90 lines
2.3 KiB
C
90 lines
2.3 KiB
C
#ifndef SET_CAN_H
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#define SET_CAN_H
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#include "set_protocol.h"
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#ifdef __cplusplus
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extern "C" {
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#endif
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#define SETP_CAN_ID_PREFIX 0x12U
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#define SETP_CAN_ID_PREFIX_MASK 0x1F000000UL
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#define SETP_CAN_ID_MASK 0x1FFFFFFFUL
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#define SETP_CAN_PCI_FIRST 0x10U
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#define SETP_CAN_PCI_CONSECUTIVE 0x20U
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#define SETP_CAN_PCI_FLOW_CONTROL 0x30U
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#define SETP_CAN_PCI_TYPE_MASK 0xF0U
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#define SETP_CAN_PCI_VALUE_MASK 0x0FU
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#define SETP_CAN_FC_CONTINUE 0x00U
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#define SETP_CAN_FC_WAIT 0x01U
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#define SETP_CAN_FC_OVERFLOW 0x02U
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#define SETP_CAN_FIRST_DATA 5U
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#define SETP_CAN_CONSECUTIVE_DATA 7U
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#ifndef SETP_CAN_REASSEMBLY_TIMEOUT_MS
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#define SETP_CAN_REASSEMBLY_TIMEOUT_MS 500U
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#endif
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typedef struct {
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uint32_t id;
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uint8_t length;
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uint8_t data[8];
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} setp_can_frame_t;
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typedef struct {
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uint8_t source;
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uint8_t destination;
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uint8_t priority;
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uint8_t channel;
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} setp_can_id_t;
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typedef enum {
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SETP_CAN_RX_NONE = 0,
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SETP_CAN_RX_COMPLETE = 1,
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SETP_CAN_RX_FORMAT_ERROR = 2,
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SETP_CAN_RX_SEQUENCE_ERROR = 3,
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SETP_CAN_RX_TIMEOUT = 4
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} setp_can_rx_result_t;
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typedef struct {
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uint8_t buffer[SETP_FRAME_MAX];
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uint16_t expected_length;
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uint16_t received_length;
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uint32_t can_id;
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uint32_t deadline_ms;
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uint8_t next_sequence;
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uint8_t active;
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} setp_can_rx_t;
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typedef struct {
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const uint8_t *data;
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uint16_t length;
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uint32_t can_id;
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} setp_can_packet_t;
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typedef bool (*setp_can_send_fn)(const setp_can_frame_t *frame, void *user);
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uint32_t setp_can_id_pack(const setp_can_id_t *value);
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bool setp_can_id_unpack(uint32_t raw, setp_can_id_t *out);
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/** Segment one complete SETP frame. Flow-control pacing belongs to the port. */
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bool setp_can_segment(const uint8_t *packet, uint16_t length, uint32_t can_id,
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setp_can_send_fn send, void *user);
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void setp_can_rx_init(setp_can_rx_t *state);
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setp_can_rx_result_t setp_can_rx_feed(setp_can_rx_t *state,
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const setp_can_frame_t *frame,
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uint32_t now_ms, setp_can_packet_t *out);
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bool setp_can_flow_control(setp_can_frame_t *out, uint32_t can_id,
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uint8_t status, uint8_t block_size, uint8_t st_min_ms);
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#ifdef __cplusplus
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}
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#endif
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#endif /* SET_CAN_H */
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