serial_can.h

Go to the documentation of this file.

/**
 * @file    serial_can.h
 *
 * @date Aug 1, 2020
 * @author andreika <prometheus.pcb@gmail.com>
 * @author Andrey Belomutskiy, (c) 2012-2020
 */
 
#pragma once
 
#include "isotp.h"
#include "can_listener.h"
 
class CanTsListener : public CanListener, public CanRxMessageSource {
public:
    CanTsListener()
        : CanListener(CAN_ECU_SERIAL_RX_ID)
    {
    }
 
    virtual void decodeFrame(const CANRxFrame& frame, efitick_t nowNt);
 
    bool get(CanRxMessage &item, int timeout) {
        return rxFifo.get(item, timeout);
    }
 
protected:
    fifo_buffer_sync<CanRxMessage, CAN_FIFO_FRAME_SIZE> rxFifo;
};
 
#if HAL_USE_CAN
class CanTransport : public ICanTransport {
public:
  CanTransport(CanRxMessageSource *p_source) : source(p_source) {}
    void init();
 
    virtual can_msg_t transmit(const CanTxMessage *ctfp, can_sysinterval_t timeout) override;
    virtual can_msg_t receive(CANRxFrame *crfp, can_sysinterval_t timeout) override;
 
    CanRxMessageSource *source;
};
 
void tsOverCanInit();
 
// we don't have canStreamSendTimeout() because we need to "bufferize" the stream and send it in fixed-length packets
msg_t canStreamAddToTxTimeout(size_t *np, const uint8_t *txbuf, sysinterval_t timeout);
msg_t canStreamFlushTx(sysinterval_t timeout);
 
msg_t canStreamReceiveTimeout(size_t *np, uint8_t *rxbuf, sysinterval_t timeout);
#endif /* HAL_USE_CAN */