Stefano Calabretti
78 lines
1.7 KiB
C
78 lines
1.7 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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#define MMR_CAN_RX_FIFO CAN_RX_FIFO0
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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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#define MMR_CAN_ID 0x103
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#define MMR_CAN_BUFFER_LEN 8
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typedef uint8_t CanRxBuffer[MMR_CAN_BUFFER_LEN];
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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.
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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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/**
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* The id of the CAN interface that will receive the packet.
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*
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* If you are using the CANbus in loopback mode, it can be the
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* id that the sender is using.
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*/
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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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#define MMR_CAN_FilterConfigDefault(phcan) \
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MMR_CAN_FilterConfig(phcan, MMR_CAN_GetDefaultFilterSettings())
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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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#endif /* INC_MMR_CAN_H_ */
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