Stefano Calabretti
7b09401b00
* Add rx event handlers * Fix compile errors and add constness * Pass sender id * Change api interface * Revert changes * Add filter fifo * Add default setup * Add receive function * Remove interrupt activation * Activate RX interrupts * Merge remote changes * Add event list constructor * Fix compilation bug * Send and receive multiple frames * Refactor * Refactor * Fix compile error * Use known syntax * Refactor * Provide storage * Add frame end * Add some documentation * Turn macros into functions * Refactor * Refactor * Fix compile error * Use ExtendedIds Co-authored-by: Riccardo998 <riccardo.storchi98@gmail.com>
120 lines
2.7 KiB
C
120 lines
2.7 KiB
C
#ifndef INC_MMR_CAN_H_
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#define INC_MMR_CAN_H_
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#include <stdint.h>
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#include <stdbool.h>
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#include "mmr_can_includes.h"
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#include "mmr_can_types.h"
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#include "mmr_can_optimize.h"
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#include "mmr_can_binary_literals.h"
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#ifndef MMR_CAN_RX_FIFO
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#define MMR_CAN_RX_FIFO CAN_RX_FIFO0
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#endif
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#if MMR_CAN_RX_FIFO == CAN_RX_FIFO0
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#define MMR_CAN_FILTER_FIFO CAN_FILTER_FIFO0
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#else
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#define MMR_CAN_FILTER_FIFO CAN_FILTER_FIFO1
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#endif
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#if MMR_CAN_RX_FIFO == CAN_RX_FIFO0
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#define MMR_CAN_RX_INTERRUPT CAN_IT_RX_FIFO0_MSG_PENDING
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#else
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#define MMR_CAN_RX_INTERRUPT CAN_IT_RX_FIFO1_MSG_PENDING
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#endif
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#ifndef MMR_CAN_MAX_DATA_LENGTH
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#define MMR_CAN_MAX_DATA_LENGTH 8
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#endif
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typedef uint8_t CanRxBuffer[MMR_CAN_MAX_DATA_LENGTH];
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typedef struct {
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bool enabled;
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/**
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* The fifo that the filter should operate
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* on
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*/
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CanFilterFifo fifo;
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/**
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* The filter bank to use
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*
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* In systems with more than one CAN interface,
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* this must go from 0 to slaveBankStart for the master CAN
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* and from slaveBankStart to 27 for the slave CAN
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*
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* Master CAN is usually CAN1, while slave CAN is CAN2
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*/
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CanFilterBank bank;
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/**
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* The start of the slave filter banks.
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* This value is ignored for single-CAN boards.
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*/
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CanFilterBank slaveBankStart;
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/**
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* The mask to use with this filter.
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*/
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CanFilterMask idMask;
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} MmrCanFilterSettings;
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typedef struct {
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CanId remoteId;
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CanMailbox *mailbox;
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uint8_t *data;
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uint8_t length;
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} MmrCanPacket;
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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
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* or split into multiple frames
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*
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* Multi-frame messages have a higher priority over normal ones
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*/
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typedef enum {
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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_(1000),
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} MmrCanMessageType;
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/**
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* @brief
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* Represents a CAN message
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*/
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typedef struct {
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CanId senderId;
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void *store;
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} MmrCanMessage;
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#define MMR_CAN_FilterConfigDefault(phcan) \
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MMR_CAN_FilterConfig(phcan, MMR_CAN_GetDefaultFilterSettings())
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HalStatus MMR_CAN_BasicSetupAndStart(CanHandle *hcan);
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HalStatus MMR_CAN_FilterConfig(CanHandle *hcan, MmrCanFilterSettings settings);
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CanFilterMask MMR_CAN_AlignStandardMask(CanFilterMask baseMask);
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MmrCanFilterSettings MMR_CAN_GetDefaultFilterSettings();
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HalStatus MMR_CAN_Send(CanHandle *hcan, MmrCanPacket packet);
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HalStatus MMR_CAN_Receive(CanHandle *hcan, MmrCanMessage *result);
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bool MMR_CAN_IsMultiFrame(CanRxHeader *header);
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bool MMR_CAN_IsMultiFrameEnd(CanRxHeader *header);
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#endif /* INC_MMR_CAN_H_ */
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