CAN.h

Go to the documentation of this file.

 
//
// Notice
// ALL NVIDIA DESIGN SPECIFICATIONS AND CODE ("MATERIALS") ARE PROVIDED "AS IS" NVIDIA MAKES
// NO REPRESENTATIONS, WARRANTIES, EXPRESSED, IMPLIED, STATUTORY, OR OTHERWISE WITH RESPECT TO
// THE MATERIALS, AND EXPRESSLY DISCLAIMS ANY IMPLIED WARRANTIES OF NONINFRINGEMENT,
// MERCHANTABILITY, OR FITNESS FOR A PARTICULAR PURPOSE.
//
// NVIDIA CORPORATION & AFFILIATES assumes no responsibility for the consequences of use of such
// information or for any infringement of patents or other rights of third parties that may
// result from its use. No license is granted by implication or otherwise under any patent
// or patent rights of NVIDIA CORPORATION & AFFILIATES. No third party distribution is allowed unless
// expressly authorized by NVIDIA. Details are subject to change without notice.
// This code supersedes and replaces all information previously supplied.
// NVIDIA CORPORATION & AFFILIATES products are not authorized for use as critical
// components in life support devices or systems without express written approval of
// NVIDIA CORPORATION & AFFILIATES.
//
// SPDX-FileCopyrightText: Copyright (c) 2016-2022 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
// SPDX-License-Identifier: LicenseRef-NvidiaProprietary
//
// NVIDIA CORPORATION, its affiliates and licensors retain all intellectual
// property and proprietary rights in and to this material, related
// documentation and any modifications thereto. Any use, reproduction,
// disclosure or distribution of this material and related documentation
// without an express license agreement from NVIDIA CORPORATION or
// its affiliates is strictly prohibited.
//
 
#ifndef DW_SENSORS_CANBUS_CAN_H_
#define DW_SENSORS_CANBUS_CAN_H_
 
#include <dw/core/base/Config.h>
#include <dw/core/base/Exports.h>
#include <dw/core/base/Types.h>
 
#include <dw/sensors/Sensors.h>
 
// clang-format off
 
// clang-format on
 
#define DW_SENSORS_CAN_MAX_ID_LEN 29
 
#define DW_SENSORS_CAN_MAX_MESSAGE_LEN 64
 
#define DW_SENSORS_CAN_MAX_FILTERS 255
 
#ifdef __cplusplus
extern "C" {
#endif
 
#pragma pack(push, 1) // Makes sure you have consistent structure packings.
 
typedef struct dwCANMessage
{
    dwTime_t timestamp_us;
 
    uint32_t id;
 
    uint16_t size;
 
    uint8_t data[DW_SENSORS_CAN_MAX_MESSAGE_LEN];
} dwCANMessage;
 
#pragma pack(pop)
 
DW_API_PUBLIC
dwStatus dwSensorCAN_setUseHwTimestamps(bool const flag, dwSensorHandle_t const sensor);
 
DW_API_PUBLIC
dwStatus dwSensorCAN_setMessageFilter(const uint32_t* ids, const uint32_t* masks,
                                      uint16_t num, dwSensorHandle_t sensor);
 
DW_API_PUBLIC
dwStatus dwSensorCAN_readMessage(dwCANMessage* const msg, dwTime_t const timeoutUs, dwSensorHandle_t const sensor);
 
DW_API_PUBLIC
dwStatus dwSensorCAN_sendMessage(const dwCANMessage* const msg,
                                 dwTime_t const timeoutUs, dwSensorHandle_t const sensor);
 
DW_API_PUBLIC
dwStatus dwSensorCAN_processRawData(const uint8_t* data, size_t size,
                                    dwSensorHandle_t sensor);
 
DW_API_PUBLIC
dwStatus dwSensorCAN_popMessage(dwCANMessage* msg,
                                dwSensorHandle_t sensor);
 
#ifdef __cplusplus
}
#endif
#endif // DW_SENSORS_CANBUS_CAN_H_