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[stm32] Add FDCAN support for H7 series
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,82 @@ | ||
| /* | ||
| * Copyright (c) 2020, Raphael Lehmann | ||
| * | ||
| * This file is part of the modm project. | ||
| * | ||
| * This Source Code Form is subject to the terms of the Mozilla Public | ||
| * License, v. 2.0. If a copy of the MPL was not distributed with this | ||
| * file, You can obtain one at http://mozilla.org/MPL/2.0/. | ||
| */ | ||
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| #include <modm/board.hpp> | ||
| #include <modm/debug/logger.hpp> | ||
| #include <modm/board.hpp> | ||
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| using namespace modm::literals; | ||
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| // Set the log level | ||
| #undef MODM_LOG_LEVEL | ||
| #define MODM_LOG_LEVEL modm::log::INFO | ||
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| int | ||
| main() | ||
| { | ||
| Board::initialize(); | ||
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| MODM_LOG_INFO << "CAN Test Program" << modm::endl; | ||
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| MODM_LOG_INFO << "Initializing Fdcan1..." << modm::endl; | ||
| // Initialize Fdcan1 | ||
| Fdcan1::connect<GpioA11::Rx, GpioA12::Tx>(Gpio::InputType::PullUp); | ||
| Fdcan1::initialize<Board::SystemClock, 125_kbps, 1_pct, 500_kbps>(9); | ||
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| MODM_LOG_INFO << "Setting up Filter for Fdcan1..." << modm::endl; | ||
| // Receive every extended id message | ||
| Fdcan1::setExtendedFilter(0, Fdcan1::FilterConfig::Fifo0, | ||
| modm::can::ExtendedIdentifier(0), | ||
| modm::can::ExtendedMask(0)); | ||
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| MODM_LOG_INFO << "Initializing Fdcan2..." << modm::endl; | ||
| // Initialize Fdcan2 | ||
| Fdcan2::connect<GpioB5::Rx, GpioB6::Tx>(Gpio::InputType::PullUp); | ||
| Fdcan2::initialize<Board::SystemClock, 125_kbps, 1_pct, 500_kbps>(12); | ||
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| MODM_LOG_INFO << "Setting up Filter for Fdcan2..." << modm::endl; | ||
| // Receive every message | ||
| Fdcan2::setExtendedFilter(0, Fdcan2::FilterConfig::Fifo0, | ||
| modm::can::ExtendedIdentifier(0), | ||
| modm::can::ExtendedMask(0)); | ||
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| // Send a message | ||
| MODM_LOG_INFO << "Sending message on Fdcan1..." << modm::endl; | ||
| modm::can::Message msg1(1, 1); | ||
| msg1.setExtended(true); | ||
| msg1.data[0] = 0x11; | ||
| Fdcan1::sendMessage(msg1); | ||
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| // Send a message | ||
| MODM_LOG_INFO << "Sending message on Fdcan2..." << modm::endl; | ||
| msg1.data[0] = 0x22; | ||
| Fdcan2::sendMessage(msg1); | ||
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| while (true) | ||
| { | ||
| if (Fdcan1::isMessageAvailable()) | ||
| { | ||
| MODM_LOG_INFO << "Fdcan1: Message is available..." << modm::endl; | ||
| modm::can::Message message; | ||
| Fdcan1::getMessage(message); | ||
| MODM_LOG_INFO << message << modm::endl; | ||
| } | ||
| if (Fdcan2::isMessageAvailable()) | ||
| { | ||
| MODM_LOG_INFO << "Fdcan2: Message is available..." << modm::endl; | ||
| modm::can::Message message; | ||
| Fdcan2::getMessage(message); | ||
| MODM_LOG_INFO << message << modm::endl; | ||
| } | ||
| } | ||
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| return 0; | ||
| } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,13 @@ | ||
| <library> | ||
| <extends>modm:nucleo-h723zg</extends> | ||
| <options> | ||
| <option name="modm:build:build.path">../../../build/nucleo_h723zg/can</option> | ||
| </options> | ||
| <modules> | ||
| <module>modm:debug</module> | ||
| <module>modm:platform:can:1</module> | ||
| <module>modm:platform:can:2</module> | ||
| <module>modm:platform:can:3</module> | ||
| <module>modm:build:scons</module> | ||
| </modules> | ||
| </library> |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
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@@ -23,6 +23,7 @@ | |
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| #include "can_bit_timings.hpp" | ||
| #include "message_ram.hpp" | ||
| #include "can_message_ram_config.hpp" | ||
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| namespace modm::platform | ||
| { | ||
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@@ -33,18 +34,43 @@ namespace modm::platform | |
| * a shared Message RAM memory and a configuration block. | ||
| * The modules (FDCAN) are compliant with ISO 11898-1: 2015 (CAN protocol | ||
| * specification version 2.0 part A, B) and CAN FD protocol specification version 1.0. | ||
| * A 0.8 Kbyte Message RAM per FDCAN instance implements filters, receive FIFOs, | ||
| * transmit event FIFOs and transmit FIFOs. | ||
| * A Message RAM implements filters, receive FIFOs, transmit event FIFOs and | ||
| * transmit FIFOs. The RAM is 0.8 Kbyte per FDCAN instance, except for the H7 | ||
| * series, which has 10 Kbytes of total message RAM arbitrarily split between | ||
| * FDCAN instances. | ||
| * | ||
| * This driver supports SW-managed/in-memory FIFOs which augment the hardware TX | ||
| * and RX FIFOs. Note that the HW TX queue is set to "queue mode" (not "FIFO mode"). | ||
| * This means CAN messages are popped from the in-memory FIFO in order of addition | ||
| * but arbitrated according to ID priority within the HW queue. | ||
| * | ||
| * ## Filter | ||
| %% if target["family"] == "h7" | ||
| * Up to 28 filters can be defined for 11-bit IDs, up to 8 filters for 29-bit IDs. | ||
| %% else | ||
| * Up to 128 filters can be defined for 11-bit IDs, up to 64 filters for 29-bit IDs. | ||
| * Space for these filters must be allocated in the message RAM via the parameters | ||
| * described below. | ||
| %% endif | ||
| * The filter banks are not shared between the CAN instances. | ||
| * | ||
| * ## Configuration | ||
| * You can set the buffer size using the `tx_buffer` and `rx_buffer` parameters. | ||
| * You can set the in-memory (SW-managed) buffer size using the `tx_buffer` and | ||
| * `rx_buffer` parameters. If set to 0, filling a HW FIFO will immediately drop | ||
| * frames. | ||
| * | ||
| %% if target["family"] == "h7" | ||
| * You can configure the message RAM space allocation as follows: | ||
| * - `message_ram.standard_filter_count`: Maximum number of standard (11-bit ID) acceptance filters | ||
| * - `message_ram.extended_filter_count`: Maximum number of extended (29-bit ID) acceptance filters | ||
| * - `message_ram.rx_fifo_0_elements` and `message_ram.rx_fifo_1_elements`: | ||
| * Number of received frames which can be queued by hardware in each RX FIFO | ||
| * - `message_ram.tx_fifo_elements`: Number of frames pending transmit which can be queued in hardware | ||
| * | ||
| %% endif | ||
| * @author Raphael Lehmann <[email protected]> | ||
| * @author Christopher Durand <[email protected]> | ||
| * @author Kaelin Laundry <[email protected]> | ||
| * @ingroup modm_platform_can_{{ id }} | ||
| */ | ||
| class Fdcan{{ id }} : public ::modm::Can | ||
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@@ -74,7 +100,7 @@ public: | |
| using ErrorCallback = void (*)(); | ||
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| private: | ||
| using MessageRam = fdcan::MessageRam<{{ id - 1 }}>; | ||
| using MessageRam = fdcan::MessageRam<{{ id - 1 }}, fdcan::Fdcan{{id}}MessageRamConfig, fdcan::Fdcan{{id}}MessageRamBaseWords>; | ||
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| static inline volatile ErrorCallback errorCallback_ = nullptr; | ||
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46 changes: 46 additions & 0 deletions
46
src/modm/platform/can/stm32-fdcan/can_message_ram_config.hpp.in
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,46 @@ | ||
| /* | ||
| * Copyright (c) 2024, Kaelin Laundry | ||
| * | ||
| * This file is part of the modm project. | ||
| * | ||
| * This Source Code Form is subject to the terms of the Mozilla Public | ||
| * License, v. 2.0. If a copy of the MPL was not distributed with this | ||
| * file, You can obtain one at http://mozilla.org/MPL/2.0/. | ||
| */ | ||
| // ---------------------------------------------------------------------------- | ||
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| #ifndef MODM_STM32_FDCAN_MESSAGE_RAM_CONFIG_HPP | ||
| #define MODM_STM32_FDCAN_MESSAGE_RAM_CONFIG_HPP | ||
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| namespace modm::platform::fdcan | ||
| { | ||
| %% for instance in instances | ||
| static constexpr MessageRamConfig Fdcan{{instance}}MessageRamConfig | ||
| { | ||
| // TODO: support configuring message size on H7 (for better space utilization) | ||
| .txBufferDataBytesMax = DataFieldSize::Bytes64, | ||
| .rxBufferDataBytesMax = DataFieldSize::Bytes64, | ||
| .rxFifo0DataBytesMax = DataFieldSize::Bytes64, | ||
| .rxFifo1DataBytesMax = DataFieldSize::Bytes64, | ||
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| .standardFilterCount = {{message_ram_options["fdcan"+(instance|string)+".message_ram.standard_filter_count"]}}, | ||
| .extendedFilterCount = {{message_ram_options["fdcan"+(instance|string)+".message_ram.extended_filter_count"]}}, | ||
| .rxFifo0Elements = {{message_ram_options["fdcan"+(instance|string)+".message_ram.rx_fifo_0_elements"]}}, | ||
| .rxFifo1Elements = {{message_ram_options["fdcan"+(instance|string)+".message_ram.rx_fifo_1_elements"]}}, | ||
| .txEventFifoElements = 3, // Currently unused but must be allocated for non-H7 series fixed layout | ||
| .txFifoElements = {{message_ram_options["fdcan"+(instance|string)+".message_ram.tx_fifo_elements"]}}, | ||
| }; | ||
| %% endfor | ||
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| %% for instance in instances | ||
| %% if loop.first | ||
| static constexpr uint32_t Fdcan{{instance}}MessageRamBaseWords = 0; | ||
| %% else | ||
| static constexpr uint32_t Fdcan{{instance}}MessageRamBaseWords = Fdcan{{instance-1}}MessageRamBaseWords + Fdcan{{instance-1}}MessageRamConfig.totalSectionWords(); | ||
| %% endif | ||
| %% endfor | ||
| } // modm::platform::fdcan | ||
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| #endif // MODM_STM32_FDCAN_MESSAGE_RAM_CONFIG_HPP |
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