canbus.h

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#ifndef VITROIO_SDK_CANBUS_H
#define VITROIO_SDK_CANBUS_H
 
#include <mbed.h>
 
#include <vitroio-sdk/communication/canbus_frame.h>
 
#include <vitroio-sdk/communication/impl/_CAN.h>
 
namespace vitroio
{
 
namespace sdk
{
 
#define VITROIO_CANBUS_DEFAULT_FREQUENCY 500000
 
#define VITROIO_CANBUS_DEFAULT_EVENT_QUEUE_SIZE 32
 
class Canbus : private NonCopyable<Canbus>
{
public:
    typedef Callback<void(const CanbusFrame&)> OnFrameReceivedCallback;
 
    explicit Canbus(
        PinName rd, PinName td,
        EventQueue* targetQueue,
        uint32_t eventQueueSize = VITROIO_CANBUS_DEFAULT_EVENT_QUEUE_SIZE,
        int hz = VITROIO_CANBUS_DEFAULT_FREQUENCY);
 
    explicit Canbus(
        PinName rd, PinName td,
        osPriority priority = osPriorityNormal,
        uint32_t eventQueueSize = VITROIO_CANBUS_DEFAULT_EVENT_QUEUE_SIZE,
        int hz = VITROIO_CANBUS_DEFAULT_FREQUENCY);
 
    ~Canbus();
 
    bool isValid() const;
 
    int sendFrame(const CanbusFrame& frame);
 
    int setOnFrameReceivedCallback(OnFrameReceivedCallback callback, int handle = -1);
 
    void setNART(bool flag);
 
private:
    static const uint32_t onFramesReceivedCallbacksCnt_ = 4;
 
    bool valid_;
 
    impl::_CAN can_;
    EventQueue evQueue_;
    Thread* evQueueThread_;
    OnFrameReceivedCallback onFrameReceivedUserCallbacks_[onFramesReceivedCallbacksCnt_];
 
    void rxIrqHandler();
    void onFrameReceivedCallback(CanbusFrame frame);
};
 
} // namespace sdk
 
} // namespace vitroio
 
#endif // VITROIO_SDK_CANBUS_H