mirror of
https://git.intern.spaceteamaachen.de/ALPAKA/rtos2-utils.git
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170 lines
3.7 KiB
C++
170 lines
3.7 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/can/controller.hpp>
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#include <sta/rtos/c_api/can_msg.h>
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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 CanController 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 CanController * getCanController();
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/**
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* @brief Send notification to CAN driver.
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*
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* @param flags Event flags
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*/
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void notifyCanBus(uint32_t flags);
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/**
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* @brief Place data message in CAN driver TX queue.
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*
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* @param msg Message to transmit
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* @param timeout Timeout for placing message (0 = no wait, osWaitForever = blocking)
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* @return True if message was queued successfully
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*/
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bool queueCanBusMsg(const CanDataMsg & msg, uint32_t timeout);
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/**
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* @brief Place system message in CAN driver TX queue.
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*
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* @param msg Message to transmit
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* @param timeout Timeout for placing message (0 = no wait, osWaitForever = blocking)
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* @return True if message was queued successfully
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*/
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bool queueCanBusMsg(const CanSysMsg & msg, uint32_t timeout);
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/**
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* @brief Retrieve data message from CAN driver TX queue.
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*
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* @param[out] msg Output address for retrieved message
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* @param timeout Timeout for retrieving message (0 = no wait, osWaitForever = blocking)
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* @return True if message was retrieved successfully
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*/
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bool getCanBusMsg(CanDataMsg * msg, uint32_t timeout);
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/**
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* @brief Retrieve system message from CAN driver TX queue.
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*
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* @param[out] msg Destination for retrieved message
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* @param timeout Timeout for retrieving message (0 = no wait, osWaitForever = blocking)
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* @return True if message was retrieved successfully
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*/
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bool getCanBusMsg(CanSysMsg * msg, uint32_t timeout);
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/** @} */
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} // namespace rtos
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} // namespace sta
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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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