118 lines
3.8 KiB
C
118 lines
3.8 KiB
C
/**
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* @file CanDataHandler.h
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* @brief CanDataHandler Module
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*
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* The CanDataHandler module is responsible for managing CAN data messages and event messages.
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* It provides functionality to register CAN IDs for data and event messages, handle reception
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* of these messages from FIFO buffers, insert data messages into an array, and retrieve stored
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* data messages based on their CAN ID.
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*
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* The module maintains an internal data structure for data and event message slots, each of which
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* is associated with a filter reference that points to a filter slot. A filter slot stores the
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* CAN IDs and indicates the type of FIFO buffer and the number of free IDs in the slot.
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*
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* For event messages, a callback function can be registered to handle specific events associated
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* with a CAN ID.
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*/
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#ifndef CANDATAHANDLER_H
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#define CANDATAHANDLER_H
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#include <stdint.h>
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#include <stdbool.h>
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#include <stddef.h>
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#include "CLS_BSP.h"
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// Define the maximum length of data for a Data Message
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#define MAX_DATA_LENGTH 8
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typedef uint16_t CanDataId;
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// Typedef for the event callback function
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typedef void (*EventCallback)(CanDataId canid, uint8_t* data, uint8_t len);
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// type of fifo that this slot uses
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typedef enum {
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CANDATA_FIFOX_UNDEFIEND = CLS_CAN_FILTER_DISABLE,
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CANDATA_FIFO0_DATA = CLS_CAN_FILTER_TO_RXFIFO0,
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CANDATA_FIFO1_EVENT = CLS_CAN_FILTER_TO_RXFIFO1,
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CANDATA_FIFOX_MANUAL = 0x0f,
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} CanDataSlotFifo;
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// count of free ids in the slot
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typedef enum {
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CANDATA_ALLFREE = 0x00,
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CANDATA_FREE1 = 0x01,
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CANDATA_FREE0 = 0x02,
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CANDATA_FULL = 0x03,
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CANDATA_MANUAL = 0x0f,
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} CanDataSlotFree;
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// Define s structer for a used filter slot
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typedef struct {
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CanDataSlotFree free; // Number of free IDs in the slot
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CanDataSlotFifo fifo; // Type of FIFO that this slot uses
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CanDataId id[2]; // Array to store the two CAN IDs associated with this filter slot
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} CanDataFilterSlot;
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// Define a structure for a Data Message
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typedef struct {
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CanDataId canid;
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uint8_t data[MAX_DATA_LENGTH];
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uint8_t data_length;
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} CanDataMessage;
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typedef struct
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{
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CanDataFilterSlot * ref; // Reference to the filter slot
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uint8_t index; // Index of the used CAN ID in the filter slot's id array
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} CanDataFilterRef;
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typedef struct {
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CanDataMessage msg;
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CanDataFilterRef filter; // Filter reference
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} CanDataMessageSlot;
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// Define a structure for a Event Message
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typedef struct {
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CanDataId canid;
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EventCallback eventCall;
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CanDataFilterRef filter; // Filter reference
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} CanDataEventSlot;
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// reset all internal structures
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// does not reset CAN HW
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void CanDataHandler_init(void);
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// Function to register a CAN ID for Data Messages
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bool CanData_regDataMsg(CanDataId canid);
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// Function to register a Set of ID for Data Messages using a Manual filter
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size_t CanData_regDataManualMsg(const CanDataId* canid, size_t id_count, CLS_BSP_CAN_UniversalFilter * filter);
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// Function to register a CAN ID for Event Messages and associate it with a callback function
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bool CanData_regEventMsg(CanDataId canid, EventCallback event_callback);
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// Function to remove a CAN ID from Event Messages Register
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bool CanData_removeEvent(CanDataId canid);
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// Function to handle reception of Data Messages from FIFO0
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void CanData_canFifo0RxCallback(CanDataId canid, uint8_t* data, uint8_t len);
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// Function to handle reception of Event Messages from FIFO1
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void CanData_canFifo1RxCallback(CanDataId canid, uint8_t* data, uint8_t len);
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// Function to insert a Data Message into the array
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void CanData_insertDataMessage(CanDataId canid, uint8_t* data, uint8_t data_length);
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// Function to read stored Data Message based on CAN ID
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// Returns a const pointer to the stored data or NULL if not found
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const CanDataMessage* CanData_getDataMessage(CanDataId canid);
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#endif // CANDATAHANDLER_H
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