StmCan.h

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#pragma once
 
#include "BaseCan.h"
#include "StmTypes.h"
 
struct CAN_HandleTypeDef;
struct FDCAN_HandleTypeDef;
 
enum class StmCanVariant : hf_u8_t {
    BXCAN,   
    FDCAN    
};
 
class StmCan : public BaseCan {
public:
 
    explicit StmCan(CAN_HandleTypeDef* hcan) noexcept;
 
    explicit StmCan(FDCAN_HandleTypeDef* hfdcan) noexcept;
 
    explicit StmCan(const hf_stm32_can_config_t& config) noexcept;
 
    ~StmCan() noexcept override;
 
    StmCan(const StmCan&) = delete;
    StmCan& operator=(const StmCan&) = delete;
 
    // ── Pure-virtual overrides (BaseCan) ────────────────────────────────────
    hf_can_err_t Initialize() noexcept override;
    hf_can_err_t Deinitialize() noexcept override;
    hf_can_err_t SendMessage(const hf_can_message_t& message,
                             hf_u32_t timeout_ms = 1000) noexcept override;
    hf_can_err_t ReceiveMessage(hf_can_message_t& message,
                                hf_u32_t timeout_ms = 0) noexcept override;
    hf_can_err_t SetReceiveCallback(hf_can_receive_callback_t callback) noexcept override;
    hf_can_err_t SetAcceptanceFilter(hf_u32_t id, hf_u32_t mask,
                                     bool extended = false) noexcept override;
    hf_can_err_t GetStatus(hf_can_status_t& status) noexcept override;
    hf_can_err_t Reset() noexcept override;
 
    // ── Optional overrides ──────────────────────────────────────────────────
    bool SupportsCanFD() const noexcept override;
 
    // ── Accessors ───────────────────────────────────────────────────────────
    StmCanVariant GetVariant() const noexcept { return variant_; }
 
    void NotifyRxFromIsr(const hf_can_message_t& msg) noexcept;
 
private:
    StmCanVariant variant_;
    union {
        CAN_HandleTypeDef*   hcan_;
        FDCAN_HandleTypeDef* hfdcan_;
    };
    hf_can_receive_callback_t rx_callback_;
 
    hf_can_err_t SendBxCan(const hf_can_message_t& msg, hf_u32_t timeout_ms) noexcept;
    hf_can_err_t ReceiveBxCan(hf_can_message_t& msg, hf_u32_t timeout_ms) noexcept;
    hf_can_err_t SendFdCan(const hf_can_message_t& msg, hf_u32_t timeout_ms) noexcept;
    hf_can_err_t ReceiveFdCan(hf_can_message_t& msg, hf_u32_t timeout_ms) noexcept;
};