Add STM32 support

examples/SineWaveCAN/SineWaveCAN.ino

@@ -20,11 +20,12 @@
 // #define IS_TEENSY_BUILTIN // Teensy boards with built-in CAN interface (e.g. Teensy 4.1). See below to select which interface to use.
 // #define IS_ARDUINO_BUILTIN // Arduino boards with built-in CAN interface (e.g. Arduino Uno R4 Minima)
 // #define IS_MCP2515 // Any board with external MCP2515 based extension module. See below to configure the module.
+// #define IS_STM32_BUILTIN // STM32 boards with built-in CAN interface (e.g. STM32F4 Discovery).
 
 
 /* Board-specific includes ---------------------------------------------------*/
 
-#if defined(IS_TEENSY_BUILTIN) + defined(IS_ARDUINO_BUILTIN) + defined(IS_MCP2515) != 1
+#if defined(IS_TEENSY_BUILTIN) + defined(IS_ARDUINO_BUILTIN) + defined(IS_MCP2515) + defined(IS_STM32_BUILTIN) != 1
 #warning "Select exactly one hardware option at the top of this file."
 
 #if CAN_HOWMANY > 0 || CANFD_HOWMANY > 0
@@ -58,6 +59,11 @@
 struct ODriveStatus; // hack to prevent teensy compile error
 #endif // IS_TEENSY_BUILTIN
 
+#ifdef IS_STM32_BUILTIN
+// See https://github.com/pazi88/STM32_CAN
+#include <STM32_CAN.h>
+#include "ODriveSTM32CAN.hpp"
+#endif // IS_STM32_BUILTIN
 
 
 
@@ -138,6 +144,22 @@ bool setupCan() {
 #endif
 
 
+/* STM32 boards with built-in CAN */
+
+#ifdef IS_STM32_BUILTIN
+
+STM32_CAN Can1( CAN1 );
+STM32_CAN& can_intf = Can1;
+
+bool setupCan() {
+  can_intf.begin();
+  can_intf.setBaudRate(CAN_BAUDRATE);
+  return true;
+}
+
+#endif // IS_STM32_BUILTIN
+
+
 /* Example sketch ------------------------------------------------------------*/
 
 // Instantiate ODrive objects

platformio.ini

@@ -31,3 +31,19 @@ framework = arduino
 build_flags = -DIS_MCP2515
 lib_deps = 
     https://github.com/sandeepmistry/arduino-CAN.git
+
+[env:stm32f405]
+platform = ststm32
+board = adafruit_feather_f405
+framework = arduino
+build_flags =
+  -DIS_STM32_BUILTIN
+  ; Enable serial.
+  ; See https://github.com/platformio/platform-ststm32/issues/420#issuecomment-672277396
+  -USBCON
+  -DPIO_FRAMEWORK_ARDUINO_ENABLE_CDC
+  ; Enable CAN module in HAL drivers.
+  ; See https://github.com/pazi88/STM32_CAN
+  -DHAL_CAN_MODULE_ENABLED
+lib_deps =
+    https://github.com/pazi88/STM32_CAN.git#1.2.0

src/ODriveSTM32CAN.hpp

@@ -0,0 +1,35 @@
+#pragma once
+
+#include "ODriveCAN.h"
+#include <STM32_CAN.h>
+
+using CanMsg = CAN_message_t;
+
+// Must be defined by the application
+void onCanMessage(const CanMsg& msg);
+
+static bool sendMsg(STM32_CAN& can_intf, uint32_t id, uint8_t length, const uint8_t* data) {
+  CanMsg msg;
+  msg.id = id;
+  msg.len = length;
+  if (data) {
+    for (int i = 0; i < length; ++i) {
+      msg.buf[i] = data[i];
+    }
+  }
+  return can_intf.write(msg) >= 0;
+}
+
+static void onReceive(const CanMsg& msg, ODriveCAN& odrive) {
+    odrive.onReceive(msg.id, msg.len, msg.buf);
+}
+
+static void pumpEvents(STM32_CAN& intf, int max_events = 100) {
+    // max_events prevents an infinite loop if messages come at a high rate
+    CanMsg msg;
+    while (intf.read(msg) && max_events--) {
+        onCanMessage(msg);
+    }
+}
+
+CREATE_CAN_INTF_WRAPPER(STM32_CAN)