Add pending RX api

include/sta/can/controller.hpp

@@ -19,6 +19,7 @@
 
 #include <sta/can/filter.hpp>
 #include <sta/can/headers.hpp>
+#include <sta/can/iter.hpp>
 
 
 namespace sta
@@ -60,6 +61,11 @@ namespace sta
 		 */
 		virtual uint32_t getRxFifoFlags() = 0;
 
+		/**
+		 * @brief Get list of RX FIFO indices with pending messages.
+		 */
+		virtual CanPendingRxFifos getPendingRxFifos() = 0;
+
 
 		// RX filter
 		//
@@ -88,6 +94,25 @@ namespace sta
 		 * @brief Disable and clear all filters.
 		 */
 		virtual void clearFilters() = 0;
+
+
+		// Info
+		//
+
+		/**
+		 * @brief Get number of available filters.
+		 */
+		virtual uint8_t maxFilterCount() const = 0;
+
+		/**
+		 * @brief Get number of available FIFOs.
+		 */
+		virtual uint8_t maxFifoCount() const = 0;
+
+		/**
+		 * @brief Get maximum supported payload size.
+		 */
+		virtual uint8_t maxPayloadSize() const = 0;
 	};
 } // namespace sta
 

include/sta/can/iter.hpp

@@ -0,0 +1,63 @@
+#ifndef STA_CAN_ITER_HPP
+#define STA_CAN_ITER_HPP
+
+#include <cstdint>
+
+
+namespace sta
+{
+	class CanPendingRxFifos
+	{
+	public:
+		using value_type = uint8_t;
+		using reference = value_type &;
+		using const_reference = const value_type &;
+		using size_type = uint8_t;
+
+		class const_iterator
+		{
+		public:
+			using value_type = CanPendingRxFifos::value_type;
+			using reference = const_reference;
+			using pointer = const value_type *;
+
+		public:
+			const_iterator(const const_iterator & iter);
+
+			const_iterator & operator=(const const_iterator & iter);
+
+			bool operator==(const const_iterator & iter) const;
+			bool operator!=(const const_iterator & iter) const;
+
+			const_iterator & operator++();
+			const_iterator operator++(int);
+
+			reference operator*() const;
+
+		private:
+			const_iterator(uint32_t rxFlags, uint8_t idx, uint8_t endIdx);
+
+			bool isRxPending() const;
+
+			friend class CanPendingRxFifos;
+
+		private:
+			uint32_t rxFlags_;
+			uint8_t idx_;
+			uint8_t endIdx_;
+		};
+
+	public:
+		CanPendingRxFifos(uint32_t rxFlags, uint8_t numFifos);
+
+		const_iterator begin() const;
+		const_iterator end() const;
+
+	private:
+		uint32_t rxFlags_;
+		uint8_t numFifos_;
+	};
+} // namespace sta
+
+
+#endif // STA_CAN_ITER_HPP

src/can/iter.cpp

@@ -0,0 +1,95 @@
+#include <sta/can/iter.hpp>
+
+#include <sta/assert.hpp>
+
+
+namespace sta
+{
+	CanPendingRxFifos::const_iterator::const_iterator(uint32_t rxFlags, uint8_t idx, uint8_t endIdx)
+		: rxFlags_{rxFlags}, idx_{idx}, endIdx_{endIdx}
+	{}
+
+	CanPendingRxFifos::const_iterator::const_iterator(const const_iterator & iter)
+		: rxFlags_{iter.rxFlags_}, idx_{iter.idx_}, endIdx_{iter.endIdx_}
+	{}
+
+
+	CanPendingRxFifos::const_iterator & CanPendingRxFifos::const_iterator::operator=(const const_iterator & iter)
+	{
+		rxFlags_    = iter.rxFlags_;
+		idx_        = iter.idx_;
+		endIdx_     = iter.endIdx_;
+
+		return *this;
+	}
+
+
+	bool CanPendingRxFifos::const_iterator::operator==(const const_iterator & iter) const
+	{
+		return (rxFlags_ == iter.rxFlags_) && (idx_ == iter.idx_) && (endIdx_ == iter.endIdx_);
+	}
+
+	bool CanPendingRxFifos::const_iterator::operator!=(const const_iterator & iter) const
+	{
+		return !(*this == iter);
+	}
+
+
+	CanPendingRxFifos::const_iterator & CanPendingRxFifos::const_iterator::operator++()
+	{
+		while (idx_ < endIdx_)
+		{
+			++idx_;
+			if (isRxPending())
+			{
+				break;
+			}
+		}
+
+		return *this;
+	}
+
+	CanPendingRxFifos::const_iterator CanPendingRxFifos::const_iterator::operator++(int)
+	{
+		uint8_t oldIdx = idx_;
+
+		while (idx_ < endIdx_)
+		{
+			++idx_;
+			if (isRxPending())
+			{
+				break;
+			}
+		}
+
+		return const_iterator(rxFlags_, oldIdx, endIdx_);
+	}
+
+	CanPendingRxFifos::const_iterator::reference CanPendingRxFifos::const_iterator::operator*() const
+	{
+		STA_ASSERT_MSG(idx_ != endIdx_, "Dereferencing out-of-bounds iterator");
+
+		return idx_;
+	}
+
+	bool CanPendingRxFifos::const_iterator::isRxPending() const
+	{
+		return ( (rxFlags_ >> idx_) & 0x1 );
+	}
+
+
+
+	CanPendingRxFifos::CanPendingRxFifos(uint32_t rxFlags, uint8_t numFifos)
+		: rxFlags_{rxFlags}, numFifos_{numFifos}
+	{}
+
+	CanPendingRxFifos::const_iterator CanPendingRxFifos::begin() const
+	{
+		return const_iterator(rxFlags_, 0, numFifos_);
+	}
+
+	CanPendingRxFifos::const_iterator CanPendingRxFifos::end() const
+	{
+		return const_iterator(rxFlags_, numFifos_, numFifos_);
+	}
+} // namespace sta