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#pragma once
#include "timer.h"
typedef enum
{
CAN_UNKNOWN = 0,
CAN_125KBAUD = 1,
CAN_250KBAUD = 2,
CAN_500KBAUD = 3,
CAN_1MBAUD = 4
} can_speed_t;
typedef enum
{
CAN_Mode_Normal = 0, // Bits 30 and 31 00
CAN_Mode_LoopBack = 1, // Bit 30: Loop Back Mode (Debug)
CAN_Mode_Silent = 2, // Bit 31: Silent Mode (Debug)
CAN_Mode_Silent_LoopBack = 3 // Bits 30 and 31 11
} can_mode_t;
typedef enum
{
fifoAll = 0,
MBAll = 0,
/*
Receive from FIFO 1 -- filters are configured to push the messages there,
and this is called from SysTick so needs to avoid the same FIFOs/mailboxes
as the rest of the application.
*/
fifoGetNodeInfo = 1,
MBGetNodeInfo = 1,
MBNodeStatus = 1,
} can_fifo_mailbox_t;
void can_tx(uint32_t message_id, size_t length,
const uint8_t * message, uint8_t mailbox);
uint8_t can_rx(uint32_t * out_message_id, size_t * out_length,
uint8_t * out_message, uint8_t fifo);
int can_init(can_speed_t speed, can_mode_t mode);
int can_autobaud(can_speed_t *can_speed, bl_timer_id tboot);
int can_speed2freq(can_speed_t);
can_speed_t can_freq2speed(int freq);
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