Stefano Calabretti
57 lines
1.4 KiB
C
57 lines
1.4 KiB
C
#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
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* or split into multiple frames
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*
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* When the priority and id fields are the same, multi-frame
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* 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_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 {
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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 {
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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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uint32_t *MMR_CAN_HeaderToBits(MmrCanHeader *header);
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MmrCanHeader *MMR_CAN_HeaderFromBits(uint32_t *bits);
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bool MMR_CAN_IsMultiFrame(MmrCanHeader *header);
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bool MMR_CAN_IsMultiFrameEnd(MmrCanHeader *header);
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#endif /* INC_MMR_CAN_HEADER_H_ */
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