Can.h

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#ifndef __RENSSELAERMOTORSPORT_CAN_H__
#define __RENSSELAERMOTORSPORT_CAN_H__
 
 
#ifndef TEST_MODE
#include "stm32f7xx_hal.h"
#endif
 
#include <stdint.h>
 
/*******************************************************************/
 
// Signals
#define MAX_SIGNALS 8
#define MAX_SIGNAL_NAME_LENGTH 32
#define MAX_UNIT_NAME_LENGTH 32
#define MAX_NODE_NAME_LENGTH 32
 
typedef struct CAN_Signal_Template {
    char name[MAX_SIGNAL_NAME_LENGTH];
    int start_bit;
    int length;
    int endian;
    int isSigned;
    float scale;
    float offset;
    float min;
    float max;
    char unit[MAX_UNIT_NAME_LENGTH];
    char reciever[MAX_NODE_NAME_LENGTH];
} CAN_Signal_Template;
 
typedef struct CAN_Signal {
    int value;
    CAN_Signal_Template* template;
} CAN_Signal;
 
/*******************************************************************/
 
// Messages
#define MAX_MESSAGE_NAME_LENGTH 32
 
#ifdef TEST_MODE
// define a dummy CAN_RxHeaderTypeDef
typedef struct CAN_RxHeaderTypeDef {
    uint32_t StdId;
    uint32_t ExtId;
    uint32_t IDE;
    uint32_t RTR;
    uint32_t DLC;
    uint32_t FMI;
    uint32_t FIFONumber;
} CAN_RxHeaderTypeDef;
 
// define a dummy CAN_TxHeaderTypeDef
typedef struct CAN_TxHeaderTypeDef {
    uint32_t StdId;
    uint32_t ExtId;
    uint32_t IDE;
    uint32_t RTR;
    uint32_t DLC;
    uint32_t TransmitGlobalTime;
} CAN_TxHeaderTypeDef;
 
// define STM32 CAN constants
#define CAN_ID_STD 0x00
#define CAN_ID_EXT 0x04
#define CAN_RTR_DATA 0x00
#define CAN_RTR_REMOTE 0x02
#endif
 
typedef struct CAN_Message_Template {
    int id;
    int dlc; // Data Length Code
    int ide; // Identifier Extension
    int rtr; // Remote Transmission Request
    char name[MAX_MESSAGE_NAME_LENGTH];
    char sender[MAX_NODE_NAME_LENGTH];
    CAN_Signal_Template signals[MAX_SIGNALS];
    int signal_count;
    int payload_length;
} CAN_Message_Template;
 
typedef struct CAN_Message {
    CAN_RxHeaderTypeDef header;
    uint8_t data[8];
    CAN_Message_Template* template;
    CAN_Signal signals[]; // TODO:This should not be hardcoded, find way to dynamically allocate
} CAN_Message;
 
/*******************************************************************/
 
// CAN
#define MAX_BUS 2
#define MAX_MESSAGES 128
 
// CANBus enum
typedef enum CANBus {
    CAN_1 = 0,
    CAN_2 = 1
} CANBus;
 
// CAN protocol enum
typedef enum CANProtocol {
    CAN_2A = 0, // Standard CAN w/ 11-bit ID
    CAN_2B = 1, // Standard CAN w/ 29-bit ID
    //CAN_FD = 2, // CAN FD w/ 11-bit ID
    //CAN_FD_BRS = 3, // CAN FD w/ 29-bit ID
} CANProtocol;
 
// Baudrate enum
typedef enum CANBaudrate {
    CAN_100KBPS = 100000,
    CAN_125KBPS = 125000,
    CAN_250KBPS = 250000,
    CAN_500KBPS = 500000,
    CAN_1MBPS = 1000000,
} CANBaudrate;
 
// CAN message list per length of CANBus enum
typedef struct CAN_MessageList{
    CANBus bus;
    CAN_Message_Template messages[MAX_MESSAGES];
    int num_messages;
} CAN_MessageList;
 
// function prototypes
 
int init_CANBus(CANBus bus);
 
int load_dbc_file(CANBus bus, const unsigned char* filename);
 
int add_message(CANBus bus, CAN_Message_Template message);
 
int add_message_lop(CANBus bus, int id, int dlc, int ide, int rtr, const char* name, const char* sender, int signal_count, CAN_Signal_Template* signals);
 
int send_CAN_message(CANBus bus, CANProtocol protocol, uint32_t id, uint8_t* data, uint8_t len);
 
void receive_CAN_message(CAN_RxHeaderTypeDef* header, uint8_t* data, CANBus bus);
 
void parseMessage(CAN_MessageList* messages, CAN_Message* can_message);
 
void parseSignals(CAN_Message_Template* message, CAN_Message* can_message);
 
void parseSignal(CAN_Signal_Template* signal, CAN_Signal* can_signal, CAN_Message* can_message);
 
 
void print_CAN_Messages_Lists();
#endif // RENSSELAERMOTORSPORT_CAN_H