120 lines
3.4 KiB
C
Executable File
120 lines
3.4 KiB
C
Executable File
/**
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* @file di_fw/can.h
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* @brief Firmware helpers for the DI-CAN stack
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* @copyright 2016 Dual Inventive Technology Centre B.V.
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*/
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#ifndef INCLUDE_DI_FW_CAN_H_
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#define INCLUDE_DI_FW_CAN_H_
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#include <stdint.h>
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#include <stdbool.h>
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#include <di/can.h>
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#include <di_fw/os.h>
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#include <di_fw/periodic.h>
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#include <di_fw/can/config.h>
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enum di_fw_charger;
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enum di_fw_batteries;
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/**
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* Initialize DI-CAN stack
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* @note di_device_uid_set needs be set before calling this function
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* @note di_fw_can_start will start the threads
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* @param uid pointer to the node id of the can
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*/
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void di_fw_can_init(const char *uid);
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/**
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* Initialize the DI-CAN stack NET subsystem
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*/
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void di_fw_can_net_init(void);
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/**
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*
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*/
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void di_fw_can_init_for_drv(const char *uid, CANDriver *drv);
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/**
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* Send battery voltage and state
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* @param battery Battery
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* @param voltage Measured voltage
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* @param state Batterystate. Use enum di_device_battery_state
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*/
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void di_fw_can_rpc_send_battery(enum di_fw_batteries battery, double voltage, uint8_t state);
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/**
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* Send charger voltage and state
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* @param charger ID
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* @param voltage Measured voltage
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* @param state charger state. Use enum di_device_charger_state.
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*/
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void di_fw_can_rpc_send_charger(enum di_fw_charger charger, double voltage, uint8_t state);
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/**
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* Get CAN context of first registered di_fw CANDriver
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* @return returns pointer to can context
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*/
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struct di_can_ctx *di_fw_can_get_ctx(void);
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/**
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* Get CAN context based on CANDriver
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* @param drv ChibiOS CANxN driver address, when NULL given the first registered di_fw CANDriver is returned
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*/
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struct di_can_ctx *di_fw_can_get_ctx_for_drv(const CANDriver *drv);
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/**
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* Exclude RPC message type for first registered CAN driver
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* @param drv CAN driver to configure filter for
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* @param exclude Filter state (true filters, false passtrough)
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*/
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void di_fw_can_exclude_rpc_messages(const bool exclude);
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/**
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* Exclude RPC message type for specific CAN driver
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* @param drv CAN driver to configure filter for
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* @param exclude Filter state (true filters, false passtrough)
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*/
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void di_fw_can_exclude_rpc_messages_for_drv(const CANDriver *drv, const bool exclude);
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/**
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* Check if RPC message type is filtered (for the first driver)
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* @return true when filter is enabled, false when disabled
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*/
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bool di_fw_can_is_rpc_msgtype_filtered(void);
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/**
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* Check if RPC message type is filtered
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* @param drv CAN driver to check filter for (when NULL, first driver is used, when invalid driver address
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* the first driver is used)
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* @return true when filter is enabled, false when disabled
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*/
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bool di_fw_can_is_rpc_msgtype_filtered_for_drv(const CANDriver *drv);
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/**
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* Check if RPC messages may be send
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* * Device is connected
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* * Time is synchronized
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* @return true when RPC messages may be send, false otherwise
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*/
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bool di_fw_can_rpc_may_send(void);
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/**
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* CAN stack NET subsystem periodic
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* For network discovery and updates the following application can message callbacks must be registered:
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* * DI_CAN_NET_CALLBACK_HEARTBEAT_PUBLISH_ITEM
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* * DI_CAN_NET_DISCOVER_CALLBACK_REQUEST_ITEM
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* * DI_CAN_NET_DISCOVER_CALLBACK_REPLY_ITEM
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* @param ev Periodic event
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* @note ev->private_data must be set to a valid di_can_ctx!
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*/
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void di_fw_can_net_periodic_execute(struct di_fw_periodic_event *ev);
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#ifndef DI_FW_CAN_RECV_TIMEOUT_MS
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#error DI_FW_CAN_RECV_TIMEOUT_MS undefined
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#endif
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#ifndef DI_FW_CAN_RECV_STACK_SIZE
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#error DI_FW_CAN_RECV_STACK_SIZE undefined
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#endif
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#endif /* INCLUDE_DI_FW_CAN_H_ */
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