CCS-COMM_BOARD/Protocol/CAN.h

#pragma once

#include "DSP2833x_Device.h"
#include "DSP28x_Project.h"

namespace canSpace {

enum CAN_VARIANT{
    NONE = 0,
    CANA,
    CANB
};

// eCAN Message Control Register (MSGCTRL) bit definitions
struct MsgCtrlBits {     // bits  description
    Uint16      DLC:4;             // 0:3
    Uint16      RTR:1;             // 4
    Uint16      rsvd1:3;           // 7:5   reserved
    Uint16      TPL:5;             // 12:8
    Uint16      rsvd2:3;           // 15:13 reserved
};

union MsgCtrlReg {
    Uint16              all;
    struct MsgCtrlBits  bit;

    MsgCtrlReg(){
        all = 0;
    }

    MsgCtrlReg(Uint16 configData){
        all = configData;
    }
};

struct MsgID_Bits {         // bits  description
    Uint16      EXTMSGID_L:16;  // 0:15
    Uint16      EXTMSGID_H:2;   // 16:17
    Uint16      STDMSGID:11;    // 18:28
    Uint16      AAM:1;          // 29
    Uint16      AME:1;          // 30
    Uint16      IDE:1;          // 31
};

// Allow access to the bit fields or entire register
union ConfigMsgID {
    Uint32              all;
    struct MsgID_Bits   bit;

    ConfigMsgID(bool isExtendedID, Uint16 standartID, Uint32 extendedID, bool isAAM, bool isAME)
    {   
        if(!isExtendedID){
            bit.EXTMSGID_H = 0;
            bit.EXTMSGID_L = 0;
            bit.STDMSGID = standartID;
        }
        else{ all = extendedID; }

        bit.AAM = isAAM;
        bit.AME = isAME;
        bit.IDE = isExtendedID;
    }
};

struct ConfigMBox{
    ConfigMsgID msgID;
    MsgCtrlReg msgCtrlReg;

    ConfigMBox(bool isExtendedID, Uint16 standartID, Uint32 extendedID, bool isAAM, bool isAME, Uint16 ctrlReg) : 
        msgID(isExtendedID, standartID, extendedID, isAAM, isAME),
        msgCtrlReg(ctrlReg)
    {}
};

struct CANMessage {
    union MsgCtrlReg msgctrl;
    union CANMDL_REG mdl;
    union CANMDH_REG mdh;

    CANMessage(){
        msgctrl.all = 0;
        mdl.all = 0;
        mdh.all = 0;
    }

    // CANMessage(const CANMessage& copyStruct){
    //     msgctrl.all = copyStruct.msgctrl.all;
    //     mdl.all = copyStruct.mdl.all;
    //     mdh.all = copyStruct.mdh.all;
    // }
};

class CAN{
public:
    CAN();

    void initGpio(CAN_VARIANT canVarinat);
    void config(CAN_VARIANT canVarinat, Uint16 baudrate);
    // void configRxMBoxes();
    void configRxMBoxes(Uint16 boxNumber, const ConfigMBox& configData);
    // void configTxMBoxes();   //TODO delete
    void configTxMBox(Uint16 boxNumber, const ConfigMBox& configData);

    void transmitMsg(Uint16 boxNumber, const CANMessage& message);
    bool receiveMsg(Uint16 boxNumber, CANMessage& rxMessage);
    // CANMessage receiveMsg(Uint16 boxNumber);
    bool isNewMessage();
    bool isNewMessage(Uint16 boxNumber);

private:
    volatile ECAN_REGS* p_CanRegs_;
    ECAN_REGS CanShadow_;
    volatile ECAN_MBOXES* p_CanMBoxes_;
};


}   // canSpace