Add moved CAN bus sys task

include/sta/rtos/system/can_bus.hpp

@@ -0,0 +1,184 @@
+/**
+ * @file
+ * @brief Public interface for CAN driver thread.
+ */
+#ifndef STA_RTOS_SYSTEM_CAN_BUS_HPP
+#define STA_RTOS_SYSTEM_CAN_BUS_HPP
+
+#include <sta/rtos/system/names.hpp>
+
+
+/**
+ * @defgroup STA_RTOS_CanBus CAN driver
+ * @ingroup STA_RTOS_API
+ * @brief CAN bus system task.
+ *
+ * Check @ref STA_RTOS_BuildConfig for configuration options.
+ */
+
+#ifdef DOXYGEN
+/**
+ * @brief Enable module.
+ *
+ * @ingroup STA_RTOS_BuildConfig
+ */
+#  define STA_RTOS_CAN_BUS_ENABLE
+#endif // DOXYGEN
+
+/**
+ * @def STA_RTOS_CAN_BUS_TASK_NAME
+ * @brief Set name of CAN driver task.
+ *
+ * @ingroup STA_RTOS_BuildConfig
+ */
+#ifndef STA_RTOS_CAN_BUS_TASK_NAME
+#  define STA_RTOS_CAN_BUS_TASK_NAME		canBus
+#endif // !STA_RTOS_CAN_BUS_TASK_NAME
+
+/**
+ * @def STA_RTOS_CAN_BUS_ENTRY_FUNCTION
+ * @brief Set name of CAN driver task entry function.
+ *
+ * @ingroup STA_RTOS_BuildConfig
+ */
+#ifndef STA_RTOS_CAN_BUS_ENTRY_FUNCTION
+#  define STA_RTOS_CAN_BUS_ENTRY_FUNCTION   STA_RTOS_MAKE_ENTRY_NAME(STA_RTOS_CAN_BUS_TASK_NAME)
+#endif // !STA_RTOS_CAN_BUS_ENTRY_FUNCTION
+
+
+#include <sta/config.hpp>
+#ifdef STA_RTOS_CAN_BUS_ENABLE
+
+#include <sta/rtos/system/can_msg.h>
+
+#include <cstdint>
+
+
+/**
+ * @def STA_RTOS_CAN_BUS_MAX_FILTER
+ * @brief Set maximum number of usable filters.
+ *
+ * @ingroup STA_RTOS_BuildConfig
+ */
+#ifndef STA_RTOS_CAN_BUS_MAX_FILTER
+#  error "Must set STA_RTOS_CAN_BUS_MAX_FILTER in <sta/config.hpp>"
+#endif // STA_RTOS_CAN_BUS_MAX_FILTER
+
+/**
+ * @def STA_RTOS_CAN_BUS_MAX_PAYLOAD_SIZE
+ * @brief Set maximum payload size.
+ *
+ * @ingroup STA_RTOS_BuildConfig
+ */
+#ifndef STA_RTOS_CAN_BUS_MAX_PAYLOAD_SIZE
+#  error "Must set STA_RTOS_CAN_BUS_MAX_PAYLOAD_SIZE in <sta/config.hpp>"
+#endif // STA_RTOS_CAN_BUS_MAX_PAYLOAD_SIZE
+
+
+/**
+ * @ingroup STA_RTOS_CanBus
+ * @{
+ */
+
+
+/**
+ * @brief CAN frame available.
+ */
+#define STA_RTOS_CAN_FLAG_MSG_AVAIL     0x000010U
+/**
+ * @brief Send CAN message.
+ */
+#define STA_RTOS_CAN_FLAG_MSG_SEND      0x000020U
+/**
+ * @brief CAN data message in queue.
+ */
+#define STA_RTOS_CAN_FLAG_DATA_QUEUED   0x000040U
+/**
+ * @brief CAN system message in queue.
+ */
+#define STA_RTOS_CAN_FLAG_SYS_QUEUED    0x000080U
+/**
+ * @brief Show ISOTP statistics.
+ */
+#define STA_RTOS_CAN_FLAG_SHOW_STATS    0x000100U
+
+
+/**
+ * @brief CAN SID bits used for system messages.
+ */
+#define STA_CAN_SID_SYS_BITS            UINT32_C(0x3)
+
+
+/** @} */
+
+
+namespace sta
+{
+	namespace rtos
+	{
+		/**
+		 * @ingroup STA_RTOS_CanBus
+		 * @{
+		 */
+
+
+		/**
+		 * @brief Extra initialization run at start of CAN bus task.
+		 *
+		 * May be overridden by application if required.
+		 */
+		void setupCanBus();
+
+
+
+		/**
+		 * @brief Send notification to CAN driver.
+		 *
+		 * @param flags Event flags
+		 */
+		void notifyCanBus(uint32_t flags);
+
+
+		/**
+		 * @brief Place data message in CAN driver TX queue.
+		 *
+		 * @param msg       Message to transmit
+		 * @param timeout   Timeout for placing message (0 = no wait, osWaitForever = blocking)
+		 * @return          True if message was queued successfully
+		 */
+		bool queueCanBusMsg(const CanDataMsg & msg, uint32_t timeout);
+		/**
+		 * @brief Place system message in CAN driver TX queue.
+		 *
+		 * @param msg       Message to transmit
+		 * @param timeout   Timeout for placing message (0 = no wait, osWaitForever = blocking)
+		 * @return          True if message was queued successfully
+		 */
+		bool queueCanBusMsg(const CanSysMsg & msg, uint32_t timeout);
+
+		/**
+		 * @brief Retrieve data message from CAN driver TX queue.
+		 *
+		 * @param[out] msg	    Output address for retrieved message
+		 * @param      timeout  Timeout for retrieving message (0 = no wait, osWaitForever = blocking)
+		 * @return              True if message was retrieved successfully
+		 */
+		bool getCanBusMsg(CanDataMsg * msg, uint32_t timeout);
+		/**
+		 * @brief Retrieve system message from CAN driver TX queue.
+		 *
+		 * @param[out] msg      Destination for retrieved message
+		 * @param      timeout  Timeout for retrieving message (0 = no wait, osWaitForever = blocking)
+		 * @return              True if message was retrieved successfully
+		 */
+		bool getCanBusMsg(CanSysMsg * msg, uint32_t timeout);
+
+
+		/** @} */
+	} // namespace rtos
+} // namespace sta
+
+
+#endif // STA_RTOS_CAN_BUS_ENABLE
+
+#endif // STA_RTOS_SYSTEM_CAN_BUS_HPP

include/sta/rtos/system/can_msg.h

@@ -0,0 +1,49 @@
+/**
+ * @file
+ * @brief CAN driver message request types for use in C code.
+ */
+#ifndef STA_RTOS_SYSTEM_CAN_MSG_H
+#define STA_RTOS_SYSTEM_CAN_MSG_H
+
+#include <stdint.h>
+
+
+/**
+ * @brief CAN message header.
+ *
+ * @ingroup STA_RTOS_CanBus
+ */
+struct CanMsgHeader
+{
+	uint32_t sid;           /**< Message SID */
+	uint32_t eid;           /**< Message EID */
+	uint8_t  format;        /**< Message ID format */
+	uint8_t  payloadLength; /**< Payload length */
+};
+
+
+/**
+ * @brief Element type for CAN data message queue.
+ *
+ * @ingroup STA_RTOS_CanBus
+ */
+struct CanDataMsg
+{
+	struct CanMsgHeader header;         /**< Message header data */
+	uint8_t             payload[64];    /**< Message payload */
+};
+
+
+/**
+ * @brief Element type for CAN system message queue.
+ *
+ * @ingroup STA_RTOS_CanBus
+ */
+struct CanSysMsg
+{
+	struct CanMsgHeader header;     /**< Message header data */
+	uint8_t             payload[8]; /**< Message payload */
+};
+
+
+#endif // STA_RTOS_SYSTEM_CAN_MSG_H