stm32can.h

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#ifndef SEMF_HARDWAREABSTRACTION_STM32_STM32CAN_H_
#define SEMF_HARDWAREABSTRACTION_STM32_STM32CAN_H_
 
#include <semf/hardwareabstraction/stm32/stm32.h>
#include <semf/utils/core/queues/linkedqueue.h>
 
#if defined(STM32) && defined(HAL_CAN_MODULE_ENABLED)
#include <semf/communication/canhardware.h>
namespace semf
{
class Stm32Can : public CanHardware, public LinkedQueue<Stm32Can>::Node
{
public:
    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,
    };
    explicit Stm32Can(CAN_HandleTypeDef& hwHandle);
    explicit Stm32Can(const Stm32Can& other) = delete;
    virtual ~Stm32Can() = default;
 
    void init() override;
    void deinit() override;
    void setReadBuffer(uint8_t buffer[], size_t bufferSize) override;
    void stopWrite() override;
    void stopRead() override;
    void start();
    void stop();
    bool isStarted() const;
    uint32_t messageId() const override;
    void setMessageId(uint32_t id) override;
    void setFrequency(uint32_t hz) override;
    void setFilter(uint32_t filterBank, uint32_t messageId, uint32_t messageIdMask) override;
    void enterDeepPowerDownMode();
    void releaseDeepPowerDownMode();
    static LinkedQueue<Stm32Can>* queue();
    static void systemIsrRead(CAN_HandleTypeDef& can, uint8_t fifoId);
    static void systemIsrWritten(CAN_HandleTypeDef& can, uint8_t mailboxId);
    static void systemIsrError(CAN_HandleTypeDef& can);
    void isrRead(CAN_HandleTypeDef& can, uint8_t fifoId);
    void isrWritten(CAN_HandleTypeDef& can, uint8_t mailboxId);
    void isrError(CAN_HandleTypeDef& can);
 
protected:
    void writeHardware(const uint8_t data[], size_t dataSize) override;
    void requestHardware() override;
 
private:
    static LinkedQueue<Stm32Can> m_queue;
    CAN_HandleTypeDef* m_hwHandle = nullptr;
    static const uint8_t m_numOfFilterBanks = 28;
    CAN_TxHeaderTypeDef m_txHeader;
    CAN_RxHeaderTypeDef m_rxHeader;
    uint32_t m_usedTxMailbox = 0;
    const uint8_t* m_writeData = nullptr;
    size_t m_writeDataSize = 0;
    size_t m_writeDataIndex = 0;
    uint8_t m_requestData[8] = {0};
    uint8_t* m_readData = nullptr;
    size_t m_readDataSize = 0;
    uint32_t m_messageIdWrite = 0;
    uint32_t m_messageIdRead = 0;
    bool m_isStarted = false;
    static constexpr Error::ClassID kSemfClassId = Error::ClassID::Stm32Can;
};
} /* namespace semf */
#endif
#endif /* SEMF_HARDWAREABSTRACTION_STM32_STM32CAN_H_ */