mirror of https://github.com/rusefi/rusefi-1.git
68 lines
1.7 KiB
C++
68 lines
1.7 KiB
C++
/**
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* @file serial_can.h
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*
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* @date Aug 1, 2020
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* @author andreika <prometheus.pcb@gmail.com>
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* @author Andrey Belomutskiy, (c) 2012-2020
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*/
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#pragma once
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#include "fifo_buffer.h"
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#define CAN_TX_ID 0x102
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enum IsoTpFrameType {
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ISO_TP_FRAME_SINGLE = 0,
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ISO_TP_FRAME_FIRST = 1,
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ISO_TP_FRAME_CONSECUTIVE = 2,
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ISO_TP_FRAME_FLOW_CONTROL = 3,
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};
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class IsoTpFrameHeader {
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public:
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IsoTpFrameType frameType;
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// used for 'single' or 'first' frames
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int numBytes;
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// used for 'consecutive' frames
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int index;
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// used for 'flow control' frames
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int fcFlag;
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int blockSize;
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int separationTime;
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};
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class CanStreamerState {
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public:
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fifo_buffer<uint8_t, 64> rxFifoBuf;
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fifo_buffer<uint8_t, 64> txFifoBuf;
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#if defined(TS_CAN_DEVICE_SHORT_PACKETS_IN_ONE_FRAME)
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// used to restore the original packet with CRC
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uint8_t tmpRxBuf[13];
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#endif
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// used for multi-frame ISO-TP packets
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int waitingForNumBytes = 0;
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int waitingForFrameIndex = 0;
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event_listener_t el;
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public:
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int sendFrame(CANDriver *canp, const IsoTpFrameHeader & header, const uint8_t *data, int num);
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int receiveFrame(CANDriver *canp, CANRxFrame *rxmsg, uint8_t *buf, int num);
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int getDataFromFifo(uint8_t *rxbuf, size_t &numBytes);
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// returns the number of bytes sent
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int sendDataTimeout(CANDriver *canp, const uint8_t *txbuf, int numBytes, sysinterval_t timeout);
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};
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void canInit(CANDriver *canp);
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// we don't have canStreamSendTimeout() because we need to "bufferize" the stream and send it in fixed-length packets
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msg_t canAddToTxStreamTimeout(CANDriver *canp, size_t *np, const uint8_t *txbuf, sysinterval_t timeout);
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msg_t canFlushTxStream(CANDriver *canp, sysinterval_t timeout);
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msg_t canStreamReceiveTimeout(CANDriver *canp, size_t *np, uint8_t *rxbuf, sysinterval_t timeout);
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