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amiro-os / core / inc / aos_rtcan.h @ e7131d09

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#ifndef AOS_RTCAN
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#define AOS_RTCAN
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#endif // AOS_RTCAN
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#include <hal.h>
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#include <hal_can.h>
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#include <hal_can_lld.h>
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#include <stdint.h>
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/* include msg_types */
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/* include rtcanconfig */
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typedef uint16_t rtcan_id_t;
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typedef struct rtcan_msg_t{
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    rtcan_id_t id;
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    uint8_t* payload;
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    uint8_t laxity:5;
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    uint8_t fragmentCounter:7;
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    uint8_t payloadSize;
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    uint8_t msgType:2;
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    systime_t deadline;
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    struct rtcan_msg_t *next;
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}rtcan_msg_t;
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typedef struct {
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    rtcan_msg_t *head;
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    rtcan_msg_t *tail;
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    uint8_t size;
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}msgqueue_t;
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typedef struct{
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    uint8_t fragment:7;
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}rtcan_frame_t;
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/*===========================================================================*/
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/* External declarations.                                                    */
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/*===========================================================================*/
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#ifdef __cplusplus
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extern "C" {
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#endif
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  msg_t rtcan_transmit(CANDriver *canp,
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                           canmbx_t mailbox,
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                           const CANTxFrame *ctfp);
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  msg_t rtcan_receive(CANDriver *canp,
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                          canmbx_t mailbox,
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                          CANRxFrame *crfp);
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  bool enqueueMsg(uint8_t *payload,uint8_t msgType,systime_t deadline);
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#ifdef __cplusplus
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}
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#endif
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//TODO: public methods