gistfile1.c

/*
 * uCAN.h
 *
 *  Created on: Dec 1, 2013
 *      Author: nick
 */

#ifndef UCAN_H_
#define UCAN_H_

#define UCAN_BROADCAST_NODE_ID 0xFF
#define UCAN_PRIORITY_EMERGENCY 0
#define UCAN_PRIORITY_HIGH 1
#define UCAN_PRIORITY_NORMAL 2
#define UCAN_PRIORITY_LOW 3
#define UCAN_NODE_NOT_FOUND -1
#define UCAN_PROTOCOL_YARP 0
#define UCAN_PROTOCOL_RAP 1

typedef union {
	struct {
		unsigned int sender : 8;
		unsigned int recipient : 8;
		unsigned int subfields : 6;
		unsigned int protocol : 4;
		unsigned int broadcast : 1;
		unsigned int priority : 2;
	} unicast;

	struct {
		unsigned int sender : 8;
		unsigned int subfields : 14;
		unsigned int protocol : 4;
		unsigned int broadcast : 1;
		unsigned int priority : 2;
	} broadcast;

	uint32_t raw;
} uCANMessageID;

typedef struct {
	uint8_t address[6];
} uCANHardwareID;

typedef struct {
	uCANMessageID id;
	uint8_t len;
	uint8_t body[8];
} uCANMessage;

typedef int16_t uCANNodeAddress;
typedef void (*uCANReceiveMessageFunc)(uCAN *ucan, uCANMessage *message);
typedef void (*uCANSendMessageFunc)(uCAN *ucan, uCANMessage *message);
typedef void (*uCANAddressChangeHandler)(uint8_t node_id);
typedef uint8_t (*uCANRegisterReadHandler)(uCANNodeAddress address, uint8_t page, uint8_t reg);
typedef void (*uCANRegisterWriteHandler)(uCANNodeAddress address, uint8_t page, uint8_t reg, uint8_t data);

typedef struct {
	uint8_t page;
	uCANRegisterReadHandler read;
	uCANRegisterWriteHandler write;
} uCANRegisterHandlers;

typedef struct {
	uint8_t node_id;
	uCANHardwareID hardware_id;
	uCANReceiveMessageFunc recv;
	uCANSendMessageFunc send;
	uCANAddressChangeHandler address_change_handler;
	uCANRegisterHandlers *registers;
	uint16_t timeout;
} uCAN;

void uCAN_Init(uCAN *ucan, uCANHardwareID hardware_id, uint8_t default_node_id,
		uCANReceiveMessageFunc recv, uCANSendMessageFunc send);
uint8_t uCAN_HandleMessage(uCAN *ucan, uCANMessage *message);
uint8_t uCAN_Receive(uCAN *ucan);
void uCAN_SetTimeout(uCAN *ucan, int timeout);

// YARP methods
NodeAddress uCAN_GetNodeFromNodeID(uCAN *ucan, uint8_t node_id);
NodeAddress uCAN_GetNodeFromHardwareID(uCAN *ucan, HardwareID hardware_id);
uint8_t uCAN_Ping(uCAN *ucan, NodeAddress node, HardwareID *hardware_id);
void uCAN_RegisterAddressChangeHandler(uCAN *ucan, AddressChangeHandler handler);
void uCAN_SetAddress(uCAN *ucan, HardareID hardware_id, uint8_t node_id);

// RAP methods
void uCAN_ConfigureRegisters(uCAN *ucan, RegisterHandlers *handlers);
uint8_t uCAN_ReadRegisters(uCAN *ucan, NodeAddress node, uint8_t page, uint8_t reg, uint8_t len, uint8_t *data);
uint8_t uCAN_WriteRegisters(uCAN *ucan, NodeAddress node, uint8_t page, uint8_t reg, uint8_t len, uint8_t *data);

#endif /* UCAN_H_ */