ALPAKA/rtos2-utils
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CAN w/o isotp

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This commit is contained in:
CarlWachter
2024-04-30 15:27:01 +02:00
parent a6704f4c45
commit 21e50a5ed1
2 changed files with 3 additions and 165 deletions
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48
include/sta/rtos/system/can_bus.hpp
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@@ -29,8 +29,6 @@
#include <sta/bus/can/controller.hpp>
#include <sta/devices/stm32/can.hpp>
#include <sta/rtos/c_api/can_msg.h>
#include <sta/proto/isotp/transmitter.hpp>
#include <sta/proto/isotp/receiver.hpp>
#include <sta/time.hpp>
#include <cstdint>
@@ -78,10 +76,6 @@
* @brief CAN system message in queue.
*/
#define STA_RTOS_CAN_FLAG_SYS_QUEUED 0x1U << 3
/**
* @brief Show ISOTP statistics.
*/
#define STA_RTOS_CAN_FLAG_SHOW_STATS 0x1U << 4
/**
* @brief CAN SID bits used for system messages.
@@ -126,14 +120,11 @@ namespace sta
class AlpakaCanBus
{
public:
using SysMsgHandler = void (*)(const CanRxHeader &, const uint8_t *);
using DataMsgHandler = void (*)(const IsotpMessage &);
static const uint8_t FIFO_SYS = 0;
static const uint8_t FIFO_DATA = 1;
public:
AlpakaCanBus(CanController * controller, TimeMsFn timeMs, SysMsgHandler sysMsgHandler, DataMsgHandler dataMsgHandler);
AlpakaCanBus(CanController * controller, TimeMsFn timeMs);
/**
@@ -143,51 +134,14 @@ namespace sta
*/
void send(const CanSysMsg & msg);
/**
* @brief Send data message.
*
* @param msg Message
*/
void send(const CanDataMsg & msg);
/**
* @brief Process transmissions.
*
* Call regularly to advance transmission.
*/
void processTx();
/**
* @brief Process received CAN messages.
*/
void processRx();
/**
* @brief Display ISOTP TX/RX statistics.
*/
void showStatistics();
private:
/**
* @brief Configure CAN filters.
*/
void setupSubscriptions();
/**
* @brief Handle received data message CAN frames.
*
* @param header CAN frame header
* @param payload Payload buffer
*/
void receiveDataFrame(const CanRxHeader & header, const uint8_t * payload);
private:
CanController * controller_;
IsotpTransmitter tx_;
IsotpReceiver rx_;
SysMsgHandler handleSysMsg_;
DataMsgHandler handleDataMsg_;
};
} // namespace sta