Feature/can (#42)

* created can_t struct

* can init and send function devved

* removed config file

* added can_msg type

* fixed error handling

* anti lazy error handling

---------

Co-authored-by: Dylan Donahue <[email protected]>

platforms/stm32f405/include/can.h

@@ -1,83 +1,34 @@
-/**
- * @file can.h
- * @author Hamza Iqbal ([email protected])
- * @brief CAN Driver
- *        HOW TO USE THIS DRIVER:
- *          First use the start_CAN function to enable all the CAN lines
- *          You can send messages using the send_message_CAN function, this function requires a CAN_msg_t struct as the parameter.
- *          Configure a CAN_msg_t struct with the ID of the message, the Data, the length and what CAN line you want to transmit on.
- *
- *          This driver is interrupt based and as incoming messages are received they are added to a queue per can line
- *          You can receive the front of the queue by using the get_message_CAN function this will return a CAN_msg_t struct containing all the useful information
- *
- *          In the src file for this driver you will notice a lot of commented out sections pertaining to a third CAN line, ignore these for now as the MPU
- *          can only support 2 CAN lines at the moment.  This will come in handy for a third CAN line if we choose to implement one later or for a different system.
- * @date 2023-06-14
- *
- * https://www.st.com/resource/en/user_manual/um1725-description-of-stm32f4-hal-and-lowlayer-drivers-stmicroelectronics.pdf
- * CAN Documentation can be found in pages 87-113
- */
-
-#ifndef CAN_DRIVER_H
-#define CAN_DRIVER_H
+#ifndef CAN_H
+#define CAN_H
 
 #include <stdint.h>
-#include "stm32f4xx_hal.h"
-#include "can_config.h"
+#include <stdbool.h>
+#include <stddef.h>
 
-/* CAN Message type this holds all useful CAN information */
-typedef struct
-{
-    uint8_t line;
-    uint32_t id;
-    uint8_t len;
+#include "stm32f4xx_hal.h"
+#include "stm32f4xx_hal_can.h"
+typedef struct{
+    CAN_HandleTypeDef *hcan;
+    uint16_t *id_list;
+    uint8_t size;
+
+    /* desired behavior varies by app - so implement this at app level */
+    void (*can_callback)(CAN_HandleTypeDef *hcan);
+} can_t;
+
+typedef struct{
+    uint16_t id;
     uint8_t data[8];
+    uint8_t size;
 } can_msg_t;
 
-/* These are the queues for each CAN line */
-extern struct msg_queue* can1_incoming;
-extern struct msg_queue* can2_incoming;
-// extern msg_queue* can3_incoming;
-
+HAL_StatusTypeDef can_init(can_t *can);
+HAL_StatusTypeDef can_send_msg(can_t *can, can_msg_t *msg);
 
-/* Use this when referencing CAN lines when sending a message */
-enum
-{
-    CAN_LINE_1 = 1,
-    CAN_LINE_2 = 2,
-    //CAN_LINE_3 = 3
-};
 
-/* Fault codes */
-typedef enum
-{
-    MSG_SENT = 1,
-    MSG_FAIL = 2,
-    BUFFER_FULL = 3
-} CAN_StatusTypedef;
 
-/**
- * @brief Initializes the can handlers for each line
- *
- * @return HAL_StatusTypeDef
- */
-HAL_StatusTypeDef can_init();
 
-/**
- * @brief Sends a CAN message on the line specified in the CAN_msg_t struct
- *
- * @param message A CAN_msg_t struct containing the information you want to send
- * @return uint8_t Error code
- */
-CAN_StatusTypedef can_send_message(can_msg_t message);
 
-/**
- * @brief Returns a message from the front of the queue
- *
- * @param line The CAN line that you want to get the message from
- * @return CAN_msg_t Struct containing important message info
- */
-can_msg_t *can_get_message(uint8_t line);
 
 
-#endif
+#endif // CAN_H