Gobot RPC Stack

can-interface/components/CAN-Protocol-Stack/include/canTP.hpp

@@ -0,0 +1,51 @@
+#pragma once
+#include "mcp2521_toplevel.hpp"
+
+typedef void (*rx_handler)(uint8_t *data, uint8_t length, void *arg);
+
+enum CANTP_FRAME_TYPE {
+    SINGLE_FRAME = 0b00,
+    FIRST_FRAME = 0b01,
+    CONSECUTIVE_FRAME = 0b10,
+    FLOW_CONTROL = 0b11
+};
+
+enum CANTP_FLOW_STATUS {
+    CLEAR_TO_SEND = 0b0000,
+    WAIT = 0b0001,
+    OVERLOAD = 0b0010
+};
+
+enum CAN_MULTI_FRAME_STATES {
+    WAITING_FOR_FIRST_FRAME,
+    WAITING_FOR_CONSECUTIVE_FRAME,
+}
+
+class SocketCANTP {
+private:
+    rx_handler userHandler;
+    void *userArg;
+
+    MCP2521 *mcp2521;
+    uint32_t address;
+    bool is_extended;
+
+    uint8_t rxBuffer[4096];
+    uint8_t txBuffer[4096];
+
+    size_t rxLength;
+
+    int consecitonFrameCounter;
+    uint8_t blockSizes;
+
+protected:
+    void sendFlowControl(CANTP_FLOW_STATUS status, uint8_t blockSize, uint8_t separationTime);
+
+public:
+    SocketCANTP(MCP2521 *mcp2521, uint32_t address, bool is_extended, uint8_t blockSizes);
+
+    void send(uint8_t *data, uint8_t length);
+    void register_rx_handler(rx_handler handler, void *arg);
+
+    void onRxHandler();
+}