240 lines
8.8 KiB
C
240 lines
8.8 KiB
C
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/*
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* Copyright (c) 2022, Shenzhen CVA Innovation CO.,LTD
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* All rights reserved.
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*
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* Shenzhen CVA Innovation CO.,LTD (CVA chip) is supplying this file for use
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* exclusively with CVA's microcontroller products. This file can be freely
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* distributed within development tools that are supporting such microcontroller
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* products.
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*
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* THIS SOFTWARE IS PROVIDED "AS IS". NO WARRANTIES, WHETHER EXPRESS, IMPLIED
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* OR STATUTORY, INCLUDING, BUT NOT LIMITED TO, IMPLIED WARRANTIES OF
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* MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE APPLY TO THIS SOFTWARE.
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* CVA SHALL NOT, IN ANY CIRCUMSTANCES, BE LIABLE FOR SPECIAL, INCIDENTAL,
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* OR CONSEQUENTIAL DAMAGES, FOR ANY REASON WHATSOEVER.
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*/
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#ifndef _DBC_COMM_H_
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#define _DBC_COMM_H_
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/*! \brief Contains public interface to various functions related
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* to the CAN communication using the CAN dbc file
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*/
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/*******************************************************************************
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* the includes
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******************************************************************************/
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#include <stdint.h>
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#include <stdbool.h>
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#ifdef __cplusplus
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extern "C" {
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#endif
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/*******************************************************************************
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* the defines
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******************************************************************************/
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/*! \brief The default value used for initialization
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*/
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#define CAN_MSG_DEFAULT { \
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404, \
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{0, 0, 0, 0, 0, 0, 0, 0}, \
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8, \
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0, \
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0 \
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}
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/*******************************************************************************
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* the typedefs
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******************************************************************************/
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/*! \brief CAN message type definition
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*
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* The identifier field may have 11 bits for standard frames
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* (CAN specification 2.0A) or 29 bits for extended frames
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* (CAN specification 2.0B).
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*/
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typedef struct _DbcComm_CanMsgType_
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{
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uint32_t id; /*!< the CAN ID, 11 bits for standard frames (CAN SPEC 2.0A) or 29 bits for extended frames (CAN SPEC 2.0B) */
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uint8_t data[8]; /*!< The data field has up to 8 bytes (64 bit) of message data */
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uint8_t length; /*!< The data length code denotes the number of data bytes, 0 to 8 (bytes) */
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uint8_t extended; /*!< Extended Frame if set to 1, else Standard Frame. */
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uint8_t remote; /*!< Remote Frame if set to 1, else Data Frame. */
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} DbcComm_CanMsgType;
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/*! \brief Defines all the CAN node
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*/
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typedef enum
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{
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DBCCOMM_NODE_0 = 0,
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DBCCOMM_NODE_1,
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DBCCOMM_NODE_2,
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DBCCOMM_NODE_3,
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DBCCOMM_NODE_4,
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DBCCOMM_NODE_5,
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DBCCOMM_NODE_6,
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DBCCOMM_NODE_7,
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DBCCOMM_NODE_8,
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DBCCOMM_NODE_NUM
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} DbcComm_CanNodeType;
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/*! \brief Forward declaration of DBCCOMM class
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*/
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struct _DbcCommType_;
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/*! \brief Tx message information
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*/
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typedef struct _DbcComm_TxMsgInfoType_
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{
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DbcComm_CanNodeType node; /*!< the node for this message */
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uint32_t id; /*!< the CAN id of this message */
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float period_ms; /*!< Period for transmit messages, 0 for single-shot */
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void (*packMsg)(struct _DbcCommType_ *obj, DbcComm_CanMsgType *pMsg); /*!< pointer to the function to pack this message */
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} DbcComm_TxMsgInfoType;
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/*! \brief Rx message information
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*/
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typedef struct _DbcComm_RxMsgInfoType_
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{
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DbcComm_CanNodeType node; /*!< the node for this message */
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uint32_t id; /*!< the CAN id of this message */
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float timeout_ms; /*!< Time out threshold for receive messages, 0 for single-shot */
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void (*unpackMsg)(struct _DbcCommType_ *obj, const DbcComm_CanMsgType *pMsg); /*!< pointer to the function to unpack this message */
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} DbcComm_RxMsgInfoType;
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/*! \brief Tx message definition
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*/
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typedef struct _DbcComm_TxMsgType_
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{
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uint32_t periodCntMax; /*!< the period count max value, determined by period*/
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uint32_t periodCnt; /*!< the period counter */
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const DbcComm_TxMsgInfoType *pInfo; /*!< the informatin of TX message */
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} DbcComm_TxMsgType;
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/*! \brief Rx message definition
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*/
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typedef struct _DbcComm_RxMsgType_
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{
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uint16_t timeoutCntMax; /*!< the counter max value, determined by timeout period */
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uint16_t timeoutCnt; /*!< the timeout counter */
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bool isTimeout; /*!< whether is timeout */
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const DbcComm_RxMsgInfoType *pInfo; /*!< the informatin of RX message */
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} DbcComm_RxMsgType;
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/*! \brief The adapter of CAN send implementation
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*/
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typedef void (*DbcComm_SendCanMsgShimType)(DbcComm_CanNodeType node, const DbcComm_CanMsgType *pMsg);
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/*! \brief Type definition of TX message array
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*/
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typedef DbcComm_TxMsgType *DbcComm_TxMsgArray;
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/*! \brief Type definition of RX message array
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*/
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typedef DbcComm_RxMsgType *DbcComm_RxMsgArray;
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/*! \brief Defines all the parameters used to initialize power CAN communication object
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*/
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typedef struct _DbcComm_ParamsType_
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{
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float runFreq_kHz; /*!< Frequency to run this module */
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DbcComm_SendCanMsgShimType sendCanMsg; /*!< function to implement CAN send */
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} DbcComm_ParamsType;
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/*! \brief Defines all the inputs for DBCCOMM object
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*/
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struct _DbcComm_InputsType_;
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typedef struct _DbcComm_InputsType_ DbcComm_InputsType;
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/*! \brief Defines all the outputs for DBCCOMM object
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*/
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struct _DbcComm_OutputsType_;
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typedef struct _DbcComm_OutputsType_ DbcComm_OutputsType;
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/*! \brief Defines the DBCCOMM object
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*/
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typedef struct _DbcCommType_
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{
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bool enableNodeTx[DBCCOMM_NODE_NUM]; /*!< TX enable flag for all nodes */
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bool enableNodeRx[DBCCOMM_NODE_NUM]; /*!< RX enalbe flag for all nodes */
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DbcComm_TxMsgArray txMsgArray; /*!< TX message array */
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DbcComm_RxMsgArray rxMsgArray; /*!< RX message array */
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uint16_t txMsgNum; /*!< Total TX message number */
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uint16_t rxMsgNum; /*!< Total RX message number */
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DbcComm_InputsType *pInputs; /*!< pointer to the inputs */
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DbcComm_OutputsType *pOutputs; /*!< pointer to the outputs */
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DbcComm_SendCanMsgShimType sendCanMsg; /*!< function to implement CAN send */
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} DbcCommType;
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/*******************************************************************************
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* the globals
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******************************************************************************/
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/*******************************************************************************
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* the function prototypes
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******************************************************************************/
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/*! \brief Initialize the DBCCOMM object
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*
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* This function initialize the DbcComm object using the given parameters
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*
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* \param[in] obj : pointer to DbcComm instance
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* \param[in] pParams :
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*/
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extern void DbcComm_Init(DbcCommType *obj, const DbcComm_ParamsType *pParams);
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/*! \brief Run the DBCCOMM
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*
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* This function process the DbcComm main logic
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*
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* \param[in] obj : pointer to DbcComm instance
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*/
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extern void DbcComm_Run(DbcCommType *obj);
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/*! \brief Receive the can message
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*
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* This function receive the can message for dbc logic to analyze.
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*
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* \note IMPORTANT!!! This interface should be called in the same thread as DbcComm_Run
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*
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* \param[in] obj : pointer to DbcComm instance
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* \param[in] node : the CAN node to receive the message
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* \param[in] pMsg : the pointer to the message to receive
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*/
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extern void DbcComm_ReceiveCanMsg(DbcCommType *obj, DbcComm_CanNodeType node, const DbcComm_CanMsgType *pMsg);
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/*! \brief Enable/Disable RX of the node
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*
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* This function enables or disables the RX of the given node
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*
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* \param[in] obj : pointer to DbcComm instance
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* \param[in] node : the node to operate
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* \param[in] enable : whether to enable or disable the RX function
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* - true : enable the RX
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* - false : disable the RX
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*/
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extern void DbcComm_EnableRx(DbcCommType *obj, DbcComm_CanNodeType node, bool enable);
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/*! \brief Enable/Disable TX of the node
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*
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* This function enables or disables the TX of the given node
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*
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* \param[in] obj : pointer to DbcComm instance
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* \param[in] node : the node to operate
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* \param[in] enable : whether to enable or disable the TX function
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* - true : enable the TX
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* - false : disable the TX
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*/
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extern void DbcComm_EnableTx(DbcCommType *obj, DbcComm_CanNodeType node, bool enable);
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#ifdef __cplusplus
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}
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#endif /* extern "C" */
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#endif /* _DBC_COMM_H_ */
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