CANInterface.h

00001 
00002 #ifndef CAN_INTERFACE_H
00003 #define CAN_INTERFACE_H
00004 
00005 #include "MyThread.h"
00006 #include "MyCallBack.h"
00007 #include "CAN.h"
00008 #include "CANFifoMessage.h"
00009 
00010 #define CAN_ID_PROMISCUOUS_MODE 0xffffffff      
00011 
00012 #define CAN_SIMULTANEOUS_CBS    8
00013 #define CAN_SIMULTANEOUS_MSG    15
00014 
00015 class CANInterface: public MyThread {
00016 protected:
00017     typedef struct _idCbEntry{
00018         uint32_t id;            // 29b and 11b can ids are supported
00019         MyCallBack *cb;
00020     } idCbEntry;
00021     
00022     Mutex idCbTableMutex;
00023     Mutex sendMutex;
00024     
00025     uint8_t nCurrentCbs;           // How much entries we got in our table
00026     idCbEntry idCbTable[CAN_SIMULTANEOUS_CBS];     // This mean that we allow at most 8 sensors to receive events simultaneously
00027     
00028     CAN *bus1;
00029     CAN *bus2;
00030     
00031     bool rxOvf;
00032     CANFifoMessage fifoRxMsg;
00033     CANMessage msgTx;
00034 
00035 public:
00036     CANInterface();
00037     virtual void Configure(uint8_t ifaceNumber, int speed);
00038     virtual void AddCallBackForId(int id, MyCallBack *cb);
00039     virtual void DellCallBackForId(int id);
00040     virtual void DispatchCANMessage(CANMessage *msg);
00041     virtual int  Send(uint8_t ifaceNumber,int id, char *data, uint8_t len);
00042     virtual void Main();
00043     
00044     virtual void RxCbCan1(void);
00045     virtual void RxCbCan2(void);
00046         
00047     virtual CAN *GetCan1() { return bus1; }
00048     virtual CAN *GetCan2() { return bus2; }
00049 };
00050 
00051 #endif