rusefi-1/firmware/controllers/can/can.h

/**
 * @file	can.h
 *
 * @date Mar 19, 2020
 * @author Matthew Kennedy, (c) 2020
 */

#pragma once

#include "hal.h"

#include "periodic_thread_controller.h"

#define CAN_PEDAL_TPS_OFFSET 2
#define CAN_SENSOR_1_OFFSET 3

#define CAN_TIMEOUT MS2NT(100)

class CanListener;
class CanSensorBase;

#if EFI_CAN_SUPPORT
void processCanRxMessage(const CANRxFrame& msg, efitick_t nowNt);
#endif // EFI_CAN_SUPPORT

void registerCanListener(CanListener& listener);
void registerCanSensor(CanSensorBase& sensor);

// Indicate that an ack response was received from the wideband bootloader
void handleWidebandBootloaderAck();
// Update the firmware on any connected wideband controller
void updateWidebandFirmware();
// Set the CAN index offset of any attached wideband controller
void setWidebandOffset(uint8_t index);

class CanWrite final : public PeriodicController<512> {
public:
	CanWrite();
	void PeriodicTask(efitime_t nowNt) override;
};

// We need these helpers because the frame layout is different on STM32H7
#ifdef STM32H7XX
#define CAN_SID(f) ((f).std.SID)
#define CAN_EID(f) ((f).ext.EID)
#else
#define CAN_SID(f) ((f).SID)
#define CAN_EID(f) ((f).EID)
#endif