can.h

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#ifndef _PHAL_CAN_H
#define _PHAL_CAN_H
 
#include "common/phal_F4_F7/phal_F4_F7.h"
 
#define PHAL_CAN_TX_TIMEOUT   (5000U)
#define PHAL_CAN_INIT_TIMEOUT (5000U)
 
// Bit timing recovered from http://www.bittiming.can-wiki.info/
 
#define PHAL_CAN_16MHz_1M (0x033a0000) 
#define PHAL_CAN_24MHz_1M (0x03270001) 
#define PHAL_CAN_36MHz_1M (0x033c0001)
#define PHAL_CAN_42MHz_1M (0x034e0001) 
 
#define PHAL_CAN_16MHz_500k (0x033a0001) // sample point = 75%, SJW = 4
#define PHAL_CAN_24MHz_500k (0x033a0002) // sample point = 75%, SJW = 4
#define PHAL_CAN_36MHz_500k (0x03270005)
#define PHAL_CAN_42MHz_500k (0x034e0003) // sample point = 75%, SJW = 4
 
#define PHAL_CAN_16MHz_250k (0x003a0003) // sample point = 75%
#define PHAL_CAN_24MHz_250k (0x003a0005) // sample point = 75%
#define PHAL_CAN_36MHz_250k (0x003a0008) // sample point = 75%
 
typedef struct
{
    CAN_TypeDef* Bus; 
    uint16_t StdId; 
    uint32_t ExtId; 
    uint32_t IDE; 
    uint32_t DLC; 
    uint8_t Data[8]; 
} CanMsgTypeDef_t;
 
bool PHAL_initCAN(CAN_TypeDef* bus, bool test_mode, uint32_t bit_rate);
 
bool PHAL_deinitCAN(CAN_TypeDef* bus);
 
bool PHAL_txCANMessage(CanMsgTypeDef_t* msg, uint8_t mbx);
bool PHAL_txMailboxFree(CAN_TypeDef* bus, uint8_t mbx);
void PHAL_txCANAbort(CAN_TypeDef* bus, uint8_t mbx);
bool PHAL_rxCANMessage(CAN_TypeDef *bus, uint8_t fifo, CanMsgTypeDef_t *msg);
bool PHAL_anyTxMailboxFree(CAN_TypeDef* bus);
bool PHAL_getFreeTxMailbox(CAN_TypeDef* bus, uint8_t* mbx);
extern void PHAL_CAN_rxCallback(CanMsgTypeDef_t *msg);
extern void PHAL_CAN_txCallback(CAN_TypeDef *can);
 
#endif // _PHAL_CAN_H