100 lines
1.6 KiB
C
100 lines
1.6 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 CAN_H
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#define CAN_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_PROCESS
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} CAN_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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evCAsend
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} CAN_EVENTS;
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typedef void (*CAN_CALLBACK)(uint8_t, uint8_t, uint32_t);
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typedef struct {
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CAN_STATES state;
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uint8_t sender;
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CAN_CALLBACK receiveCan;
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} CAN;
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CAN CAN_myself;
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/**
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* Initialize the CAN
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* @param me the CAN itself
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*/
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void CAN_init();
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/**
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* Start the CAN state machine
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*/
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void CAN_startBehaviour();
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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 CAN_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 CAN is entering state read
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* @param f the function to call
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*/
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void CAN_onReceiveCan(CAN_CALLBACK f);
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/************
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* EMITTERS *
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************/
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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 CAN_newMsg();
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/**
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* Put a new can message on the queue
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* @param idRecipient id for the recipient
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* @param idMsg id for the message
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* @param data 4 bytes of data to send
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*/
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void CAN_Send(uint8_t idRecipient, uint8_t idMsg, uint32_t data);
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/***********
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* SETTERS *
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***********/
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/**
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* Set the sender of this firmware
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* @param idSender id of the sender
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* 1 CONTROL
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* 2 JOYSTICK
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* 3 DISPLAY
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* 4 DRIVE
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* 5 STEERING
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* 6 SUPPLY
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* 7 UNDEFINED YET
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* 0 BROADCAST/DEBUG
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*/
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void CAN_setSender(uint8_t idSender);
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#endif
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