SW Module HAL_CAN

[pastorpflores]

Module functionalities

• Sends via CAN a premade payload & ID
• Adds extended mode conf to msg
• Reads incoming msgs
• Set HW filters for incoming msgs

[RobertoAldea]

#5 @mariuscrsn Transmission and receive functions, check name arguments and type of arguments (output should be pointers)

[pastorpflores]

@RobertoAldea

Issues in CAN STM configuration.

Sending functions are now functional. Not reciving. In scope signals are OK, but some peripheral configuration is not correct.

@iuliaaan : Check testboard (needed jumpers configuration...)
@pastorpflores : Check STMF3 example from STM to check peripheral configuration -- @mariuscrsn : already done.
@pastorpflores : keep searching & keep calm :)

@mariuscrsn is going to help today. More updates tomorrow.

Moved to Week 22.

[RobertoAldea]

To be able to receive messages in CAN is mandatory to configure an acceptance filter.
The way to accept all the incoming messages is configure it as below with this code:

  		sFilterConfig.FilterBank = 0;
  		sFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK;
  		sFilterConfig.FilterScale = CAN_FILTERSCALE_16BIT; // High and Low are 2 different filters
  		sFilterConfig.FilterIdHigh = 0x000;
  		sFilterConfig.FilterIdLow = 0x000;
  		sFilterConfig.FilterMaskIdHigh=0x000; // Get all bits doesn´t matter the value
		sFilterConfig.FilterMaskIdLow=0x000;
  		sFilterConfig.FilterFIFOAssignment = CAN_RX_FIFO0;
  		sFilterConfig.FilterActivation = ENABLE;
  		sFilterConfig.SlaveStartFilterBank = 14;
    	        res = HAL_CAN_ConfigFilter(&hcan, &sFilterConfig);

The masks has a negative logic, if the set value is a 0 in the mask that bit it will get it no matter what is the value, however if a 1 is set, that bit will have to be the same as the one in the identifier specified.

[RobertoAldea]

#5 @mariuscrsn The final interface for the functions developed for HAL CAN are the following:

HAL_CAN_result_e HAL_CanInit();

HAL_CAN_result_e HAL_CanFilters(const uint16_t id, const uint16_t mask);

HAL_CAN_result_e HAL_CanTransmit (const uint32_t id, const uint8_t* data, const uint8_t size);

HAL_CAN_result_e HAL_CanReceive (uint32_t* id, uint8_t* data, uint8_t* size);

The function HAL_CanFilters implements a mask filter.