43 lines
1.1 KiB
C
43 lines
1.1 KiB
C
/*
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* AMS_CAN.h
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*
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* Created on: Mar 19, 2022
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* Author: jasper
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*/
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#ifndef INC_AMS_CAN_H_
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#define INC_AMS_CAN_H_
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#include "main.h"
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#include "stm32f4xx_hal.h"
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#include "stm32f4xx_hal_can.h"
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#include "stm32f4xx_hal_def.h"
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#include <stdint.h>
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#define CAN_ID_SLAVE_ERROR 0x001
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#define CAN_ID_AMS_SLAVE_HEARTBEAT_BASE 0x600
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#define CAN_HEARTBEAT_TX_TIMEOUT 10 /* ms */
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void ams_can_init(CAN_HandleTypeDef* ams, CAN_HandleTypeDef* car);
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void ams_can_handle_ams_msg(CAN_RxHeaderTypeDef* header, uint8_t* data);
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void ams_can_send_heartbeat();
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/**
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* @brief Send an AMS Error via CAN.
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*
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* @param error_code The kind of error
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* @param transmission_timeout How long to wait for the transmission to complete
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* after starting it (in ms). Set to 0 for no wait.
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*/
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void ams_can_send_error(AMS_ErrorCode error_code,
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uint32_t transmission_timeout);
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HAL_StatusTypeDef ams_can_wait_for_free_mailboxes(CAN_HandleTypeDef* handle,
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int num_mailboxes,
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uint32_t timeout);
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#endif /* INC_AMS_CAN_H_ */
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