102 lines
2.3 KiB
C
102 lines
2.3 KiB
C
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/**
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* @author R<EFBFBD>mi Heredero
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* @version 1.0.0
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* @date August 2023
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* @file can_interface.h
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*/
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#ifndef CANINTERFACE_H
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#define CANINTERFACE_H
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#include "../xf/xf.h"
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typedef enum {
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STCA_INIT,
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STCA_WAIT,
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STCA_READ
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} CANINTERFACE_STATES;
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typedef enum {
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evCAinit = 10, // TODO change this number (< 256)
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evCAnewMsg,
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evCAdone
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} CANINTERFACE_EVENTS;
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typedef void (*CANINTERFACE_CALLBACK_FUNCTION)(void*);
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typedef void (*CANINTERFACE_CALLBACK_CAN)(uint32_t, uint32_t);
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typedef struct {
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CANINTERFACE_CALLBACK_FUNCTION f; // function
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void* p; // param(s)
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} CANINTERFACE_CALLBACK;
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typedef struct {
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CANINTERFACE_STATES state;
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CANINTERFACE_CALLBACK wait;
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CANINTERFACE_CALLBACK read;
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CANINTERFACE_CALLBACK_CAN processCan;
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} CANINTERFACE;
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CANINTERFACE CANINTERFACE_myself;
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/**
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* Initialize the CANINTERFACE
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* @param me the CANINTERFACE itself
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*/
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void CANINTERFACE_init();
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/**
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* Start the CANINTERFACE state machine
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* @param me the CANINTERFACE itself
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*/
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void CANINTERFACE_startBehaviour();
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/**
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* Handler for receiving new can message during.
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* This function is done during interrupt
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*/
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void CANINTERFACE_newMsg();
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/**
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* Process the event
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* @param ev the event to process
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* @return true if the event is processed
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*/
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bool CANINTERFACE_processEvent(Event* ev);
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/*************
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* Callbacks *
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*************/
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/**
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* Set the callback function to call when the CANINTERFACE is entering state wait
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* @param me the CANINTERFACE itself
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* @param f the function to call
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* @param p the param(s) to pass to the function
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*/
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void CANINTERFACE_onWait(CANINTERFACE_CALLBACK_FUNCTION f, void* p);
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/**
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* Set the callback function to call when the CANINTERFACE is entering state read
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* @param me the CANINTERFACE itself
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* @param f the function to call
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* @param p the param(s) to pass to the function
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*/
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void CANINTERFACE_onRead(CANINTERFACE_CALLBACK_FUNCTION f, void* p);
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/**
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* Set the callback function to call when the CANINTERFACE is entering state read
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* @param f the function to call
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*/
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void CANINTERFACE_onProcessCan(CANINTERFACE_CALLBACK_CAN f);
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/************
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* EMITTERS *
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************/
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/**
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* Emit the NewMsg event
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* @param me the CANINTERFACE itself
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* @param t time to wait in ms before triggering event
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*/void CANINTERFACE_emitNewMsg(uint16_t t);
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#endif
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