# HG changeset patch
# User matthewreed
# Date 2017-03-30 12:58:37
# Node ID f4e15fde37994ff7ef6fd68e21e93085925c0063
# Parent  6f05f30b23be89da73032cfb2cf12c15b25b9eb1

Moved can interface into shared libs

diff --git a/inc/can.h b/inc/can.h
new file mode 100644
--- /dev/null
+++ b/inc/can.h
@@ -0,0 +1,21 @@
+#ifndef __CAN_H
+#define __CAN_H
+
+#include <stdbool.h>
+#include <string.h>
+#include "stm32f0xx_hal.h"
+
+#include "config.h"
+#include "led.h"
+#include "protocol.h"
+
+extern CAN_HandleTypeDef can_handle;
+
+void can_init(void);
+void can_send_test(uint16_t id);
+bool can_send(uint32_t id, uint32_t ide, uint8_t dlc, uint8_t data[8]);
+void can_set_receive_mask(uint32_t mask);
+void can_set_receive_id(uint32_t id);
+bool can_silence_bus(bool value);
+
+#endif //__CAN_H
diff --git a/src/can.c b/src/can.c
new file mode 100644
--- /dev/null
+++ b/src/can.c
@@ -0,0 +1,131 @@
+#include "can.h"
+
+CAN_HandleTypeDef can_handle;
+CAN_FilterConfTypeDef can_filter;
+
+CanRxMsgTypeDef can_rx_msg;
+CanTxMsgTypeDef can_tx_msg;
+
+bool can_silenced;
+
+void can_init(void)
+{
+    can_handle.Instance = CAN;
+    can_handle.pRxMsg = &can_rx_msg;
+    can_handle.pTxMsg = &can_tx_msg;
+
+    can_handle.Init.Mode = CAN_MODE_NORMAL;
+    can_handle.Init.Prescaler = 6;
+    can_handle.Init.SJW = CAN_SJW_1TQ;
+    can_handle.Init.BS1 = CAN_BS1_11TQ;
+    can_handle.Init.BS2 = CAN_BS2_4TQ;
+    can_handle.Init.TTCM = DISABLE;
+    can_handle.Init.ABOM = ENABLE;
+    can_handle.Init.AWUM = DISABLE;
+    can_handle.Init.NART = DISABLE;
+    can_handle.Init.RFLM = DISABLE;
+    can_handle.Init.TXFP = DISABLE;
+    HAL_CAN_Init(&can_handle);
+
+    can_filter.FilterNumber = 0;
+    can_filter.BankNumber = 0;
+    can_filter.FilterMode = CAN_FILTERMODE_IDMASK;
+    can_filter.FilterScale = CAN_FILTERSCALE_16BIT;
+    uint32_t mask = 0x00000000;
+    uint32_t id = 0x00000000;
+    can_filter.FilterIdHigh = (id >> 11) & 0xFFFF;
+    can_filter.FilterIdLow = (id << 5) & 0xFFFF;
+    can_filter.FilterMaskIdHigh = (mask >> 11) & 0xFFFF;
+    can_filter.FilterMaskIdLow = (mask << 5) & 0xFFFF;
+    can_filter.FilterFIFOAssignment = CAN_FILTER_FIFO0;
+    can_filter.FilterActivation = ENABLE;
+    HAL_CAN_ConfigFilter(&can_handle, &can_filter);
+
+    HAL_NVIC_SetPriority(CEC_CAN_IRQn, 1, 0);
+    HAL_NVIC_EnableIRQ(CEC_CAN_IRQn);
+    HAL_CAN_Receive_IT(&can_handle, CAN_FIFO0);
+
+    can_silenced = false;
+}
+
+void can_send_test(uint16_t id)
+{
+    can_handle.pTxMsg->StdId = id;
+    can_handle.pTxMsg->IDE = CAN_ID_STD;
+    can_handle.pTxMsg->RTR = CAN_RTR_DATA;
+    can_handle.pTxMsg->DLC = 4;
+    can_handle.pTxMsg->Data[0] = 'T'; //0x54
+    can_handle.pTxMsg->Data[1] = 'E'; //0x45
+    can_handle.pTxMsg->Data[2] = 'S'; //0x53
+    can_handle.pTxMsg->Data[3] = 'T'; //0x54
+    HAL_CAN_Transmit_IT(&can_handle);
+}
+
+bool can_send(uint32_t id, uint32_t ide, uint8_t dlc, uint8_t data[8])
+{
+    bool result = true;
+
+    if (!can_silenced)
+    {
+        can_handle.pTxMsg->StdId = id;
+        can_handle.pTxMsg->ExtId = id;
+        can_handle.pTxMsg->IDE = ide;
+        can_handle.pTxMsg->RTR = CAN_RTR_DATA;
+        can_handle.pTxMsg->DLC = dlc;
+        memcpy(can_handle.pTxMsg->Data, data, 8);
+
+        HAL_CAN_Transmit_IT(&can_handle);
+    }
+    else
+    {
+        result = false;
+    }
+
+    return result;
+}
+
+void can_set_receive_mask(uint32_t mask)
+{
+    can_filter.FilterMode = CAN_FILTERMODE_IDMASK;
+    can_filter.FilterScale = CAN_FILTERSCALE_32BIT;
+    can_filter.FilterMaskIdHigh = (mask >> 16) & 0xFFFF;
+    can_filter.FilterMaskIdLow = mask & 0xFFFF;
+    can_filter.FilterActivation = ENABLE;
+
+    HAL_CAN_ConfigFilter(&can_handle, &can_filter);
+}
+
+void can_set_receive_id(uint32_t id)
+{
+    can_filter.FilterMode = CAN_FILTERMODE_IDMASK;
+    can_filter.FilterScale = CAN_FILTERSCALE_32BIT;
+    can_filter.FilterIdHigh = (id >> 16) & 0xFFFF;
+    can_filter.FilterIdLow = id & 0xFFFF;
+    can_filter.FilterActivation = ENABLE;
+
+    HAL_CAN_ConfigFilter(&can_handle, &can_filter);
+
+}
+
+bool can_silence_bus(bool value)
+{
+    bool result = true;
+
+    can_silenced = value;
+
+    return result;
+}
+
+void HAL_CAN_RxCpltCallback(CAN_HandleTypeDef* hcan)
+{
+    protocol_receive_message(hcan->pRxMsg);
+    led_start_time(LED_CAN, 500);
+    HAL_CAN_Receive_IT(&can_handle, CAN_FIFO0);
+}
+
+void HAL_CAN_TxCpltCallback(CAN_HandleTypeDef* hcan) {}
+
+void HAL_CAN_ErrorCallback(CAN_HandleTypeDef* hcan)
+{
+    led_set(LED_ERROR, 1);
+}