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 ConfigMsgIDReg{
    Uint32 boxID;
    bool isExtendedID;
    bool isAAM;
    bool isAME; 

    ConfigMsgIDReg(Uint32 initBoxID = 0xAAA, bool initIsExtendedID = false, bool initIsAAM = false, bool initIsAME = false) :
        boxID(initBoxID),
        isExtendedID(initIsExtendedID),
        isAAM(initIsAAM),
        isAME(initIsAME) 
    {}
}; */


/* struct ConfigMBox{
    MsgID msgID;
    MsgCtrlReg msgCtrlReg;

    ConfigMBox(const MsgID& configMsgID, const Uint16& configMsgCtrlReg) : 
        // msgID(configMsgID.boxID, configMsgID.isExtendedID, configMsgID.isAAM, configMsgID.isAME),
        msgID(configMsgID),
        msgCtrlReg(configMsgCtrlReg)
    {}
}; */

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 ConfigMBox& configData);
    void configTxMBox(Uint16 boxNumber, const MsgID& configID, const MsgCtrlReg& configCtrlReg);
    void configRxMBoxes(Uint16 boxNumber, const MsgID& configID, const MsgCtrlReg& configCtrlReg);

    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_;
    CAN_VARIANT canPort;
};


}   // canSpace