can.h

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#pragma once
 
#include "clock.h"
#include "timestamp.h"
#include "core_config.h"
#include <stdbool.h>
#include <stdint.h>
 
#if (CORE_CAN_DISABLE_TX_QUEUE != 1) || (CORE_CAN_DISABLE_SEMAPHORE != 1) || (CORE_CAN_USE_MSGBUF == 1) || (CORE_CAN_DISABLE_RX_QUEUE != 1)
#include "FreeRTOS.h"
#include "queue.h"
#include "semphr.h"
#include "message_buffer.h"
#endif
 
 
typedef struct
{
    int id;
    int dlc;
    uint64_t data;
} CanMessage_s;
 
typedef struct
{
    int id;
    int dlc;
    bool use_fd;
    uint8_t data[64];
} CanExtendedMessage_s;
 
typedef struct core_CAN_module_s {
    FDCAN_HandleTypeDef hfdcan;         
#if CORE_CAN_DISABLE_RX_QUEUE != 1
    QueueHandle_t can_queue_rx;         
#endif
#if CORE_CAN_DISABLE_TX_QUEUE != 1
    QueueHandle_t can_queue_tx;         
#endif
#if CORE_CAN_USE_MSGBUF != 0
    MessageBufferHandle_t msgbuf;       
#endif
#if CORE_CAN_DISABLE_SEMAPHORE != 1
    SemaphoreHandle_t can_tx_semaphore; 
#endif
    uint32_t *timestamp_msb;            
    uint8_t fdcan_num_standard_filters;
    uint8_t fdcan_num_extended_filters;
    uint8_t autort;
    uint8_t use_fd;
} core_CAN_module_t;
 
typedef struct core_CAN_head_s {
    uint8_t type;           
    uint8_t length : 7;     
    uint8_t fdf : 1;        
    uint16_t timestamp;     
    uint32_t id : 29;       
    uint8_t rtr : 1;        
    uint8_t xtd : 1;        
    uint8_t esi : 1;        
} core_CAN_head_t;
 
typedef struct core_CAN_msg_s {
    core_CAN_head_t header;
    uint64_t data;
} core_CAN_msg_t;
 
typedef struct core_CAN_errors_s {
    uint16_t arbitration_error;
    uint16_t data_error;
    uint16_t bus_off;
    uint16_t tx_lost;
} core_CAN_errors_t;
 
extern const uint8_t core_CAN_dlc_lookup[16];
extern core_CAN_errors_t core_CAN_errors;
 
bool core_CAN_init(FDCAN_GlobalTypeDef *fdcan, uint32_t baudrate);
 
core_CAN_module_t *core_CAN_convert(FDCAN_GlobalTypeDef *fdcan);
 
#define core_CAN_enable_timestamps core_timestamp_init
 
bool core_CAN_send_message(FDCAN_GlobalTypeDef *can, uint32_t id, uint8_t dlc, uint64_t data);
 
bool core_CAN_send_fd_message(FDCAN_GlobalTypeDef *can, uint32_t id, uint8_t dlc, uint8_t *data);
 
#if !defined(CORE_CAN_DISABLE_TX_QUEUE) || (CORE_CAN_DISABLE_TX_QUEUE == 0) || defined(DOXYGEN)
bool core_CAN_add_message_to_tx_queue(FDCAN_GlobalTypeDef *can, uint32_t id, uint8_t dlc, uint64_t data);
 
bool core_CAN_add_extended_message_to_tx_queue(FDCAN_GlobalTypeDef *can, uint32_t id, uint8_t dlc, uint8_t *data);
 
bool core_CAN_send_from_tx_queue_task(FDCAN_GlobalTypeDef *can);
#endif
 
#if ((CORE_CAN_USE_MSGBUF != 1) && (CORE_CAN_DISABLE_RX_QUEUE != 1)) || defined(DOXYGEN)
bool core_CAN_receive_from_queue(FDCAN_GlobalTypeDef *can, CanMessage_s *received_message);
 
bool core_CAN_receive_extended_from_queue(FDCAN_GlobalTypeDef *can, CanExtendedMessage_s *received_message);
#endif
 
#if (defined(CORE_CAN_USE_MSGBUF)) && (CORE_CAN_USE_MSGBUF != 0)
uint8_t core_CAN_receive_from_msgbuf(FDCAN_GlobalTypeDef *can, uint8_t *buf, TickType_t timeout);
 
BaseType_t core_CAN_msgbuf_insert_ts(core_CAN_module_t *p_can, uint8_t *buf, uint8_t buflen, uint32_t lsb);
#endif
 
bool core_CAN_add_filter(FDCAN_GlobalTypeDef *can, bool isExtended, uint32_t id1, uint32_t id2);