forked from test34/can_wizard
53 lines
1.7 KiB
C
53 lines
1.7 KiB
C
#ifndef MAIN_CAN_H
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#define MAIN_CAN_H
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#include "driver/twai.h"
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#include "hal/twai_types.h"
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#include "freertos/semphr.h"
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#include <list.h>
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typedef enum {
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CAN_NOT_INSTALLED = 0,
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CAN_STOPPED = 1,
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CAN_ERROR_ACTIVE = 2,
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CAN_ERROR_PASSIVE = 3,
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CAN_BUF_OFF = 4,
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CAN_RECOVERING = 5,
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} can_state_e;
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typedef struct {
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bool enabled;
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List* filters;
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bool sw_filtering;
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} adv_filt_t;
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typedef struct {
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uint32_t filt;
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uint32_t mask;
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} smart_filt_element_t;
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typedef struct {
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can_state_e state;
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uint32_t msgs_to_tx; /**< Number of messages queued for transmission or awaiting transmission completion */
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uint32_t msgs_to_rx; /**< Number of messages in RX queue waiting to be read */
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uint32_t tx_error_counter; /**< Current value of Transmit Error Counter */
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uint32_t rx_error_counter; /**< Current value of Receive Error Counter */
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uint32_t tx_failed_count; /**< Number of messages that failed transmissions */
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uint32_t rx_missed_count; /**< Number of messages that were lost due to a full RX queue (or errata workaround if enabled) */
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uint32_t rx_overrun_count; /**< Number of messages that were lost due to a RX FIFO overrun */
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uint32_t arb_lost_count; /**< Number of instances arbitration was lost */
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uint32_t bus_error_count; /**< Number of instances a bus error has occurred */
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} can_status_t;
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extern SemaphoreHandle_t can_mutex;
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extern volatile can_status_t curr_can_state;
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extern bool auto_recovery;
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extern bool is_error_passive;
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extern adv_filt_t adv_filters;
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// functions
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void can_task(void* arg);
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void can_msg_to_str(const twai_message_t *can_msg, char *start_str, char *out_str);
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#endif // MAIN_CAN_H
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