Added I2C support for raspi & first rework of debugging

include/sta/bus/can/controller.hpp

@@ -0,0 +1,115 @@
+/**
+ * @file
+ * @brief CAN controller driver interface.
+ */
+#ifndef STA_CORE_CAN_CONTROLLER_HPP
+#define STA_CORE_CAN_CONTROLLER_HPP
+
+/**
+ * @defgroup sta_core_can CAN
+ * @ingroup sta_core
+ * @brief CAN controller driver interface.
+ */
+
+
+#include <sta/bus/can/filter.hpp>
+#include <sta/bus/can/headers.hpp>
+#include <sta/bus/can/iter.hpp>
+
+
+namespace sta
+{
+    /**
+     * @brief CAN controller driver interface.
+     *
+     * @ingroup sta_core_can
+     */
+    class CanController
+    {
+    public:
+        // RX/TX
+        //
+
+        /**
+         * @brief Send frame to CAN controller for transmission.
+         *
+         * @param header    CAN frame TX header
+         * @param payload   CAN frame payload
+         * @return          True on success
+         */
+        virtual bool sendFrame(const CanTxHeader & header, const uint8_t * payload) = 0;
+
+        /**
+         * @brief Get received frame from the CAN controller.
+         *
+         * @param[in]   fifo        FIFO storing frame
+         * @param[out]  header      CAN frame RX header destination
+         * @param[out]  payload     CAN frame payload destination
+         * @return                  True on success
+         */
+        virtual bool receiveFrame(uint8_t fifo, CanRxHeader * header, uint8_t * payload) = 0;
+
+        /**
+         * @brief Get RX FIFO flags.
+         *
+         * @return  FIFO flags
+         */
+        virtual uint32_t getRxFifoFlags() = 0;
+
+        /**
+         * @brief Get list of RX FIFO indices with pending messages.
+         */
+        virtual CanPendingRxFifos getPendingRxFifos() = 0;
+
+
+        // RX filter
+        //
+
+        /**
+         * @brief Change filter settings.
+         *
+         * @param idx       Filter index
+         * @param filter    Filter configuration
+         * @param active    Enable filter after applying settings
+         */
+        virtual void configureFilter(uint8_t idx, const CanFilter & filter, bool active = false) = 0;
+        /**
+         * @brief Enable filter.
+         *
+         * @param idx   Filter index
+         */
+        virtual void enableFilter(uint8_t idx) = 0;
+        /**
+         * @brief Disable filter.
+         *
+         * @param idx   Filter index
+         */
+        virtual void disableFilter(uint8_t idx) = 0;
+        /**
+         * @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
+
+
+#endif // STA_CORE_CAN_CONTROLLER_HPP