First commit

Inc/mmr_can.h

@@ -0,0 +1,77 @@
+#ifndef INC_MMR_CAN_H_
+#define INC_MMR_CAN_H_
+
+#include <stdint.h>
+#include <stdbool.h>
+#include "mmr_can_includes.h"
+#include "mmr_can_types.h"
+#include "mmr_can_optimize.h"
+
+#define MMR_CAN_RX_FIFO CAN_RX_FIFO0
+
+
+#if MMR_CAN_RX_FIFO == CAN_RX_FIFO0
+#define MMR_CAN_RX_INTERRUPT CAN_IT_RX_FIFO0_MSG_PENDING
+#else
+#define MMR_CAN_RX_INTERRUPT CAN_IT_RX_FIFO1_MSG_PENDING
+#endif
+
+#define MMR_CAN_ID 0x103
+#define MMR_CAN_BUFFER_LEN 8
+
+typedef uint8_t CanRxBuffer[MMR_CAN_BUFFER_LEN];
+
+
+typedef struct {
+  bool enabled;
+
+  /**
+   * The fifo that the filter should operate
+   * on
+   */
+  CanFilterFifo fifo;
+
+  /**
+   * The filter bank to use
+   *
+   * In systems with more than one CAN interface,
+   * this must go from 0 to slaveBankStart.
+   */
+  CanFilterBank bank;
+
+  /**
+   * The start of the slave filter banks.
+   * This value is ignored for single-CAN boards.
+   */
+  CanFilterBank slaveBankStart;
+
+  /**
+   * The mask to use with this filter.
+   */
+  CanFilterMask idMask;
+} MmrCanFilterSettings;
+
+typedef struct {
+  /**
+   * The id of the CAN interface that will receive the packet.
+   *
+   * If you are using the CANbus in loopback mode, it can be the
+   * id that the sender is using.
+   */
+  CanId remoteId;
+  CanMailbox *mailbox;
+  uint8_t *data;
+  uint8_t length;
+} MmrCanPacket;
+
+
+#define MMR_CAN_FilterConfigDefault(phcan) \
+  MMR_CAN_FilterConfig(phcan, MMR_CAN_GetDefaultFilterSettings())
+
+HalStatus MMR_CAN_FilterConfig(CanHandle *hcan, MmrCanFilterSettings settings);
+CanFilterMask MMR_CAN_AlignStandardMask(CanFilterMask baseMask);
+MmrCanFilterSettings MMR_CAN_GetDefaultFilterSettings();
+
+HalStatus MMR_CAN_Send(CanHandle *hcan, MmrCanPacket packet);
+
+#endif /* INC_MMR_CAN_H_ */