fix: rework STM32 and prepare it to support future STM32 products

CANopenNode_STM32/CO_app_STM32.c

@@ -27,8 +27,8 @@
 #include "CO_app_STM32.h"
 #include "CANopen.h"
 #include "main.h"
-#include <stdio.h>
 #include <inttypes.h>
+#include <stdio.h>
 
 #include "CO_storageBlank.h"
 #include "OD.h"
@@ -122,7 +122,7 @@ canopen_app_resetCommunication() {
     CO->CANmodule->CANnormal = false;
 
     /* Enter CAN configuration. */
-    CO_CANsetConfigurationMode((void*)canopenNodeSTM32);
+    CO_CANsetConfigurationMode(canopenNodeSTM32);
     CO_CANmodule_disable(CO->CANmodule);
 
     /* initialize CANopen */
@@ -176,7 +176,7 @@ canopen_app_resetCommunication() {
     }
 
     /* Configure Timer interrupt function for execution every 1 millisecond */
-    HAL_TIM_Base_Start_IT(canopenNodeSTM32->timerHandle); //1ms interrupt
+    HAL_TIM_Base_Start_IT(canopenNodeSTM32->timerHandle); // 1ms interrupt
 
     /* Configure CAN transmit and receive interrupt */
 
@@ -218,7 +218,7 @@ canopen_app_process() {
 
         if (reset_status == CO_RESET_COMM) {
             /* delete objects from memory */
-        	HAL_TIM_Base_Stop_IT(canopenNodeSTM32->timerHandle);
+            HAL_TIM_Base_Stop_IT(canopenNodeSTM32->timerHandle);
             CO_CANsetConfigurationMode((void*)canopenNodeSTM32);
             CO_delete(CO);
             log_printf("CANopenNode Reset Communication request\n");

CANopenNode_STM32/CO_app_STM32.h

@@ -11,11 +11,13 @@
 #include "CANopen.h"
 #include "main.h"
 
-/* CANHandle : Pass in the CAN Handle to this function and it wil be used for all CAN Communications. It can be FDCan or CAN
+/* CANHandle : Pass in the CAN Handle to this function and it wil be used for all CAN Communications. It can be FDCan or
+ CAN
  * and CANOpenSTM32 Driver will take of care of handling that
  * HWInitFunction : Pass in the function that initialize the CAN peripheral, usually MX_CAN_Init
  * timerHandle : Pass in the timer that is going to be used for generating 1ms interrupt for tmrThread function,
- * please note that CANOpenSTM32 Library will override HAL_TIM_PeriodElapsedCallback function, if you also need this function
+ * please note that CANOpenSTM32 Library will override HAL_TIM_PeriodElapsedCallback function, if you also need this
+ function
  * in your codes, please take required steps
 
  */
@@ -24,45 +26,50 @@
 extern "C" {
 #endif
 
+#if CO_STM32_FDCAN_Driver
+typedef FDCAN_HandleTypeDef can_periph_handle_t;
+#else  /* CO_STM32_FDCAN_Driver */
+typedef CAN_HandleTypeDef can_periph_handle_t;
+#endif /* CO_STM32_FDCAN_Driver */
 
 typedef struct {
-    uint8_t
-        desiredNodeID; /*This is the Node ID that you ask the CANOpen stack to assign to your device, although it might not always
-	 * be the final NodeID, after calling canopen_app_init() you should check ActiveNodeID of CANopenNodeSTM32 structure for assigned Node ID.
-	 */
-    uint8_t activeNodeID; /* Assigned Node ID */
+    uint8_t desiredNodeID; /*This is the Node ID that you ask the CANOpen stack to assign to your device, although it
+                            * might not always be the final NodeID, after calling canopen_app_init() you should check
+                            * ActiveNodeID of CANopenNodeSTM32 structure for assigned Node ID.
+                            */
+    uint8_t activeNodeID;  /* Assigned Node ID */
     uint16_t baudrate;     /* This is the baudrate you've set in your CubeMX Configuration */
-    TIM_HandleTypeDef*
-        timerHandle; /*Pass in the timer that is going to be used for generating 1ms interrupt for tmrThread function,
-	 * please note that CANOpenSTM32 Library will override HAL_TIM_PeriodElapsedCallback function, if you also need this function in your codes, please take required steps
-	 */
+
+    /*
+     * Pass in the timer that is going to be used for generating 1ms interrupt for tmrThread function,
+     * please note that CANOpenSTM32 Library will override HAL_TIM_PeriodElapsedCallback function, if
+     * you also need this function in your codes, please take required steps
+     */
+    TIM_HandleTypeDef* timerHandle;
 
     /* Pass in the CAN Handle to this function and it wil be used for all CAN Communications. It can be FDCan or CAN
-	 * and CANOpenSTM32 Driver will take of care of handling that*/
-#ifdef CO_STM32_FDCAN_Driver
-    FDCAN_HandleTypeDef* CANHandle;
-#else
-    CAN_HandleTypeDef* CANHandle;
-#endif
+     * and CANOpenSTM32 Driver will take of care of handling that*/
+    can_periph_handle_t* CANHandle;
 
-    void (*HWInitFunction)(); /* Pass in the function that initialize the CAN peripheral, usually MX_CAN_Init */
+    void (*HWInitFunction)(void); /* Pass in the function that initialize the CAN peripheral, usually MX_CAN_Init */
 
     uint8_t outStatusLEDGreen; // This will be updated by the stack - Use them for the LED management
     uint8_t outStatusLEDRed;   // This will be updated by the stack - Use them for the LED management
     CO_t* canOpenStack;
 
 } CANopenNodeSTM32;
 
-
-// In order to use CANOpenSTM32, you'll have it have a canopenNodeSTM32 structure somewhere in your codes, it is usually residing in CO_app_STM32.c
+// In order to use CANOpenSTM32, you'll have it have a canopenNodeSTM32 structure somewhere in your codes, it is usually
+// residing in CO_app_STM32.c
 extern CANopenNodeSTM32* canopenNodeSTM32;
 
-
-/* This function will initialize the required CANOpen Stack objects, allocate the memory and prepare stack for communication reset*/
+/* This function will initialize the required CANOpen Stack objects, allocate the memory and prepare stack for
+ * communication reset*/
 int canopen_app_init(CANopenNodeSTM32* canopenSTM32);
 /* This function will reset the CAN communication periperhal and also the CANOpen stack variables */
 int canopen_app_resetCommunication();
-/* This function will check the input buffers and any outstanding tasks that are not time critical, this function should be called regurarly from your code (i.e from your while(1))*/
+/* This function will check the input buffers and any outstanding tasks that are not time critical, this function should
+ * be called regurarly from your code (i.e from your while(1))*/
 void canopen_app_process();
 /* Thread function executes in constant intervals, this function can be called from FreeRTOS tasks or Timers ********/
 void canopen_app_interrupt(void);