CCS-COMM_BOARD/Protocol/CAN.h

#pragma once

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

namespace canSpace {

enum CAN_VARIANT{
    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(Uint16 configData = 0){
        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 MsgID {
    Uint32              all;
    struct MsgID_Bits   bit;

    MsgID(Uint32 boxID = 0xAAA, bool isExtendedID = false, bool isAAM = false, bool isAME = false) {   
        if(!isExtendedID){
            bit.STDMSGID = boxID;
            bit.EXTMSGID_H = 0;
            bit.EXTMSGID_L = 0;
        }
        else{ all = boxID; }

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

    MsgID(const MsgID& init) {   
        all = init.all;
    }
};


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

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


class CAN{
public:
    CAN(CAN_VARIANT canVariant);

    void initGpio();
    void config(Uint16 baudrate);
    void configTxMBox(Uint16 boxNumber, const MsgID& configID, const MsgCtrlReg& configCtrlReg);
    void configRxMBox(Uint16 boxNumber, const MsgID& configID, const MsgCtrlReg& configCtrlReg);
    void configSystemIsr(Uint32 flags);
    void configMBoxIsr(Uint16 boxNumber);    // TODO not realized yet

    bool isNewMessage();
    bool isNewMessage(Uint16 boxNumber);

    void transmitMsg(Uint16 boxNumber, const CANMessage& message);
    void updateTXMessage(Uint16 boxNumber, const CANMessage& message);
    void sendRemoteRequest(Uint16 boxNumber);
    bool receiveMsg(Uint16 boxNumber, CANMessage& rxMessage);

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


}   // canSpace


#define I0EN_ENABLE 1ul
#define I1EN_ENABLE 1ul << 1
#define GIL_ENABLE 1ul << 2
#define WLIM_ENABLE 1ul << 8
#define EPIM_ENABLE 1ul << 9
#define BOIM_ENABLE 1ul << 10
#define RMLIM_ENABLE 1ul << 11
#define WUIM_ENABLE 1ul << 12
#define WDIM_ENABLE 1ul << 13
#define AAIM_ENABLE 1ul << 14
#define TCOM_ENABLE 1ul << 16
#define MTOM_ENABLE 1ul << 17

#define SYSTEM_INTERRUPTS (\
            I0EN_ENABLE |\
            AAIM_ENABLE  \
)