Stefano Calabretti
84 lines
2.0 KiB
C
84 lines
2.0 KiB
C
/**
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* @file mmr_can_header.h
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* @brief
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* This file defines the header used for the can message,
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* along with its utilities.
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*
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* With header is intended the ExtendedId portion
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* of the can message.
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*/
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#ifndef INC_MMR_CAN_HEADER_H_
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#define INC_MMR_CAN_HEADER_H_
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#include <stdbool.h>
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#include "mmr_can_util.h"
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#include "mmr_can_binary_literals.h"
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#include "mmr_can_message_id.h"
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/**
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* @brief
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* These values can be appended to the extended-id
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* portion of the CAN bus message (that is, the lower 5 bits
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* of the standard id)
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*
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* They are used to check if a message is either standalone, an
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* acknowledgement or split into multiple frames
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*
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* Constants with lower values have an higher priority.
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*/
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typedef enum MmrCanMessageType {
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MMR_CAN_MESSAGE_TYPE_SCS = B_(0000),
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MMR_CAN_MESSAGE_TYPE_ACK = B_(0001),
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MMR_CAN_MESSAGE_TYPE_MULTI_FRAME = B_(0010),
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MMR_CAN_MESSAGE_TYPE_MULTI_FRAME_END = B_(0011),
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MMR_CAN_MESSAGE_TYPE_NORMAL = B_(0100),
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} MmrCanMessageType;
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typedef enum MmrCanMessagePriority {
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MMR_CAN_MESSAGE_PRIORITY_LOW = B_(0010),
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MMR_CAN_MESSAGE_PRIORITY_NORMAL = B_(0001),
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MMR_CAN_MESSAGE_PRIORITY_HIGH = B_(0000),
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} MmrCanMessagePriority;
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/**
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* @brief
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* This struct encodes the values stored inside the
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* extended id field of a CAN packet.
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*/
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typedef struct MmrCanHeader {
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MmrCanMessagePriority priority : 3;
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uint16_t messageId : 10;
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uint16_t senderId : 10;
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uint8_t seqNumber : 3;
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MmrCanMessageType messageType : 3;
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} MmrCanHeader;
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/**
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* @brief
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* Serializes an MmrCanHeader to bits.
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* That is, a 32bits integer with the first
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* 3 bits set to zero and the remaining 29 containing the
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* extended id
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*/
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uint32_t MMR_CAN_HeaderToBits(MmrCanHeader header);
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/**
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* @brief
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* Deserializes a 32bits integer to an MmrCanHeader.
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* The 3 left-most bits must be of padding.
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*/
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MmrCanHeader MMR_CAN_HeaderFromBits(uint32_t bits);
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/**
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* @brief
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* Tells wether the given header represents an SCS.
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*/
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bool MMR_CAN_IsHeaderScs(MmrCanHeader header);
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#endif /* INC_MMR_CAN_HEADER_H_ */
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