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https://git.intern.spaceteamaachen.de/ALPAKA/sta-core.git
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116 lines
2.8 KiB
C++
116 lines
2.8 KiB
C++
/**
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* @file
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* @brief CAN controller driver interface.
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*/
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#ifndef STA_CORE_CAN_CONTROLLER_HPP
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#define STA_CORE_CAN_CONTROLLER_HPP
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/**
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* @defgroup sta_core_can CAN
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* @ingroup sta_core
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* @brief CAN controller driver interface.
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*/
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#include <sta/bus/can/filter.hpp>
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#include <sta/bus/can/headers.hpp>
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#include <sta/bus/can/iter.hpp>
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namespace sta
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{
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/**
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* @brief CAN controller driver interface.
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*
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* @ingroup sta_core_can
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*/
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class CanController
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{
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public:
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// RX/TX
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//
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/**
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* @brief Send frame to CAN controller for transmission.
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*
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* @param header CAN frame TX header
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* @param payload CAN frame payload
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* @return True on success
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*/
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virtual bool sendFrame(const CanTxHeader & header, const uint8_t * payload) = 0;
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/**
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* @brief Get received frame from the CAN controller.
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*
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* @param[in] fifo FIFO storing frame
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* @param[out] header CAN frame RX header destination
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* @param[out] payload CAN frame payload destination
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* @return True on success
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*/
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virtual bool receiveFrame(uint8_t fifo, CanRxHeader * header, uint8_t * payload) = 0;
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/**
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* @brief Get RX FIFO flags.
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*
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* @return FIFO flags
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*/
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virtual uint32_t getRxFifoFlags() = 0;
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/**
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* @brief Get list of RX FIFO indices with pending messages.
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*/
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virtual CanPendingRxFifos getPendingRxFifos() = 0;
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// RX filter
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//
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/**
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* @brief Change filter settings.
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*
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* @param idx Filter index
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* @param filter Filter configuration
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* @param active Enable filter after applying settings
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*/
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virtual void configureFilter(uint8_t idx, const CanFilter & filter, bool active = false) = 0;
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/**
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* @brief Enable filter.
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*
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* @param idx Filter index
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*/
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virtual void enableFilter(uint8_t idx) = 0;
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/**
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* @brief Disable filter.
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*
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* @param idx Filter index
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*/
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virtual void disableFilter(uint8_t idx) = 0;
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/**
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* @brief Disable and clear all filters.
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*/
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virtual void clearFilters() = 0;
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// Info
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//
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/**
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* @brief Get number of available filters.
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*/
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virtual uint8_t maxFilterCount() const = 0;
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/**
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* @brief Get number of available FIFOs.
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*/
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virtual uint8_t maxFifoCount() const = 0;
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/**
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* @brief Get maximum supported payload size.
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*/
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virtual uint8_t maxPayloadSize() const = 0;
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};
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} // namespace sta
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#endif // STA_CORE_CAN_CONTROLLER_HPP
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