can_hw.h

#pragma once
 
/************************************************************************************************
 * @file   can_hw.h
 *
 * @brief  Header file for CAN HW Interface
 *
 * @date   2024-11-03
 * @author Midnight Sun Team #24 - MSXVI
 ************************************************************************************************/
 
/* Standard library Headers */
#include <stdbool.h>
#include <stddef.h>
#include <stdint.h>
 
/* Inter-component Headers */
#include "gpio.h"
#include "status.h"
 
/* Intra-component Headers */
#include "can_queue.h"
 
#ifdef CAN_HW_DEV_USE_CAN0
#define CAN_HW_DEV_INTERFACE "can0"
#else
#define CAN_HW_DEV_INTERFACE "vcan0"
#endif
 
typedef StatusCode (*CanRxAllCallback)(CanMessage *msg);
 
typedef enum {
  CAN_HW_BUS_STATUS_OK = 0,   
  CAN_HW_BUS_STATUS_ERROR,    
  CAN_HW_BUS_STATUS_OFF       
} CanHwBusStatus;
 
typedef enum {
  CAN_HW_BITRATE_125KBPS,     
  CAN_HW_BITRATE_250KBPS,     
  CAN_HW_BITRATE_500KBPS,     
  CAN_HW_BITRATE_1000KBPS,    
  NUM_CAN_HW_BITRATES         
} CanHwBitrate;
 
typedef struct CanSettings {
  uint16_t device_id;             
  CanHwBitrate bitrate;           
  GpioAddress tx;                 
  GpioAddress rx;                 
  bool loopback;                  
  bool silent;                    
  CanRxAllCallback can_rx_all_cb; 
} CanSettings;
 
StatusCode can_hw_init(const CanQueue* rx_queue, const CanSettings *settings);
 
StatusCode can_hw_add_filter_in(uint32_t mask, uint32_t filter, bool extended);
 
CanHwBusStatus can_hw_bus_status(void);
 
StatusCode can_hw_transmit(uint32_t id, bool extended, const uint8_t *data, uint8_t len);
 
bool can_hw_receive(uint32_t *id, bool *extended, uint64_t *data, uint8_t *len);