/**
* @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,
STCA_PROCESS
} CAN_STATES;
evCAinit = 10,
evCAnewMsg,
evCAsend
} CAN_EVENTS;
typedef void (*CAN_CALLBACK)(uint8_t, uint8_t, 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);
/***********
* 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
