_CAN_RESULT_NO_MESSAGE 	= 0x03U,
+	HAL_CAN_RESULT_TIMEOUT  	= 0x04		/**< HAL_CAN timeout expired **/
 }HAL_CAN_result_e;
 
 /**********************************************************************************/
@@ -78,9 +79,10 @@ HAL_CAN_result_e HAL_CanInit();
 
 
 /**
- * @fn HAL_CAN_result_e HAL_CanFilters(const uint16_t id, const uint16_t mask)
+ * @fn HAL_CAN_result_e HAL_CanAddFilters(const uint16_t id, const uint16_t mask)
  * @brief Configure the CAN filter with the options provided by the
  * manufacturer provided functions. This will have a id and a mask aplied to the id.
+ * The receive message id must match the values where the mask is 0, with the id imposed.
  * Every time the function is called will set a filter in a bank up to 14
  *
  * @param id ID reference that will have the messages in order to receive them
@@ -90,7 +92,18 @@ HAL_CAN_result_e HAL_CanInit();
  * HAL_CAN_result_eIMEOUT if the CAN_TIMEOUT timeout has expired and
  * HAL_CAN_RESULT_ERROR otherwise
  */
-HAL_CAN_result_e HAL_CanFilters(const uint16_t id, const uint16_t mask);
+HAL_CAN_result_e HAL_CanAddFilters(const uint16_t id, const uint16_t mask);
+
+/**
+ * @fn HAL_CAN_result_e HAL_CanDelFilters(void)
+ * @brief Configure the CAN filter to receive all messages deleting all filters
+ *
+ * @return HAL_CAN_RESULT_SUCCESS if interface was initialized correctly,
+ * HAL_CAN_RESULT_BUSY if the peripheral is not ready,
+ * HAL_CAN_result_eIMEOUT if the CAN_TIMEOUT timeout has expired and
+ * HAL_CAN_RESULT_ERROR otherwise
+ */
+HAL_CAN_result_e HAL_CanDelFilters(void);
 
 /**
  * @fn HAL_CAN_result_e HAL_CanTransmit(const uint32_t id, const uint8_t* data, const uint8_t size)

firmware/Sources/Test/HAL/hal_can_test.c

@@ -60,7 +60,7 @@ HAL_CAN_result_e HAL_CanTest(void)
 	uint8_t dataR[8]={0,0,0,0,0,0,0,0};
 	uint32_t id;
 	HAL_CAN_result_e res;
-	res = HAL_CanFilters(0x130, 0x7F0);
+	res = HAL_CanAddFilters(0x130, 0x7F0);
 	res = HAL_CanTransmit(0x102, &data, 1);
 	if (res == HAL_CAN_RESULT_SUCCESS){
 		while (i<5){