SummerSchool2-Controller/306-controller_interface.X/middleware/can_interface.h

/**
 * @author R<EFBFBD>mi Heredero
 * @version 1.0.0
 * @date August 2023
 * @file can_interface.h
 */
#ifndef CAN_H
#define CAN_H

#include "../xf/xf.h"

typedef enum {
    STCA_INIT = 10,
    STCA_PROCESS
} CAN_STATES;

typedef enum {
    evCAinit = 10,
    evCAnewMsg,
    evCAnewRTR,
    evCAsend4,
    evCAsend2,
    evCAsend1,
    evCAsend0,
    evCAsendRTR
} CAN_EVENTS;

typedef void (*CAN_CALLBACK)(uint8_t, uint8_t, bool, uint32_t);

typedef struct {
    CAN_STATES state;
    uint8_t sender;
    CAN_CALLBACK receiveCan;
} CAN;

CAN CAN_myself;

/**
 * Initialize the CAN
 * @param me the CAN itself
 */
void CAN_init();

/**
 * Start the CAN state machine
 */
void CAN_startBehaviour();


/**
 * Process the event
 * @param ev the event to process
 * @return true if the event is processed
 */
bool CAN_processEvent(Event* ev);

/*************
 * Callbacks *
 *************/


/**
 * Set the callback function to call when the CAN is entering state read
 * @param f the function to call
 */
void CAN_onReceiveCan(CAN_CALLBACK f);

/************
 * EMITTERS *
 ************/

/**
 * Handler for receiving new can message during.
 * This function is done during interrupt
 */
void CAN_newMsg();
     
/**
 * Put a new can message on the queue
 * @param idRecipient id for the recipient
 * @param idMsg id for the message
 * @param data 4 bytes of data to send
 */
void CAN_Send(uint8_t idRecipient, uint8_t idMsg, uint32_t data);

void CAN_send_4_bytes(uint8_t idRecipient, uint8_t idMsg, uint8_t byte0, uint8_t byte1, uint8_t byte2, uint8_t byte3);
void CAN_send_2_bytes(uint8_t idRecipient, uint8_t idMsg, uint16_t data);
void CAN_send_1_byte(uint8_t idRecipient, uint8_t idMsg, uint8_t data);
void CAN_send_0_byte(uint8_t idRecipient, uint8_t idMsg);
void CAN_send_rtr(uint8_t idRecipient, uint8_t idMsg);

/***********
 * SETTERS *
 ***********/

/**
 * Set the sender of this firmware
 * @param idSender id of the sender
 * 1 CONTROL
 * 2 JOYSTICK
 * 3 DISPLAY
 * 4 DRIVE
 * 5 STEERING
 * 6 SUPPLY
 * 7 UNDEFINED YET
 * 0 BROADCAST/DEBUG
 */
void CAN_setSender(uint8_t idSender);

#endif