From 26062cec876925d33d6065eec2c4ebea20532673 Mon Sep 17 00:00:00 2001
From: "@CarlWachter" <carlwachter@web.de>
Date: Tue, 2 Jan 2024 11:50:00 +0100
Subject: [PATCH] Moved AlpakaCanBus to .hpp here

---
 include/sta/rtos/system/can_bus.hpp | 76 +++++++++++++++++++++++++++++
 1 file changed, 76 insertions(+)

diff --git a/include/sta/rtos/system/can_bus.hpp b/include/sta/rtos/system/can_bus.hpp
index e9855f1..642f32d 100644
--- a/include/sta/rtos/system/can_bus.hpp
+++ b/include/sta/rtos/system/can_bus.hpp
@@ -27,7 +27,11 @@
 #ifdef STA_RTOS_CAN_BUS_ENABLE
 
 #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>
 
@@ -116,6 +120,78 @@ namespace sta
 	} // namespace rtos
 } // namespace sta
 
+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);
+
+
+		/**
+		 * @brief Send system message.
+		 *
+		 * @param msg   Message
+		 */
+		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
+
 
 #endif // STA_RTOS_CAN_BUS_ENABLE