can_rtos.h

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#ifndef CAN_RTOS_H
#define CAN_RTOS_H
 
#include <stdint.h>
#include <stdbool.h>
 
#include "iem_types.h"
 
#include "FreeRTOS.h"
#include "task.h"
#include "timers.h"
 
#include "stm32h7xx_hal.h"
 

enum __attribute__((packed)) can_bus { CAN_1 = 0U, CAN_2, CAN_3, CAN_BUS_MAX };
 
#define CAN_BUS_CNT     ((uint8_t)CAN_BUS_MAX)
#define IS_CAN_BUS(bus) ((bus) >= 0 && (bus) < CAN_BUS_MAX)
 
#define CANLIB_TIMEOUT_INVALID UINT32_MAX
 
#define CAN_DATA_MAX 8U

typedef struct {
    uint32_t id;
    uint8_t length;
    enum can_bus bus;
    bool is_ext;
 
    uint8_t data[CAN_DATA_MAX];
} CAN_Msg_t;
 
typedef void (*CAN_Rx_Handler_t)(CAN_Msg_t* msg_ptr);
 
struct canlib_scheduled_msg_params {
    CAN_Msg_t* msgs_ptr;
    uint8_t msg_cnt;
    TickType_t period;
};
 
 
void canlib_tx_task_init(Task_Init_t* init_ptr, enum can_bus bus, FDCAN_HandleTypeDef* hfdcan, uint16_t tx_queue_length);
void canlib_rx_task_init(
    Task_Init_t* init_ptr, enum can_bus bus, FDCAN_HandleTypeDef* hfdcan, uint32_t rx_location, CAN_Rx_Handler_t handler);
void canlib_start(void);
 
void canlib_register_timeout_ids(
    enum can_bus bus, FDCAN_HandleTypeDef* hfdcan, uint32_t timeout_ids_ptr[], unsigned timeout_ids_cnt);
TimerHandle_t canlib_register_scheduled_msgs(struct canlib_scheduled_msg_params* params_ptr);
 
uint32_t canlib_get_msg_timeout(enum can_bus bus, uint32_t msg_id);
 
bool canlib_tx_generic(const CAN_Msg_t* msg_ptr, TickType_t block_time, bool is_critical);
 
static __always_inline bool canlib_tx(const CAN_Msg_t* msg_ptr, TickType_t block_time) {
    return canlib_tx_generic(msg_ptr, block_time, false);
}
 
static __always_inline bool canlib_tx_critical(const CAN_Msg_t* msg_ptr, TickType_t block_time) {
    return canlib_tx_generic(msg_ptr, block_time, true);
}
 
bool canlib_is_bus_ok(enum can_bus bus);
 
#endif