AMiRo-OS

#ifndef AOS_RTCAN

#define AOS_RTCAN

#endif // AOS_RTCAN

#include <hal.h>

#include <hal_can.h>

#include <hal_can_lld.h>

#include <aos_thread.h>

#include <stdint.h>

/* include msg_types */

/* include rtcanconfig */

typedef uint16_t rtcan_id_t;

typedef struct rtcan_msg_t{

    rtcan_id_t id;

    uint8_t* payload;

    uint8_t laxity:5;

    uint8_t fragmentCounter:7;

    uint8_t payloadSize;

    uint8_t msgType:2;

    systime_t deadline;

    struct rtcan_msg_t *next;

}rtcan_msg_t;

typedef struct {

    rtcan_msg_t *head;

    rtcan_msg_t *tail;

    uint8_t size;

    mutex_t mutex;

}msgqueue_t;

typedef struct{

    uint8_t fragment:7;

}rtcan_frame_t;

/*===========================================================================*/

/* External declarations.                                                    */

/*===========================================================================*/

#ifdef __cplusplus

extern "C" {

#endif

  msg_t rtcan_transmit(CANDriver *canp,

                           canmbx_t mailbox,

                           const CANTxFrame *ctfp);

  msg_t rtcan_receive(CANDriver *canp,

                          canmbx_t mailbox,

                          CANRxFrame *crfp);

  bool enqueueMsg(uint8_t *payload,uint8_t msgType,aos_timestamp_t deadline);

#ifdef __cplusplus

}

#endif

//TODO: public methods