ALPAKA/rtos2-utils
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Moved AlpakaCanBus to TACOS

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@CarlWachter 2024-01-02 11:49:11 +01:00
parent 3b21a9aa8f
commit d4aa3c4081
1 changed files with 0 additions and 69 deletions
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69
src/system/can_bus.cpp
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@ -8,7 +8,6 @@
#include <sta/debug/assert.hpp>
#include <sta/bus/can/subscribable.hpp>
#include <sta/debug_serial.hpp>
#include <sta/lang.hpp>
#include <sta/proto/isotp/transmitter.hpp>
#include <sta/proto/isotp/receiver.hpp>
@ -138,74 +137,6 @@ namespace dummy
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_;
};
AlpakaCanBus::AlpakaCanBus(CanController * controller, TimeMsFn timeMs, SysMsgHandler sysMsgHandler, DataMsgHandler dataMsgHandler)
: controller_{controller}, tx_{controller, timeMs}, rx_{controller, timeMs}, handleSysMsg_{sysMsgHandler}, handleDataMsg_{dataMsgHandler}
{