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

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

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

typedef enum {
    STCA_INIT,
    STCA_WAIT,
    STCA_READ
} CANINTERFACE_STATES;

typedef enum {
    evCAinit = 10, // TODO change this number (< 256)
    evCAnewMsg,
    evCAdone
} CANINTERFACE_EVENTS;

typedef void (*CANINTERFACE_CALLBACK_FUNCTION)(void*);
typedef void (*CANINTERFACE_CALLBACK_CAN)(uint32_t, uint32_t);
typedef struct {
    CANINTERFACE_CALLBACK_FUNCTION f; // function
    void* p; // param(s)
} CANINTERFACE_CALLBACK;

typedef struct {
    CANINTERFACE_STATES state;
    CANINTERFACE_CALLBACK wait;
    CANINTERFACE_CALLBACK read;
    CANINTERFACE_CALLBACK_CAN processCan;
} CANINTERFACE;

CANINTERFACE CANINTERFACE_myself;

/**
 * Initialize the CANINTERFACE
 * @param me the CANINTERFACE itself
 */
void CANINTERFACE_init();

/**
 * Start the CANINTERFACE state machine
 */
void CANINTERFACE_startBehaviour();

/**
 * Handler for receiving new can message during.
 * This function is done during interrupt
 */
void CANINTERFACE_newMsg();

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

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

/**
 * Set the callback function to call when the CANINTERFACE is entering state wait
 * @param f the function to call
 * @param p the param(s) to pass to the function
 */
void CANINTERFACE_onWait(CANINTERFACE_CALLBACK_FUNCTION f, void* p);

/**
 * Set the callback function to call when the CANINTERFACE is entering state read
 * @param f the function to call
 * @param p the param(s) to pass to the function
 */
void CANINTERFACE_onRead(CANINTERFACE_CALLBACK_FUNCTION f, void* p);

/**
 * Set the callback function to call when the CANINTERFACE is entering state read
 * @param f the function to call
 */
void CANINTERFACE_onProcessCan(CANINTERFACE_CALLBACK_CAN f);

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

/**
 * Emit the NewMsg event
 * @param t time to wait in ms before triggering event
 */
void CANINTERFACE_emitNewMsg(uint16_t t);
     
/**
 * Emit the Done event
 * @param t time to wait in ms before triggering event
 */
void CANINTERFACE_emitDone(uint16_t t);

#endif