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624 lines (550 loc) · 20 KB
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#include "STM32CanFD.h"
/*
* _txHeader.fdFormat の決定ロジック (提案1: 明示的指定の有無で分岐)
* =====================================================================
* 1. classic() または fd() で明示的に指定された場合
* → その指定に従う（_txFormatExplicit = true）
*
* 2. 明示的指定なし（beginPacket()のみ）
* → データ送信時に以下で判定：
* - データ ≤ 8バイト : begin()で指定されたフレームフォーマット継承
* - データ > 8バイト : 自動的にCANFD (fdFormat=1) に切り替え
* クラシックCAN最大8バイトの制約を超えるため
*/
// 複数のインスタンス管理用
static STM32CanFD *_instances[3] = {NULL, NULL, NULL};
STM32CanFD::STM32CanFD(FDCAN_GlobalTypeDef *instance)
: _rxPin(NC), _txPin(NC), _mode(FDCAN_MODE_NORMAL)
#if STM32CANFD_STREAM_API
,
_rxHead(0), _rxTail(0)
#endif
{
hfdcan.Instance = instance;
if (instance == FDCAN1)
_instances[0] = this;
#if defined(FDCAN2)
else if (instance == FDCAN2)
_instances[1] = this;
#endif
#if defined(FDCAN3)
else if (instance == FDCAN3)
_instances[2] = this;
#endif
}
STM32CanFD::~STM32CanFD() { end(); }
void STM32CanFD::setPins(uint32_t rxPin, uint32_t txPin)
{
_rxPin = rxPin;
_txPin = txPin;
}
void STM32CanFD::setMode(uint32_t mode)
{
_mode = mode;
}
bool STM32CanFD::begin(uint32_t nomBaud, uint32_t dataBaud)
{
// if (_rxPin == NC || _txPin == NC)
// return false;
// 170MHzソースを想定した基本設定
hfdcan.Init.ClockDivider = FDCAN_CLOCK_DIV1;
hfdcan.Init.FrameFormat = (dataBaud > 0) ? FDCAN_FRAME_FD_BRS : FDCAN_FRAME_CLASSIC;
hfdcan.Init.Mode = _mode;
hfdcan.Init.AutoRetransmission = DISABLE;
hfdcan.Init.TransmitPause = DISABLE;
hfdcan.Init.ProtocolException = DISABLE;
hfdcan.Init.TxFifoQueueMode = FDCAN_TX_FIFO_OPERATION;
hfdcan.Init.StdFiltersNbr = 28;
hfdcan.Init.ExtFiltersNbr = 8;
applyBaudrate(nomBaud, dataBaud);
/** Initializes the peripherals clocks */
RCC_PeriphCLKInitTypeDef PeriphClkInit = {0};
PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_FDCAN;
PeriphClkInit.FdcanClockSelection = RCC_FDCANCLKSOURCE_PCLK1;
if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK)
{
Error_Handler();
}
/* Peripheral clock enable */
__HAL_RCC_FDCAN_CLK_ENABLE();
// PinName _can_rd = digitalPinToPinName(_rxPin);
// PinName _can_tx = digitalPinToPinName(_txPin);
// void *fdcan_rd = pinmap_peripheral(_can_rd, PinMap_CAN_RD);
// void *fdcan_tx = pinmap_peripheral(_can_tx, PinMap_CAN_TD);
// void *instance = pinmap_merge_peripheral(fdcan_rd, fdcan_tx);
// pinmap_pinout(_can_rd, PinMap_CAN_RD);
// pinmap_pinout(_can_tx, PinMap_CAN_TD);
__HAL_RCC_GPIOB_CLK_ENABLE();
/** FDCAN1 GPIO Configuration
PB8-BOOT0 ------> FDCAN1_RX
PB9 ------> FDCAN1_TX
*/
GPIO_InitTypeDef GPIO_InitStruct = {0};
GPIO_InitStruct.Pin = GPIO_PIN_8|GPIO_PIN_9;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
GPIO_InitStruct.Alternate = GPIO_AF9_FDCAN1;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
__HAL_SYSCFG_FASTMODEPLUS_ENABLE(SYSCFG_FASTMODEPLUS_PB8);
__HAL_SYSCFG_FASTMODEPLUS_ENABLE(SYSCFG_FASTMODEPLUS_PB9);
if (HAL_FDCAN_Init(&hfdcan) != HAL_OK)
return false;
// フィルタ：デフォルトは無効（ユーザーが設定するまで何も受信しない）
FDCAN_FilterTypeDef sFilterConfig;
sFilterConfig.IdType = FDCAN_STANDARD_ID;
sFilterConfig.FilterIndex = 0;
sFilterConfig.FilterType = FDCAN_FILTER_MASK;
sFilterConfig.FilterConfig = FDCAN_FILTER_DISABLE;
sFilterConfig.FilterID1 = 0x000;
sFilterConfig.FilterID2 = 0x000;
HAL_FDCAN_ConfigFilter(&hfdcan, &sFilterConfig);
HAL_FDCAN_ConfigGlobalFilter(&hfdcan, FDCAN_REJECT, FDCAN_REJECT, FDCAN_REJECT_REMOTE, FDCAN_REJECT_REMOTE);
// 割り込み設定
HAL_FDCAN_ActivateNotification(&hfdcan, FDCAN_IT_RX_FIFO0_NEW_MESSAGE | FDCAN_IT_RX_FIFO1_NEW_MESSAGE, 0);
IRQn_Type irq0, irq1;
if (hfdcan.Instance == FDCAN1) {
irq0 = FDCAN1_IT0_IRQn;
irq1 = FDCAN1_IT1_IRQn;
}
#if defined(FDCAN2)
else if (hfdcan.Instance == FDCAN2)
irq0 = FDCAN2_IT0_IRQn;
irq1 = FDCAN2_IT1_IRQn;
#endif
#if defined(FDCAN3)
else if (hfdcan.Instance == FDCAN3)
irq0 = FDCAN3_IT0_IRQn;
irq1 = FDCAN3_IT1_IRQn;
#endif
HAL_NVIC_SetPriority(irq0, 0, 0);
HAL_NVIC_EnableIRQ(irq0);
HAL_NVIC_SetPriority(irq1, 0, 0);
HAL_NVIC_EnableIRQ(irq1);
return HAL_FDCAN_Start(&hfdcan) == HAL_OK;
}
void STM32CanFD::end()
{
HAL_FDCAN_DeInit(&hfdcan);
}
// 170MHz FDCAN Clock用ボーレート計算
// 内部で使用するパラメータ保持用の構造体
struct FDCAN_TimingParams {
uint32_t baudrate;
uint16_t prescaler;
uint16_t timeSeg1;
uint16_t timeSeg2;
uint16_t sjw;
};
// 170MHzクロック向け Nominal (仲裁) フェーズ用テーブル
// Sample Point (SP) は 80% 付近をターゲットに
static const FDCAN_TimingParams nominalTimings[] = {
// Baud, Prescaler, Seg1, Seg2, SJW
{1000000, 1, 135, 34, 17}, // 1Mbps: 170MHz/1/(1+135+34) = 1.0M, SP=80%
{ 500000, 2, 135, 34, 17}, // 500kbps: 170MHz/2/(1+135+34) = 500k, SP=80%
{ 250000, 4, 135, 34, 17}, // 250kbps: 170MHz/4/(1+135+34) = 250k, SP=80%
{ 125000, 8, 135, 34, 17} // 125kbps: 170MHz/8/(1+135+34) = 125k, SP=80%
};
// 170MHzクロック向け Data (データ) フェーズ用テーブル
// Sample Point (SP) は 75%〜80% 付近、SJWはSeg2未満を確保
static const FDCAN_TimingParams dataTimings[] = {
// Baud, Prescaler, Seg1, Seg2, SJW
{8000000, 1, 15, 5, 2}, // 8Mbps: 170/1/21 = 8.09M(+1.2%), SP=76%
{5000000, 1, 26, 7, 3}, // 5Mbps: 170/1/34 = 5.0M, SP=79%
{4000000, 1, 31, 10, 5}, // 4Mbps: 170/1/42 = 4.04M(+1.1%), SP=76% (Seg1 max is 32)
{2000000, 5, 12, 4, 2}, // 2Mbps: 170/5/17 = 2.0M, SP=80%
{1000000, 10, 12, 4, 2} // 1Mbps: 170/10/17 = 1.0M, SP=80%
};
void STM32CanFD::applyBaudrate(uint32_t nom, uint32_t data)
{
// --- Nominal (Arbitration) Phase 設定 ---
bool nomFound = false;
for (const auto& timing : nominalTimings) {
if (timing.baudrate == nom) {
hfdcan.Init.NominalPrescaler = timing.prescaler;
hfdcan.Init.NominalTimeSeg1 = timing.timeSeg1;
hfdcan.Init.NominalTimeSeg2 = timing.timeSeg2;
hfdcan.Init.NominalSyncJumpWidth = timing.sjw;
nomFound = true;
break;
}
}
// テーブルにない場合はデフォルト設定 (500kbps相当) または計算ロジックを入れる
if (!nomFound) {
// Fallback: 500kbps defaults
hfdcan.Init.NominalPrescaler = 2;
hfdcan.Init.NominalTimeSeg1 = 135;
hfdcan.Init.NominalTimeSeg2 = 34;
hfdcan.Init.NominalSyncJumpWidth = 17;
}
// --- Data Phase 設定 ---
if (data > 0)
{
bool dataFound = false;
for (const auto& timing : dataTimings) {
if (timing.baudrate == data) {
hfdcan.Init.DataPrescaler = timing.prescaler;
hfdcan.Init.DataTimeSeg1 = timing.timeSeg1;
hfdcan.Init.DataTimeSeg2 = timing.timeSeg2;
hfdcan.Init.DataSyncJumpWidth = timing.sjw;
dataFound = true;
break;
}
}
if (!dataFound) {
// Fallback: 2Mbps defaults
hfdcan.Init.DataPrescaler = 5;
hfdcan.Init.DataTimeSeg1 = 12;
hfdcan.Init.DataTimeSeg2 = 4;
hfdcan.Init.DataSyncJumpWidth = 2;
}
// TDC設定 (通信速度に応じて調整が必要だが、ここでは安全な値を設定)
// 2Mbps以上なら少し小さめに、それ以外は標準的な値を設定
uint32_t tdcOffset = (data >= 4000000) ? 20 : 25;
HAL_FDCAN_ConfigTxDelayCompensation(&hfdcan, tdcOffset, 0);
HAL_FDCAN_EnableTxDelayCompensation(&hfdcan);
}
else
{
HAL_FDCAN_DisableTxDelayCompensation(&hfdcan);
}
}
/* --- 送信ロジック --- */
#if STM32CANFD_STREAM_API
/**
* beginPacket - パケット送信を開始
* begin()で指定されたフレームフォーマットに基づいて_txHeaderを初期化
* _txFormatExplicit = false で設定し、classic()やfd()の呼び出しが可能に
*/
STM32CanFD &STM32CanFD::beginPacket(uint32_t id)
{
_txHeader.identifier = id;
_txHeader.dataLength = 0;
_txHeader.extended = (id > 0x7FF) ? 1 : 0;
_txHeader.remote = 0;
_txHeader.fdFormat = 0;
_txHeader.brs = 0;
_txHeader.esiPassive = 0;
// begin()で指定されたフレームフォーマットを反映
if (hfdcan.Init.FrameFormat != FDCAN_FRAME_CLASSIC)
{
_txHeader.fdFormat = 1;
_txHeader.brs = 1;
}
_txBufferIdx = 0;
_txFormatExplicit = false; // 明示的指定なしのマーク
return *this;
}
STM32CanFD &STM32CanFD::standard()
{
_txHeader.extended = 0;
return *this;
}
STM32CanFD &STM32CanFD::extended()
{
_txHeader.extended = 1;
return *this;
}
/**
* fd - CANFD フォーマットを明示的に指定
* このメソッド呼び出しで _txFormatExplicit = true となり、
* endPacket()で自動判定は行われず、ここで指定した値が確定する
*
* @param brs - Bit Rate Switching (true: BRS有効, false: BRS無効)
*/
STM32CanFD &STM32CanFD::fd(bool brs)
{
_txHeader.fdFormat = 1;
_txHeader.brs = brs ? 1 : 0;
_txFormatExplicit = true; // 明示的指定のマーク
return *this;
}
/**
* classic - クラシックCANフォーマットを明示的に指定
* このメソッド呼び出しで _txFormatExplicit = true となり、
* endPacket()で自動判定は行われず、ここで指定した値が確定する
*/
STM32CanFD &STM32CanFD::classic()
{
_txHeader.fdFormat = 0;
_txHeader.brs = 0;
_txFormatExplicit = true; // 明示的指定のマーク
return *this;
}
size_t STM32CanFD::write(uint8_t byte)
{
if (_txBufferIdx < 64)
{
_txData[_txBufferIdx++] = byte;
return 1;
}
return 0;
}
size_t STM32CanFD::write(const uint8_t *buffer, size_t size)
{
size_t n = min(size, (size_t)(64 - _txBufferIdx));
memcpy(&_txData[_txBufferIdx], buffer, n);
_txBufferIdx += n;
return n;
}
/**
* endPacket - パケット送信を終了
*
* _txFormatExplicit のフラグに基づいて異なる動作：
*
* 1. _txFormatExplicit == true（classic()またはfd()で明示的に指定）
* → その指定が確定、自動判定なし
*
* 2. _txFormatExplicit == false（明示的指定なし）
* → 自動判定ロジックが実行される：
* - _txBufferIdx ≤ 8 : クラシックCAN（fdFormat は変わらず）
* - _txBufferIdx > 8 : 自動的にCANFD (fdFormat = 1) に切り替え
* クラシックCAN最大8バイト制約の回避
*/
int STM32CanFD::endPacket()
{
// 明示的指定がなく、データが8バイトを超える場合のみ自動判定
if (!_txFormatExplicit && _txBufferIdx > 8)
{
_txHeader.fdFormat = 1; // 自動的にCANFDに切り替え
}
_txHeader.dataLength = len2dlc(_txBufferIdx);
size_t fullLen = dlc2len(_txHeader.dataLength);
if (fullLen > _txBufferIdx)
{
memset(&_txData[_txBufferIdx], 0, fullLen - _txBufferIdx);
}
return sendPacket(_txHeader, _txData) ? 1 : 0;
}
/* --- 受信ロジック --- */
bool STM32CanFD::parsePacket()
{
uint32_t level0 = HAL_FDCAN_GetRxFifoFillLevel(&hfdcan, FDCAN_RX_FIFO0);
uint32_t level1 = HAL_FDCAN_GetRxFifoFillLevel(&hfdcan, FDCAN_RX_FIFO1);
uint8_t fifo = 0;
if (level0 > 0)
{
fifo = 0;
}
else if (level1 > 0)
{
fifo = 1;
}
else
{
return false;
}
int received = readPacket(fifo, &_currentRx.header, _rxBuffer);
if (received < 0)
return false;
_currentRx.length = (uint8_t)received;
_currentRx.fifo = fifo;
_rxHead = _currentRx.length;
_rxTail = 0;
return true;
}
#endif
int STM32CanFD::readPacket(uint8_t fifo, CanMessageHeader *header, uint8_t *buffer)
{
if (fifo > 1 || header == nullptr || buffer == nullptr)
return -1;
FDCAN_RxHeaderTypeDef rxHeader;
uint32_t fifoType = (fifo == 0) ? FDCAN_RX_FIFO0 : FDCAN_RX_FIFO1;
if (HAL_FDCAN_GetRxMessage(&hfdcan, fifoType, &rxHeader, buffer) != HAL_OK)
return -1;
*header = compactRxHeader(rxHeader);
return (int)dlc2len(header->dataLength);
}
bool STM32CanFD::sendPacket(const CanMessageHeader &header, const uint8_t *data)
{
FDCAN_TxHeaderTypeDef txHeader = expandTxHeader(header);
return HAL_FDCAN_AddMessageToTxFifoQ(&hfdcan, &txHeader, (uint8_t *)data) == HAL_OK;
}
// --- Standard ID Filters (index: 0-27) ---
bool STM32CanFD::setFilterMask(uint8_t index, uint32_t id, uint32_t mask, int fifo)
{
FDCAN_FilterTypeDef sFilterConfig;
sFilterConfig.IdType = FDCAN_STANDARD_ID;
sFilterConfig.FilterIndex = index;
sFilterConfig.FilterType = FDCAN_FILTER_MASK;
sFilterConfig.FilterConfig = (fifo == 1) ? FDCAN_FILTER_TO_RXFIFO1 : FDCAN_FILTER_TO_RXFIFO0;
sFilterConfig.FilterID1 = id;
sFilterConfig.FilterID2 = mask;
return HAL_FDCAN_ConfigFilter(&hfdcan, &sFilterConfig) == HAL_OK;
}
bool STM32CanFD::setFilterRange(uint8_t index, uint32_t id1, uint32_t id2, int fifo)
{
FDCAN_FilterTypeDef sFilterConfig;
sFilterConfig.IdType = FDCAN_STANDARD_ID;
sFilterConfig.FilterIndex = index;
sFilterConfig.FilterType = FDCAN_FILTER_RANGE;
sFilterConfig.FilterConfig = (fifo == 1) ? FDCAN_FILTER_TO_RXFIFO1 : FDCAN_FILTER_TO_RXFIFO0;
sFilterConfig.FilterID1 = id1;
sFilterConfig.FilterID2 = id2;
return HAL_FDCAN_ConfigFilter(&hfdcan, &sFilterConfig) == HAL_OK;
}
bool STM32CanFD::setFilterDual(uint8_t index, uint32_t id1, uint32_t id2, int fifo)
{
FDCAN_FilterTypeDef sFilterConfig;
sFilterConfig.IdType = FDCAN_STANDARD_ID;
sFilterConfig.FilterIndex = index;
sFilterConfig.FilterType = FDCAN_FILTER_DUAL;
sFilterConfig.FilterConfig = (fifo == 1) ? FDCAN_FILTER_TO_RXFIFO1 : FDCAN_FILTER_TO_RXFIFO0;
sFilterConfig.FilterID1 = id1;
sFilterConfig.FilterID2 = id2;
return HAL_FDCAN_ConfigFilter(&hfdcan, &sFilterConfig) == HAL_OK;
}
// --- Extended ID Filters (index: 0-7) ---
bool STM32CanFD::setFilterMaskExt(uint8_t index, uint32_t id, uint32_t mask, int fifo)
{
FDCAN_FilterTypeDef sFilterConfig;
sFilterConfig.IdType = FDCAN_EXTENDED_ID;
sFilterConfig.FilterIndex = index;
sFilterConfig.FilterType = FDCAN_FILTER_MASK;
sFilterConfig.FilterConfig = (fifo == 1) ? FDCAN_FILTER_TO_RXFIFO1 : FDCAN_FILTER_TO_RXFIFO0;
sFilterConfig.FilterID1 = id;
sFilterConfig.FilterID2 = mask;
return HAL_FDCAN_ConfigFilter(&hfdcan, &sFilterConfig) == HAL_OK;
}
bool STM32CanFD::setFilterRangeExt(uint8_t index, uint32_t id1, uint32_t id2, int fifo)
{
FDCAN_FilterTypeDef sFilterConfig;
sFilterConfig.IdType = FDCAN_EXTENDED_ID;
sFilterConfig.FilterIndex = index;
sFilterConfig.FilterType = FDCAN_FILTER_RANGE;
sFilterConfig.FilterConfig = (fifo == 1) ? FDCAN_FILTER_TO_RXFIFO1 : FDCAN_FILTER_TO_RXFIFO0;
sFilterConfig.FilterID1 = id1;
sFilterConfig.FilterID2 = id2;
return HAL_FDCAN_ConfigFilter(&hfdcan, &sFilterConfig) == HAL_OK;
}
bool STM32CanFD::setFilterDualExt(uint8_t index, uint32_t id1, uint32_t id2, int fifo)
{
FDCAN_FilterTypeDef sFilterConfig;
sFilterConfig.IdType = FDCAN_EXTENDED_ID;
sFilterConfig.FilterIndex = index;
sFilterConfig.FilterType = FDCAN_FILTER_DUAL;
sFilterConfig.FilterConfig = (fifo == 1) ? FDCAN_FILTER_TO_RXFIFO1 : FDCAN_FILTER_TO_RXFIFO0;
sFilterConfig.FilterID1 = id1;
sFilterConfig.FilterID2 = id2;
return HAL_FDCAN_ConfigFilter(&hfdcan, &sFilterConfig) == HAL_OK;
}
uint32_t STM32CanFD::getErrorCode()
{
return HAL_FDCAN_GetError(&hfdcan);
}
bool STM32CanFD::isBusOff()
{
return (hfdcan.Instance->PSR & FDCAN_PSR_BO) != 0;
}
#if STM32CANFD_STREAM_API
int STM32CanFD::available() { return _rxHead - _rxTail; }
int STM32CanFD::read() { return (_rxHead > _rxTail) ? _rxBuffer[_rxTail++] : -1; }
int STM32CanFD::peek() { return (_rxHead > _rxTail) ? _rxBuffer[_rxTail] : -1; }
#endif
/* --- ユーティリティ --- */
uint8_t STM32CanFD::len2dlc(size_t len)
{
if (len <= 8)
return len;
if (len <= 12)
return FDCAN_DLC_BYTES_12;
if (len <= 16)
return FDCAN_DLC_BYTES_16;
if (len <= 20)
return FDCAN_DLC_BYTES_20;
if (len <= 24)
return FDCAN_DLC_BYTES_24;
if (len <= 32)
return FDCAN_DLC_BYTES_32;
if (len <= 48)
return FDCAN_DLC_BYTES_48;
return FDCAN_DLC_BYTES_64;
}
size_t STM32CanFD::dlc2len(uint32_t dlc)
{
if (dlc <= 8)
return dlc;
switch (dlc)
{
case FDCAN_DLC_BYTES_12:
return 12;
case FDCAN_DLC_BYTES_16:
return 16;
case FDCAN_DLC_BYTES_20:
return 20;
case FDCAN_DLC_BYTES_24:
return 24;
case FDCAN_DLC_BYTES_32:
return 32;
case FDCAN_DLC_BYTES_48:
return 48;
case FDCAN_DLC_BYTES_64:
return 64;
}
return 0;
}
FDCAN_TxHeaderTypeDef STM32CanFD::expandTxHeader(const CanMessageHeader &header)
{
FDCAN_TxHeaderTypeDef halHeader = {};
halHeader.Identifier = header.identifier;
halHeader.IdType = header.extended ? FDCAN_EXTENDED_ID : FDCAN_STANDARD_ID;
halHeader.TxFrameType = header.remote ? FDCAN_REMOTE_FRAME : FDCAN_DATA_FRAME;
halHeader.DataLength = header.dataLength;
halHeader.ErrorStateIndicator = header.esiPassive ? FDCAN_ESI_PASSIVE : FDCAN_ESI_ACTIVE;
halHeader.BitRateSwitch = header.brs ? FDCAN_BRS_ON : FDCAN_BRS_OFF;
halHeader.FDFormat = header.fdFormat ? FDCAN_FD_CAN : FDCAN_CLASSIC_CAN;
halHeader.TxEventFifoControl = FDCAN_NO_TX_EVENTS;
halHeader.MessageMarker = 0;
return halHeader;
}
STM32CanFD::CanMessageHeader STM32CanFD::compactRxHeader(const FDCAN_RxHeaderTypeDef &header)
{
CanMessageHeader compact = {};
compact.identifier = header.Identifier;
compact.dataLength = (uint8_t)header.DataLength;
compact.extended = (header.IdType == FDCAN_EXTENDED_ID) ? 1 : 0;
compact.remote = (header.RxFrameType == FDCAN_REMOTE_FRAME) ? 1 : 0;
compact.fdFormat = (header.FDFormat == FDCAN_FD_CAN) ? 1 : 0;
compact.brs = (header.BitRateSwitch == FDCAN_BRS_ON) ? 1 : 0;
compact.esiPassive = (header.ErrorStateIndicator == FDCAN_ESI_PASSIVE) ? 1 : 0;
return compact;
}
// 割り込みハンドラの実装
void STM32CanFD::irqHandler()
{
HAL_FDCAN_IRQHandler(&hfdcan);
}
extern "C" void FDCAN1_IT0_IRQHandler(void)
{
if (_instances[0])
_instances[0]->irqHandler();
}
extern "C" void FDCAN1_IT1_IRQHandler(void)
{
if (_instances[0])
_instances[0]->irqHandler();
}
#if defined(FDCAN2)
extern "C" void FDCAN2_IT0_IRQHandler(void)
{
if (_instances[1])
_instances[1]->irqHandler();
}
extern "C" void FDCAN2_IT1_IRQHandler(void)
{
if (_instances[1])
_instances[1]->irqHandler();
}
#endif
#if defined(FDCAN3)
extern "C" void FDCAN3_IT0_IRQHandler(void)
{
if (_instances[2])
_instances[2]->irqHandler();
}
extern "C" void FDCAN3_IT1_IRQHandler(void)
{
if (_instances[2])
_instances[2]->irqHandler();
}
#endif
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