bootloader_can.h

#pragma once
 
/************************************************************************************************
 * @file   bootloader_can.h
 *
 * @brief  Header file for CAN communication in the bootloader
 *
 * @date   2025-01-08
 * @author Midnight Sun Team #24 - MSXVI
 ************************************************************************************************/
 
/* Standard library Headers */
#include <stdbool.h>
#include <stddef.h>
#include <stdint.h>
 
/* Inter-component Headers */
 
/* Intra-component Headers */
#include "bootloader_error.h"
 
typedef struct {
  uint16_t prescaler;
  uint32_t bs1;
  uint32_t bs2;
} BootCanTiming;
 
typedef enum {
  BOOT_CAN_BITRATE_125KBPS,  
  BOOT_CAN_BITRATE_250KBPS,  
  BOOT_CAN_BITRATE_500KBPS,  
  BOOT_CAN_BITRATE_1000KBPS, 
  NUM_BOOT_CAN_BITRATES      
} Boot_CanBitrate;
 
typedef enum { CAN_CONTINUOUS = 0, CAN_ONE_SHOT_MODE, NUM_CAN_MODES } Boot_CanMode;
 
#define CAN_HW_BASE CAN1
 
typedef struct CanSettings {
  uint16_t device_id;      
  Boot_CanBitrate bitrate; 
  bool loopback;           
  bool silent;             
} Boot_CanSettings;
 
typedef struct {
  uint32_t id;      
  uint8_t extended; 
  size_t dlc;       
  union {
    uint64_t data;        
    uint32_t data_u32[2]; 
    uint16_t data_u16[4]; 
    uint8_t data_u8[8];   
  };
} Boot_CanMessage;
 
BootloaderError boot_can_init(const Boot_CanSettings *settings);
 
BootloaderError boot_can_transmit(uint32_t id, bool extended, const uint8_t *data, size_t len);
 
BootloaderError boot_can_receive(Boot_CanMessage *const msg);