semf::Stm32Can Class Reference

Class for using CAN with Stm32. More...

#include <stm32can.h>

Inheritance diagram for semf::Stm32Can:

Collaboration diagram for semf::Stm32Can:

Public Types
enum class	ErrorCode : uint8_t {   Init_HalError = 0 , Init_HalBusy , Init_HalTimeout , Deinit_HalError ,   Deinit_HalBusy , Deinit_HalTimeout , SetFilter_IndexOutOfBounds , SetFilter_MessageIdInvalid ,   SetFilter_MessageIdMaskInvalid , EnterDeepPowerDownMode_SleepStateReadyListeningHalError , EnterDeepPowerDownMode_SleepStateReadyListeningHalBusy , EnterDeepPowerDownMode_SleepStateReadyListeningHalTimeout ,   EnterDeepPowerDownMode_InitStateResetSleepPendingHalError , EnterDeepPowerDownMode_InitStateResetSleepPendingHalBusy , EnterDeepPowerDownMode_InitStateResetSleepPendingHalTimeout , EnterDeepPowerDownMode_StartStateResetSleepPendingHalError ,   EnterDeepPowerDownMode_StartStateResetSleepPendingHalBusy , EnterDeepPowerDownMode_StartStateResetSleepPendingHalTimeout , EnterDeepPowerDownMode_SleepStateResetSleepPendingHalError , EnterDeepPowerDownMode_SleepStateResetSleepPendingHalBusy ,   EnterDeepPowerDownMode_SleepStateResetSleepPendingHalTimeout , ReleaseDeepPowerDownMode_WakeupStateSleepActiveHalError , ReleaseDeepPowerDownMode_WakeupStateSleepActiveHalBusy , ReleaseDeepPowerDownMode_WakeupStateSleepActiveHalTimeout ,   ReleaseDeepPowerDownMode_InitStateResetSleepPendingHalError , ReleaseDeepPowerDownMode_InitStateResetSleepPendingHalBusy , ReleaseDeepPowerDownMode_InitStateResetSleepPendingHalTimeout , ReleaseDeepPowerDownMode_StartStateResetSleepPendingHalError ,   ReleaseDeepPowerDownMode_StartStateResetSleepPendingHalBusy , ReleaseDeepPowerDownMode_StartStateResetSleepPendingHalTimeout , ReleaseDeepPowerDownMode_StartStateError , ReleaseDeepPowerDownMode_StartStateInvalid ,   IsrRead_NullpointerReadBuffer , IsrRead_FifoIdInvalid , IsrRead_HalError , IsrRead_HalBusy ,   IsrRead_HalTimeout , IsrError_Error , WriteHardware_InvalidMessageId , WriteHardware_HalError ,   WriteHardware_HalBusy , WriteHardware_HalTimeout , WriteHardware_NotStarted , RequestHardware_InvalidMessageId ,   RequestHardware_HalError , RequestHardware_HalBusy , RequestHardware_HalTimeout , RequestHardware_NotStarted ,   Start_HalTimeout , Start_HalNotInitialized , Stop_HalTimeout }
Public Types inherited from semf::CanHardware
enum class	ErrorCode : uint8_t {   Write_IsBusy = 0 , Write_DataIsNullptr , Write_DataSizeIsZero , Read_DataIsNullptr ,   Read_DataSizeIsZero , Request_IsBusy }
	Error codes for this class. Error ID identify a unique error() / onError call (excluding transferring). More...
Public Types inherited from semf::CommunicationHardware
enum class	Type { SynchronousMaster = 1 , SynchronousSlave , Asynchronous }
enum class	Frame : uint8_t { First = 0x01 , Next = 0x08 , Last = 0x10 , FirstAndLast = 0x11 }

Public Member Functions
	Stm32Can (CAN_HandleTypeDef &hwHandle)
	Constructor. More...
	Stm32Can (const Stm32Can &other)=delete
virtual	~Stm32Can ()=default
void	init () override
void	deinit () override
void	setReadBuffer (uint8_t buffer[], size_t bufferSize) override
	Sets the read buffer for having the possibility to handle the received data. More...
void	stopWrite () override
void	stopRead () override
void	start ()
	Hardware driver will be started. More...
void	stop ()
	Hardware driver will be stopped. More...
bool	isStarted () const
	Get the state of the start of the CAN driver. More...
uint32_t	messageId () const override
	Returns the message ID for reading data. Use this function after reading the data via read-function. More...
void	setMessageId (uint32_t id) override
	Sets the message ID for writing data. Use this function before writing the data via write-function. More...
void	setFrequency (uint32_t hz) override
	Sets the speed. More...
void	setFilter (uint32_t filterBank, uint32_t messageId, uint32_t messageIdMask) override
	Sets a message hardware receive filter. More...
void	enterDeepPowerDownMode ()
	Go to deep power down mode. More...
void	releaseDeepPowerDownMode ()
	Go to active mode. More...
void	isrRead (CAN_HandleTypeDef &can, uint8_t fifoId)
	Saves a received message and sends a readyRead or readyRequested signal. More...
void	isrWritten (CAN_HandleTypeDef &can, uint8_t mailboxId)
	Sending a readyWritten signal. More...
void	isrError (CAN_HandleTypeDef &can)
	Sending a error signal. More...
Public Member Functions inherited from semf::CanHardware
virtual	~CanHardware ()=default
void	write (const uint8_t data[], size_t dataSize) override
	For writing data, dataWritten signal will be emitted after successful write. More...
void	read (uint8_t buffer[], size_t bufferSize) override
	For setting the read buffer. This has be done for getting a dataAvailable signal for handling the data. More...
bool	isBusyReading () const override
	Communication hardware is busy reading at the moment. More...
bool	isBusyWriting () const override
	Communication hardware is busy writing at the moment. More...
void	request () override
Public Member Functions inherited from semf::Can
virtual	~Can ()=default
virtual void	request ()=0
virtual uint32_t	messageId () const =0
	Returns the message ID for reading data. Use this function after reading the data via read-function. More...
virtual void	setMessageId (uint32_t id)=0
	Sets the message ID for writing data. Use this function before writing the data via write-function. More...
virtual void	setFrequency (uint32_t hz)=0
	Sets the speed. More...
virtual void	setFilter (uint32_t filterBank, uint32_t messageId, uint32_t messageIdMask)=0
	Sets a message hardware receive filter. More...
Public Member Functions inherited from semf::CommunicationHardwareAsynchronous
virtual	~CommunicationHardwareAsynchronous ()=default
Type	type () const override
	Returns the hardware type. More...
void	setFrame (Frame frame) final
	Sets the selected usage of start and stop condition. More...
Public Member Functions inherited from semf::CommunicationHardware
virtual	~CommunicationHardware ()=default
virtual void	init ()=0
virtual void	deinit ()=0
virtual Type	type () const =0
	Returns the hardware type. More...
virtual void	setFrame (Frame frame)=0
	Sets the selected usage of start and stop condition. More...
Public Member Functions inherited from semf::app::Communication
virtual	~Communication ()=default
virtual void	write (const uint8_t data[], size_t dataSize)=0
	For writing data, dataWritten signal will be emitted after successful write. More...
virtual void	read (uint8_t buffer[], size_t bufferSize)=0
	For reading data, dataAvailable signal will be emitted after successful read. More...
virtual void	stopRead ()=0
virtual void	stopWrite ()=0
virtual bool	isBusyReading () const =0
	Communication hardware is busy reading at the moment. More...
virtual bool	isBusyWriting () const =0
	Communication hardware is busy writing at the moment. More...
Public Member Functions inherited from semf::LinkedQueue< T >::Node
virtual	~Node ()=default
T *	next () const
	Returns a pointer to the next element in a queue. More...
void	setNext (T *next)
	Sets a pointer to the next element in a list. More...
bool	isInQueue (LinkedQueue &queue)
	Returns if a node is part of this LinkedQueue. More...

Static Public Member Functions
static LinkedQueue< Stm32Can > *	queue ()
	Get the list with all cans. More...
static void	systemIsrRead (CAN_HandleTypeDef &can, uint8_t fifoId)
	System-wide interrupt service routine for can receive. More...
static void	systemIsrWritten (CAN_HandleTypeDef &can, uint8_t mailboxId)
	System-wide interrupt service routine for can transmit. More...
static void	systemIsrError (CAN_HandleTypeDef &can)
	System-wide interrupt service routine for can error. More...

Protected Member Functions
void	writeHardware (const uint8_t data[], size_t dataSize) override
	Hardware will write data. More...
void	requestHardware () override
Protected Member Functions inherited from semf::CanHardware
void	setBusyWriting (bool isBusy)
	Sets the busy flag for writing. More...
virtual void	setReadBuffer (uint8_t buffer[], size_t bufferSize)=0
	Sets the read buffer for having the possibility to handle the received data. More...
virtual void	writeHardware (const uint8_t data[], size_t dataSize)=0
	Hardware will write data. More...
virtual void	requestHardware ()=0
void	onDataWritten ()
void	onDataAvailable ()
void	onError (Error thrown)
	Is called if an error occurred by hardware read or write access. Will emit error signal. More...
void	onDataRequested ()

Additional Inherited Members
Public Attributes inherited from semf::Can
Signal	dataRequested
Public Attributes inherited from semf::app::Communication
Signal	dataWritten
Signal	dataAvailable
Signal	writeStopped
Signal	readStopped
Signal< Error >	error

Detailed Description

Class for using CAN with Stm32.

Attention

For using the driver you need to call start().

The implementation is for single CAN periphery usage.

Definition at line 25 of file stm32can.h.

Member Enumeration Documentation

ErrorCode

enum class semf::Stm32Can::ErrorCode : uint8_t

strong

Error codes for this class. Error ID identify a unique error() / onError call (excluding transferring).

Enumerator
Init_HalError
Init_HalBusy
Init_HalTimeout
Deinit_HalError
Deinit_HalBusy
Deinit_HalTimeout
SetFilter_IndexOutOfBounds
SetFilter_MessageIdInvalid
SetFilter_MessageIdMaskInvalid
EnterDeepPowerDownMode_SleepStateReadyListeningHalError
EnterDeepPowerDownMode_SleepStateReadyListeningHalBusy
EnterDeepPowerDownMode_SleepStateReadyListeningHalTimeout
EnterDeepPowerDownMode_InitStateResetSleepPendingHalError
EnterDeepPowerDownMode_InitStateResetSleepPendingHalBusy
EnterDeepPowerDownMode_InitStateResetSleepPendingHalTimeout
EnterDeepPowerDownMode_StartStateResetSleepPendingHalError
EnterDeepPowerDownMode_StartStateResetSleepPendingHalBusy
EnterDeepPowerDownMode_StartStateResetSleepPendingHalTimeout
EnterDeepPowerDownMode_SleepStateResetSleepPendingHalError
EnterDeepPowerDownMode_SleepStateResetSleepPendingHalBusy
EnterDeepPowerDownMode_SleepStateResetSleepPendingHalTimeout
ReleaseDeepPowerDownMode_WakeupStateSleepActiveHalError
ReleaseDeepPowerDownMode_WakeupStateSleepActiveHalBusy
ReleaseDeepPowerDownMode_WakeupStateSleepActiveHalTimeout
ReleaseDeepPowerDownMode_InitStateResetSleepPendingHalError
ReleaseDeepPowerDownMode_InitStateResetSleepPendingHalBusy
ReleaseDeepPowerDownMode_InitStateResetSleepPendingHalTimeout
ReleaseDeepPowerDownMode_StartStateResetSleepPendingHalError
ReleaseDeepPowerDownMode_StartStateResetSleepPendingHalBusy
ReleaseDeepPowerDownMode_StartStateResetSleepPendingHalTimeout
ReleaseDeepPowerDownMode_StartStateError
ReleaseDeepPowerDownMode_StartStateInvalid
IsrRead_NullpointerReadBuffer
IsrRead_FifoIdInvalid
IsrRead_HalError
IsrRead_HalBusy
IsrRead_HalTimeout
IsrError_Error
WriteHardware_InvalidMessageId
WriteHardware_HalError
WriteHardware_HalBusy
WriteHardware_HalTimeout
WriteHardware_NotStarted
RequestHardware_InvalidMessageId
RequestHardware_HalError
RequestHardware_HalBusy
RequestHardware_HalTimeout
RequestHardware_NotStarted
Start_HalTimeout
Start_HalNotInitialized
Stop_HalTimeout

Definition at line 29 of file stm32can.h.

Constructor & Destructor Documentation

Stm32Can() [1/2]

semf::Stm32Can::Stm32Can ( CAN_HandleTypeDef &  hwHandle )

explicit

Constructor.

Parameters

hwHandle

can hardware interface

Definition at line 44 of file stm32can.cpp.

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Stm32Can() [2/2]

semf::Stm32Can::Stm32Can ( const Stm32Can &  other )

explicitdelete

~Stm32Can()

virtual semf::Stm32Can::~Stm32Can ( )

virtualdefault

Member Function Documentation

deinit()

void semf::Stm32Can::deinit ( )

overridevirtual

Deinitializes the hardware

Exceptions

Deinit_HalError	If the ST-HAL stumbles upon an error.
Deinit_HalBusy	If the ST-HAL is busy.
Deinit_HalTimeout	If the ST-HAL times out.

Implements semf::CommunicationHardware.

Definition at line 75 of file stm32can.cpp.

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enterDeepPowerDownMode()

void semf::Stm32Can::enterDeepPowerDownMode

(

)

Go to deep power down mode.

Exceptions

EnterDeepPowerDownMode_SleepStateReadyListeningHalError	If sleep returns a hal error.
EnterDeepPowerDownMode_SleepStateReadyListeningHalBusy	If sleep returns a hal busy.
EnterDeepPowerDownMode_SleepStateReadyListeningHalTimeout	If sleep returns a hal timeout.
EnterDeepPowerDownMode_InitStateResetSleepPendingHalError	If init returns a hal error.
Enterdeeppowerdownmode_Initstateresetsleeppendinghalbusy	If init returns a hal busy.
EnterDeepPowerDownMode_InitStateResetSleepPendingHalTimeout	If init returns a hal timeout.
EnterDeepPowerDownMode_StartStateResetSleepPendingHalError	If start returns a hal error.
EnterDeepPowerDownMode_StartStateResetSleepPendingHalBusy	If start returns a hal busy.
EnterDeepPowerDownMode_StartStateResetSleepPendingHalTimeout	If start returns a hal timeout.
EnterDeepPowerDownMode_SleepStateResetSleepPendingHalError	If sleep returns a hal error.
EnterDeepPowerDownMode_SleepStateResetSleepPendingHalBusy	If sleep returns a hal busy.
EnterDeepPowerDownMode_SleepStateResetSleepPendingHalTimeout	If sleep returns a hal timeout.

Definition at line 179 of file stm32can.cpp.

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init()

void semf::Stm32Can::init ( )

overridevirtual

Initializes the hardware.

Exceptions

Init_HalError	If the ST-HAL stumbles upon an error.
Init_HalBusy	If the ST-HAL is busy.
Init_HalTimeout	If the ST-HAL times out.

Implements semf::CommunicationHardware.

Definition at line 50 of file stm32can.cpp.

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isrError()

void semf::Stm32Can::isrError

(

CAN_HandleTypeDef &

can

)

Sending a error signal.

Parameters

can	Pointer to CAN hardware handler.

Definition at line 468 of file stm32can.cpp.

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isrRead()

void semf::Stm32Can::isrRead	(	CAN_HandleTypeDef &	can,
		uint8_t	fifoId
	)

Saves a received message and sends a readyRead or readyRequested signal.

Parameters

can	Pointer to CAN hardware handler.
fifoId	FIFO ID of the received message.

Exceptions

IsrRead_NullpointerReadBuffer	Read data is not set.
IsrRead_FifoIdInvalid	If FIFO-id is invalid.
IsrRead_HalError	If ST-HAL returns hal error.
IsrRead_HalBusy	If ST-HAL returns hal busy.
IsrRead_HalTimeout	If ST-HAL returns hal timeout.

Definition at line 403 of file stm32can.cpp.

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isrWritten()

void semf::Stm32Can::isrWritten	(	CAN_HandleTypeDef &	can,
		uint8_t	mailboxId
	)

Sending a readyWritten signal.

Parameters

can	Pointer to CAN hardware handler.
mailboxId	Id of mailbox where message was written from.

Definition at line 455 of file stm32can.cpp.

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isStarted()

bool semf::Stm32Can::isStarted

(

)

const

Get the state of the start of the CAN driver.

Returns

True if the driver already started.

Definition at line 121 of file stm32can.cpp.

messageId()

uint32_t semf::Stm32Can::messageId ( ) const

overridevirtual

Returns the message ID for reading data. Use this function after reading the data via read-function.

Returns

message ID of read data

Implements semf::Can.

Definition at line 126 of file stm32can.cpp.

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queue()

LinkedQueue< Stm32Can > * semf::Stm32Can::queue ( )

static

Get the list with all cans.

Returns

The list with all cnas.

Definition at line 379 of file stm32can.cpp.

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releaseDeepPowerDownMode()

void semf::Stm32Can::releaseDeepPowerDownMode

(

)

Go to active mode.

Exceptions

ReleaseDeepPowerDownMode_WakeupStateSleepActiveHalError	If wakeup returns a hal error.
ReleaseDeepPowerDownMode_WakeupStateSleepActiveHalBusy	If wakeup returns a hal busy.
ReleaseDeepPowerDownMode_WakeupStateSleepActiveHalTimeout	If wakeup returns a hal timeout.
ReleaseDeepPowerDownMode_InitStateResetSleepPendingHalError	If init returns a hal error.
ReleaseDeepPowerDownMode_InitStateResetSleepPendingHalBusy	If init returns a hal busy.
ReleaseDeepPowerDownMode_InitStateResetSleepPendingHalTimeout	If init returns a hal timeout.
ReleaseDeepPowerDownMode_StartStateResetSleepPendingHalError	If start returns a hal error.
ReleaseDeepPowerDownMode_StartStateResetSleepPendingHalBusy	If start returns a hal busy.
ReleaseDeepPowerDownMode_StartStateResetSleepPendingHalTimeout	If start returns a hal timeout.
ReleaseDeepPowerDownMode_StartStateError	If illegal state got reached.
ReleaseDeepPowerDownMode_StartStateInvalid	If illegal state got reached.

Definition at line 288 of file stm32can.cpp.

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requestHardware()

void semf::Stm32Can::requestHardware ( )

overrideprotectedvirtual

Hardware will request data on specific id. Id can be set by calling setMessageId().

Exceptions

RequestHardware_InvalidMessageId	If message id is invalid.
RequestHardware_HalError	If ST-HAL returns HAL error.
RequestHardware_HalBusy	If ST-HAL returns HAL busy.
RequestHardware_HalTimeout	If ST-HAL returns HAL timeout.
RequestHardware_NotStarted	If ST-HAL not started.

Implements semf::CanHardware.

Definition at line 540 of file stm32can.cpp.

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setFilter()

void semf::Stm32Can::setFilter ( uint32_t  filterBank, uint32_t  messageId, uint32_t  messageIdMask  )

overridevirtual

Sets a message hardware receive filter.

Parameters

filterBank	Index of filter bank.
messageId	Message id for allowing to receive.
messageIdMask	Message id range for allowing to receive.

Attention

Filter is tested for the normal can address. Filter implementation is on the link.

See also

https://schulz-m.github.io/2017/03/23/stm32-can-id-filter

Exceptions

SetFilter_IndexOutOfBounds	If index is too high.
SetFilter_MessageIdInvalid	If message id is invalid.
SetFilter_MessageIdMaskInvalid	If the mask of the messageID is invalid.

Implements semf::Can.

Definition at line 145 of file stm32can.cpp.

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setFrequency()

void semf::Stm32Can::setFrequency ( uint32_t  hz )

overridevirtual

Sets the speed.

Parameters

hz	frequency in hz

Implements semf::Can.

Definition at line 137 of file stm32can.cpp.

setMessageId()

void semf::Stm32Can::setMessageId ( uint32_t  id )

overridevirtual

Sets the message ID for writing data. Use this function before writing the data via write-function.

Parameters

id	message ID of read data

Implements semf::Can.

Definition at line 131 of file stm32can.cpp.

setReadBuffer()

void semf::Stm32Can::setReadBuffer ( uint8_t  buffer[], size_t  bufferSize  )

overridevirtual

Sets the read buffer for having the possibility to handle the received data.

Parameters

buffer	Buffer to store received bytes in.
bufferSize	Size of receive buffer.

Implements semf::CanHardware.

Definition at line 101 of file stm32can.cpp.

start()

void semf::Stm32Can::start

(

)

Hardware driver will be started.

Exceptions

Start_HalTimeout	If the ST-HAL times out.
Start_HalNotInitialized	If the ST-HAL is not initialized.

Definition at line 595 of file stm32can.cpp.

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stop()

void semf::Stm32Can::stop

(

)

Hardware driver will be stopped.

Exceptions

Stop_HalTimeout

If the ST-HAL times out.

Definition at line 623 of file stm32can.cpp.

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stopRead()

void semf::Stm32Can::stopRead ( )

overridevirtual

Stops the read process as fast as possible without destroying anything. The readStopped Signal gets emitted if the call was successful.

Implements semf::app::Communication.

Definition at line 114 of file stm32can.cpp.

stopWrite()

void semf::Stm32Can::stopWrite ( )

overridevirtual

Stops the write process as fast as possible without destroying anything. The writeStopped Signal gets emitted if the call was successful.

Implements semf::app::Communication.

Definition at line 107 of file stm32can.cpp.

systemIsrError()

void semf::Stm32Can::systemIsrError ( CAN_HandleTypeDef &  can )

static

System-wide interrupt service routine for can error.

Parameters

can	Hardware handler.

Definition at line 397 of file stm32can.cpp.

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systemIsrRead()

void semf::Stm32Can::systemIsrRead ( CAN_HandleTypeDef &  can, uint8_t  fifoId  )

static

System-wide interrupt service routine for can receive.

Parameters

can	Hardware handler.
fifoId	Id message has read into.

Definition at line 385 of file stm32can.cpp.

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systemIsrWritten()

void semf::Stm32Can::systemIsrWritten ( CAN_HandleTypeDef &  can, uint8_t  mailboxId  )

static

System-wide interrupt service routine for can transmit.

Parameters

can	Hardware handler.
mailboxId	Id of mailbox where message was written from.

Definition at line 391 of file stm32can.cpp.

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writeHardware()

void semf::Stm32Can::writeHardware ( const uint8_t  data[], size_t  dataSize  )

overrideprotectedvirtual

Hardware will write data.

Parameters

data	data array
dataSize	data array size

Exceptions

WriteHardware_InvalidMessageId	If message id is invalid.
WriteHardware_HalError	If ST-HAL returns HAL error.
WriteHardware_HalBusy	If ST-HAL returns HAL busy.
WriteHardware_HalTimeout	If ST-HAL returns HAL timeout.
WriteHardware_NotStarted	If ST-HAL not started.

Implements semf::CanHardware.

Definition at line 477 of file stm32can.cpp.

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