CAN Peripheral Abstraction

.vscode/launch.json

@@ -223,7 +223,7 @@
 		{
 			"cwd": "${workspaceFolder}",
 			"executable": "${command:cmake.buildDirectory}/G4ADCTESTING.elf",
-			"name": "G4ADCTESTING",
+			"name": "G4CANTESTING",
 			"request": "launch",
 			"type": "cortex-debug",
 			"servertype": "openocd",
@@ -234,7 +234,7 @@
 			"searchDir": [],
 			"preLaunchTask": "CMake: configure and build G4ADCTESTING",
 			"showDevDebugOutput": "raw",
-			"svdPath": "${workspaceFolder}/Lib/Vendor/CMSIS_5/SVD/STM32G474.svd",
+			"svdPath": "${workspaceFolder}/Lib/Platform/STM32G474xE/CompileDependencies/STM32G474.svd",
 			"swoConfig": {
 				"enabled": true,
 				"cpuFrequency": 170000000,
@@ -250,6 +250,37 @@
 					}
 				]
 			}
+		},
+		{
+			"cwd": "${workspaceFolder}",
+			"executable": "${command:cmake.buildDirectory}/G4CANTESTING.elf",
+			"name": "G4CANTESTING",
+			"request": "launch",
+			"type": "cortex-debug",
+			"servertype": "openocd",
+			"configFiles": [
+				"interface/stlink.cfg",
+				"target/stm32g4x.cfg"
+			],
+			"searchDir": [],
+			"preLaunchTask": "CMake: configure and build G4CANTESTING",
+			"showDevDebugOutput": "raw",
+			"svdPath": "${workspaceFolder}/Lib/Platform/STM32G474xE/CompileDependencies/STM32G474.svd",
+			"swoConfig": {
+				"enabled": true,
+				"cpuFrequency": 160000000,
+				"swoFrequency": 2000000,
+				"source": "probe",
+				"decoders": [
+					{
+						"type": "console",
+						"label": "ITM",
+						"showOnStartup": true,
+						"port": 0,
+						"encoding": "ascii"
+					}
+				]
+			}
 		}
 	]
 }

.vscode/tasks.json

@@ -28,13 +28,13 @@
 			"command": "cmake --build build/${command:cmake.activeBuildPresetName} --target CCU"
 		},
 		{
-			"label": "CMake: configure and build G4HELLO",
+			"label": "CMake: configure and build G4ADCTESTING",
 			"type": "shell",
 			"dependsOrder": "sequence",
 			"dependsOn": [
 				"CMake: configure"
 			],
-			"command": "cmake --build build/${command:cmake.activeBuildPresetName} --target G4HELLO"
+			"command": "cmake --build build/${command:cmake.activeBuildPresetName} --target G4ADCTESTING"
 		},
 		{
 			"label": "CMake: configure and build G4PERTESTING",
@@ -46,13 +46,22 @@
 			"command": "cmake --build build/${command:cmake.activeBuildPresetName} --target G4PERTESTING"
 		},
 		{
-			"label": "CMake: configure and build G4ADCTESTING",
+			"label": "CMake: configure and build G4CANTESTING",
 			"type": "shell",
 			"dependsOrder": "sequence",
 			"dependsOn": [
 				"CMake: configure"
 			],
-			"command": "cmake --build build/${command:cmake.activeBuildPresetName} --target G4ADCTESTING"
+			"command": "cmake --build build/${command:cmake.activeBuildPresetName} --target G4CANTESTING"
+		},
+		{
+			"label": "CMake: configure and build G4HELLO",
+			"type": "shell",
+			"dependsOrder": "sequence",
+			"dependsOn": [
+				"CMake: configure"
+			],
+			"command": "cmake --build build/${command:cmake.activeBuildPresetName} --target G4HELLO"
 		},
 		{
 			"label": "CMake: configure and build G4BLINKY",

CMakeLists.txt

@@ -41,6 +41,7 @@ include("${lib_path}/Utils/BitManipulations/bit-utils.cmake")
 
 # Peripherals
 include("${lib_path}/Peripherals/USART/common.cmake")
+include("${lib_path}/Peripherals/CAN/common.cmake")
 include("${lib_path}/FancyLayers-RENAME/ADC/adc.cmake")
 
 # FIXME Temporary holdover for CAN messages until URCA is ready for merge
@@ -67,6 +68,7 @@ add_gr_project(STM32G474xE CCU)
 # Development
 add_gr_project(STM32G474xE G4ADCTESTING)
 add_gr_project(STM32G474xE G4PERTESTING)
+add_gr_project(STM32G474xE G4CANTESTING)
 
 # BLINKY Demos
 add_gr_project(STM32G474xE BLINKY G4HELLO)

G4CANTESTING/CMakeLists.txt

@@ -0,0 +1,56 @@
+cmake_minimum_required(VERSION 3.25)
+
+# Setup compiler settings
+set(CMAKE_C_STANDARD 11)
+set(CMAKE_C_STANDARD_REQUIRED ON)
+set(CMAKE_C_EXTENSIONS ON)
+
+# Define the build type
+if(NOT CMAKE_BUILD_TYPE)
+	set(CMAKE_BUILD_TYPE "Debug")
+endif()
+
+# Enable compile command to ease indexing with e.g. clangd
+set(CMAKE_EXPORT_COMPILE_COMMANDS TRUE)
+
+# Enable CMake support for ASM and C languages
+enable_language(
+	C
+	ASM
+)
+
+# Core project settings
+project(${CMAKE_PROJECT_NAME})
+
+# what, does in fact not get the filename of somthing but rather the name of the project from the path
+get_filename_component(PROJECT_NAME ${CMAKE_CURRENT_SOURCE_DIR} NAME)
+
+add_library(${PROJECT_NAME}_USER_CODE INTERFACE)
+
+target_sources(
+	${PROJECT_NAME}_USER_CODE
+	INTERFACE
+		Core/Src/adc.c
+		Core/Src/crc.c
+		Core/Src/dma.c
+		Core/Src/gpio.c
+		Core/Src/i2c.c
+		Core/Src/main.c
+		Core/Src/spi.c
+		Core/Src/stm32g4xx_hal_msp.c
+		Core/Src/stm32g4xx_it.c
+		Core/Src/syscalls.c
+		Core/Src/sysmem.c
+		Core/Src/system_stm32g4xx.c
+		Core/Src/tim.c
+		Core/Src/usart.c
+)
+
+target_link_libraries(${PROJECT_NAME}_USER_CODE INTERFACE PERIPHERAL_CAN_LIB)
+target_link_libraries(
+	${PROJECT_NAME}_USER_CODE
+	INTERFACE
+		PERIPHERAL_CAN_TEST_LIB
+)
+
+target_include_directories(${PROJECT_NAME}_USER_CODE INTERFACE Core/Inc)

G4CANTESTING/Core/Inc/adc.h

@@ -0,0 +1,49 @@
+/* USER CODE BEGIN Header */
+/**
+ ******************************************************************************
+ * @file    adc.h
+ * @brief   This file contains all the function prototypes for
+ *          the adc.c file
+ ******************************************************************************
+ * @attention
+ *
+ * Copyright (c) 2024 STMicroelectronics.
+ * All rights reserved.
+ *
+ * This software is licensed under terms that can be found in the LICENSE file
+ * in the root directory of this software component.
+ * If no LICENSE file comes with this software, it is provided AS-IS.
+ *
+ ******************************************************************************
+ */
+/* USER CODE END Header */
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef __ADC_H__
+#define __ADC_H__
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Includes ------------------------------------------------------------------*/
+#include "main.h"
+
+/* USER CODE BEGIN Includes */
+
+/* USER CODE END Includes */
+
+/* USER CODE BEGIN Private defines */
+
+/* USER CODE END Private defines */
+
+void MX_ADC1_Init(void);
+
+/* USER CODE BEGIN Prototypes */
+
+/* USER CODE END Prototypes */
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __ADC_H__ */

G4CANTESTING/Core/Inc/crc.h

@@ -0,0 +1,51 @@
+/* USER CODE BEGIN Header */
+/**
+ ******************************************************************************
+ * @file    crc.h
+ * @brief   This file contains all the function prototypes for
+ *          the crc.c file
+ ******************************************************************************
+ * @attention
+ *
+ * Copyright (c) 2024 STMicroelectronics.
+ * All rights reserved.
+ *
+ * This software is licensed under terms that can be found in the LICENSE file
+ * in the root directory of this software component.
+ * If no LICENSE file comes with this software, it is provided AS-IS.
+ *
+ ******************************************************************************
+ */
+/* USER CODE END Header */
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef __CRC_H__
+#define __CRC_H__
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Includes ------------------------------------------------------------------*/
+#include "main.h"
+
+/* USER CODE BEGIN Includes */
+
+/* USER CODE END Includes */
+
+extern CRC_HandleTypeDef hcrc;
+
+/* USER CODE BEGIN Private defines */
+
+/* USER CODE END Private defines */
+
+void MX_CRC_Init(void);
+
+/* USER CODE BEGIN Prototypes */
+
+/* USER CODE END Prototypes */
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __CRC_H__ */

G4CANTESTING/Core/Inc/dma.h

@@ -0,0 +1,51 @@
+/* USER CODE BEGIN Header */
+/**
+ ******************************************************************************
+ * @file    dma.h
+ * @brief   This file contains all the function prototypes for
+ *          the dma.c file
+ ******************************************************************************
+ * @attention
+ *
+ * Copyright (c) 2025 STMicroelectronics.
+ * All rights reserved.
+ *
+ * This software is licensed under terms that can be found in the LICENSE file
+ * in the root directory of this software component.
+ * If no LICENSE file comes with this software, it is provided AS-IS.
+ *
+ ******************************************************************************
+ */
+/* USER CODE END Header */
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef __DMA_H__
+#define __DMA_H__
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Includes ------------------------------------------------------------------*/
+#include "main.h"
+
+/* DMA memory to memory transfer handles -------------------------------------*/
+
+/* USER CODE BEGIN Includes */
+
+/* USER CODE END Includes */
+
+/* USER CODE BEGIN Private defines */
+
+/* USER CODE END Private defines */
+
+void MX_DMA_Init(void);
+
+/* USER CODE BEGIN Prototypes */
+
+/* USER CODE END Prototypes */
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __DMA_H__ */

G4CANTESTING/Core/Inc/fdcan.h

@@ -0,0 +1,51 @@
+/* USER CODE BEGIN Header */
+/**
+ ******************************************************************************
+ * @file    fdcan.h
+ * @brief   This file contains all the function prototypes for
+ *          the fdcan.c file
+ ******************************************************************************
+ * @attention
+ *
+ * Copyright (c) 2024 STMicroelectronics.
+ * All rights reserved.
+ *
+ * This software is licensed under terms that can be found in the LICENSE file
+ * in the root directory of this software component.
+ * If no LICENSE file comes with this software, it is provided AS-IS.
+ *
+ ******************************************************************************
+ */
+/* USER CODE END Header */
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef __FDCAN_H__
+#define __FDCAN_H__
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Includes ------------------------------------------------------------------*/
+#include "main.h"
+
+/* USER CODE BEGIN Includes */
+
+/* USER CODE END Includes */
+
+extern FDCAN_HandleTypeDef hfdcan2;
+
+/* USER CODE BEGIN Private defines */
+
+/* USER CODE END Private defines */
+
+void MX_FDCAN2_Init(void);
+
+/* USER CODE BEGIN Prototypes */
+
+/* USER CODE END Prototypes */
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __FDCAN_H__ */