CAN.h

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#ifndef DW_SENSORS_CANBUS_CAN_H_
#define DW_SENSORS_CANBUS_CAN_H_

#include <dw/core/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_