mcp2515_hw.h

#pragma once
 
/************************************************************************************************
 * @file   mcp2515_hw.h
 *
 * @brief  Header file for MCP2515 hardware
 *
 * @date   2025-01-31
 * @author Midnight Sun Team #24 - MSXVI
 ************************************************************************************************/
 
/* Standard library Headers */
 
/* Inter-component Headers */
#include "can_hw.h"
#include "can_msg.h"
#include "can_queue.h"
#include "gpio.h"
#include "spi.h"
 
/* Intra-component Headers */
 
// SPI commands: Table 12-1
typedef struct Mcp2515Errors {
  uint8_t eflg;
  uint8_t tec;
  uint8_t rec;
} Mcp2515Errors;
 
typedef struct Mcp2515Settings {
  SpiPort spi_port;
  SpiSettings spi_settings;
 
  GpioAddress interrupt_pin;
  GpioAddress RX0BF;
  GpioAddress RX1BF;
 
  // same can settings except MCP2515 does not support 1000kbps bitrate
  CanSettings can_settings;
} Mcp2515Settings;
 
typedef struct Mcp2515Storage {
  SpiPort spi_port;
  volatile CanQueue rx_queue;
  Mcp2515Errors errors;
  bool loopback;
} Mcp2515Storage;
 
// Initializes CAN using the specified settings.
StatusCode mcp2515_hw_init(Mcp2515Storage *rx_queue, const Mcp2515Settings *settings);
 
// StatusCode mcp2515_hw_add_filter_in(uint32_t mask, uint32_t filter, bool extended);
 
StatusCode mcp2515_hw_set_filter(CanMessageId *filters, bool loopback);
 
CanHwBusStatus mcp2515_hw_bus_status(void);
 
StatusCode mcp2515_hw_transmit(uint32_t id, bool extended, uint8_t *data, size_t len);