mirror of
https://git.intern.spaceteamaachen.de/ALPAKA/rtos2-utils.git
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207 lines
3.9 KiB
C++
207 lines
3.9 KiB
C++
/**
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* @file
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* @brief Public interface for CAN driver thread.
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*/
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#ifndef STA_RTOS_SYSTEM_CAN_BUS_HPP
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#define STA_RTOS_SYSTEM_CAN_BUS_HPP
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/**
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* @defgroup STA_RTOS_CanBus CAN driver
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* @ingroup STA_RTOS_API
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* @brief CAN bus system task.
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*
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* Check @ref STA_RTOS_BuildConfig for configuration options.
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*/
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#ifdef DOXYGEN
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/**
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* @brief Enable module.
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*
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* @ingroup STA_RTOS_BuildConfig
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*/
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# define STA_RTOS_CAN_BUS_ENABLE
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#endif // DOXYGEN
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#include <sta/config.hpp>
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#ifdef STA_RTOS_CAN_BUS_ENABLE
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#include <sta/bus/can/controller.hpp>
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#include <sta/devices/stm32/can.hpp>
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#include <sta/rtos/c_api/can_msg.h>
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#include <sta/proto/isotp/transmitter.hpp>
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#include <sta/proto/isotp/receiver.hpp>
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#include <sta/time.hpp>
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#include <cstdint>
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/**
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* @def STA_RTOS_CAN_BUS_MAX_FILTER
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* @brief Set maximum number of usable filters.
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*
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* @ingroup STA_RTOS_BuildConfig
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*/
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#ifndef STA_RTOS_CAN_BUS_MAX_FILTER
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# error "Must set STA_RTOS_CAN_BUS_MAX_FILTER in <sta/config.hpp>"
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#endif // STA_RTOS_CAN_BUS_MAX_FILTER
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/**
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* @def STA_RTOS_CAN_BUS_MAX_PAYLOAD_SIZE
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* @brief Set maximum payload size.
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*
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* @ingroup STA_RTOS_BuildConfig
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*/
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#ifndef STA_RTOS_CAN_BUS_MAX_PAYLOAD_SIZE
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# error "Must set STA_RTOS_CAN_BUS_MAX_PAYLOAD_SIZE in <sta/config.hpp>"
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#endif // STA_RTOS_CAN_BUS_MAX_PAYLOAD_SIZE
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/**
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* @ingroup STA_RTOS_CanBus
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* @{
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*/
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/**
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* @brief CAN frame available.
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*/
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#define STA_RTOS_CAN_FLAG_MSG_AVAIL 0x000010U
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/**
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* @brief Send CAN message.
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*/
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#define STA_RTOS_CAN_FLAG_MSG_SEND 0x000020U
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/**
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* @brief CAN data message in queue.
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*/
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#define STA_RTOS_CAN_FLAG_DATA_QUEUED 0x000040U
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/**
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* @brief CAN system message in queue.
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*/
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#define STA_RTOS_CAN_FLAG_SYS_QUEUED 0x000080U
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/**
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* @brief Show ISOTP statistics.
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*/
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#define STA_RTOS_CAN_FLAG_SHOW_STATS 0x000100U
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/**
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* @brief CAN SID bits used for system messages.
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*/
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#define STA_CAN_SID_SYS_BITS UINT32_C(0x3)
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/** @} */
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namespace sta
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{
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namespace rtos
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{
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/**
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* @ingroup STA_RTOS_CanBus
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* @{
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*/
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/**
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* @brief Initialize CAN bus.
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*/
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void initCanBus();
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/**
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* @brief Return CAN_HandleTypeDef for use in CAN system task.
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*
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* Implementation must be provided by application.
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*/
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extern CAN_HandleTypeDef * getCanController();
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/** @} */
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} // namespace rtos
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} // namespace sta
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namespace sta
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{
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class AlpakaCanBus
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{
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public:
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using SysMsgHandler = void (*)(const CanRxHeader &, const uint8_t *);
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using DataMsgHandler = void (*)(const IsotpMessage &);
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static const uint8_t FIFO_SYS = 0;
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static const uint8_t FIFO_DATA = 1;
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public:
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AlpakaCanBus(CanController * controller, TimeMsFn timeMs, SysMsgHandler sysMsgHandler, DataMsgHandler dataMsgHandler);
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/**
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* @brief Send system message.
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*
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* @param msg Message
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*/
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void send(const CanSysMsg & msg);
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/**
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* @brief Send data message.
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*
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* @param msg Message
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*/
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void send(const CanDataMsg & msg);
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/**
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* @brief Process transmissions.
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*
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* Call regularly to advance transmission.
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*/
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void processTx();
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/**
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* @brief Process received CAN messages.
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*/
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void processRx();
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/**
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* @brief Display ISOTP TX/RX statistics.
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*/
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void showStatistics();
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private:
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/**
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* @brief Configure CAN filters.
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*/
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void setupSubscriptions();
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/**
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* @brief Handle received data message CAN frames.
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*
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* @param header CAN frame header
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* @param payload Payload buffer
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*/
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void receiveDataFrame(const CanRxHeader & header, const uint8_t * payload);
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private:
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CanController * controller_;
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IsotpTransmitter tx_;
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IsotpReceiver rx_;
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SysMsgHandler handleSysMsg_;
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DataMsgHandler handleDataMsg_;
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};
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} // namespace sta
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namespace dummy
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{
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void handleSysMessage(const sta::CanRxHeader & header, const uint8_t * payload);
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void handleDataMessage(const sta::IsotpMessage & msg);
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} // namespace dummy
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#endif // STA_RTOS_CAN_BUS_ENABLE
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#endif // STA_RTOS_SYSTEM_CAN_BUS_HPP
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