can_cache.h

#pragma once
 
/************************************************************************************************
 * @file   can_cache.h
 *
 * @brief  CAN message cache for telemetry round-robin transmission
 *
 * @date   2026-06-10
 * @author Midnight Sun Team #24 - MSXVI
 ************************************************************************************************/
 
/* Standard library Headers */
#include <stdbool.h>
#include <stddef.h>
#include <stdint.h>
 
/* Inter-component Headers */
 
/* Intra-component Headers */
 
#define TELEMETRY_STATS_CAN_ID 2020U
#define TELEMETRY_STATS_DLC 6U
 
#define WS22_TELEMETRY_STATUS_ID 2039U    
#define WS22_TELEMETRY_BUS_ID 2040U       
#define WS22_TELEMETRY_VELOCITY_ID 2041U  
#define WS22_TELEMETRY_TEMP_ID 2042U      
#define WS22_TELEMETRY_DRIVE_CMD_ID 2043U 
#define WS22_TELEMETRY_DLC 4U             
typedef enum {
  CAN_MSG_PRIORITY_HIGH = 0,
  CAN_MSG_PRIORITY_MEDIUM,
  CAN_MSG_PRIORITY_LOW,
  NUM_CAN_MSG_PRIORITIES,
} CanMsgPriority;
 
typedef struct {
  uint32_t can_id;            
  uint8_t length;             
  uint8_t data[8];            
  CanMsgPriority priority;    
  bool pending;               
  uint32_t last_updated_tick; 
  uint32_t last_tx_tick;      
  uint32_t tx_cooldown_ticks; 
} CanMessageCache;
 
extern CanMessageCache g_can_cache_high[];
extern const size_t g_can_cache_high_size;
 
extern CanMessageCache g_can_cache_medium[];
extern const size_t g_can_cache_medium_size;
 
extern CanMessageCache g_can_cache_low[];
extern const size_t g_can_cache_low_size;