Diff: can.hpp

Revision:

2:7dfc8dd6aab3

Parent:

1:79b1ee0f97ef

--- a/can.hpp	Mon Aug 31 22:25:57 2015 +0000
+++ b/can.hpp	Thu Oct 08 13:36:17 2015 +0000
@@ -1,148 +1,16 @@
-#ifndef __NET_H__
-#define __NET_H__
+#ifndef __CAN_H__
+#define __CAN_H__
 
 #include "common_types.h"
 
-#define CAN_FLAG_EMPTY          0x00
-#define CAN_FLAG_RECEIVED       0x01
-#define CAN_FLAG_SEND           0x02
-
-#define CAN_THREAD_PERIOD       100 //ms
-
-
-
-#define CMD_ECHO                0x0A0A
-
-/**************************************************
- * GLOBAL DEFINES
- **************************************************/
-#define CAN_CMD_BODY_ID         0xAA
-#define CAN_STS_BODY_ID         0xAB
-#define CAN_CMD_ENGINE_ID       0x0A
-#define CAN_CMD_TIME_ID         0xBB
-#define CAN_CMD_DRIVER_ID       0x11
-#define CAN_STS_DRIVER_ID       0x10
-
-#define PERIOD_3s               (3000/CAN_THREAD_PERIOD)
-#define PERIOD_1s               (1000/CAN_THREAD_PERIOD)
-#define PERIOD_500ms            (500/CAN_THREAD_PERIOD)
-#define PERIOD_400ms            (400/CAN_THREAD_PERIOD)
-#define PERIOD_300ms            (300/CAN_THREAD_PERIOD)
-#define PERIOD_200ms            (200/CAN_THREAD_PERIOD)
-#define PERIOD_100ms            (100/CAN_THREAD_PERIOD)
-
-#define CAN_STS_BODY_PERIOD     PERIOD_1s
-
-
-#define CAN_MISSING_DETECTION   PERIOD_3s
-
-#define CAN_MISSING_BODY_ID     0
-#define CAN_MISSING_ENGINE_ID   1
-#define CAN_MISSING_TIME_ID     2
-
-#define CAN_RX_PERIODIC_MSG     3
-
-/**************************************************
- * GLOBAL TYPES
- **************************************************/
-#define CAN_CMD_PAYLOAD_BODY    4
-#define CAN_STS_PAYLOAD_BODY    8
-#define CAN_CMD_PAYLOAD_ENGINE  4
-#define CAN_CMD_PAYLOAD_TIME    4
-#define CAN_CMD_PAYLOAD_DRIVER  8
-#define CAN_STS_PAYLOAD_DRIVER  4
-
-typedef union can_cmd_body_payload_s {
-    uint8 buf[CAN_CMD_PAYLOAD_BODY];
-    struct {
-        uint32 light_r:1;
-        uint32 light_c:1;
-        uint32 light_l:1;
-        uint32 unused:29;
-    } msg;
-} can_cmd_body_payload_t;
-typedef struct can_cmd_body_s {
-    can_cmd_body_payload_t payload;
-    uint8 flag;
-} can_cmd_body_t;
-
-typedef union can_sts_body_payload_s {
-    uint8 buf[CAN_STS_PAYLOAD_BODY];
-    struct {
-        uint32 hit_front:1;
-        uint32 hit_rear:1;
-        uint32 hit_left:1;
-        uint32 hit_right:1;
-        uint32 light_sens:1;
-        uint32 unused:3;
-        uint32 eye_back_l:8;
-        uint32 eye_back_r:8;
-        uint32 eye_front:16;
-    } msg;
-} can_sts_body_payload_t;
-typedef struct can_sts_body_s {
-    can_sts_body_payload_t payload;
-    uint8 flag;
-} can_sts_body_t;
-
-typedef union can_cmd_engine_payload_s {
-    uint8 buf[CAN_CMD_PAYLOAD_BODY];
-    struct {
-        uint32 steering:8;
-        uint32 power:8;
-        uint32 direction:1;
-        uint32 breaking:1;
-        uint32 unused:14;
-    } msg;
-} can_cmd_engine_payload_t;
-typedef struct can_cmd_engine_s {
-    can_cmd_engine_payload_t payload;
-    uint8 flag;
-} can_cmd_engine_t;
-
-typedef union can_cmd_time_payload_s {
-    uint8 buf[CAN_CMD_PAYLOAD_TIME];
-    struct {
-        uint32 time;
-    } msg;
-} can_cmd_time_payload_t;
-typedef struct can_cmd_time_s {
-    can_cmd_time_payload_t payload;
-    uint8 flag;
-} can_cmd_time_t;
-
-typedef union can_cmd_driver_payload_s {
-    uint8 buf[CAN_CMD_PAYLOAD_DRIVER];
-    struct {
-        uint32 cmd:16;
-        uint32 opt:16;
-        uint32 data;
-    } msg;
-} can_cmd_driver_payload_t;
-typedef struct can_cmd_driver_s {
-    can_cmd_driver_payload_t payload;
-    uint8 flag;
-} can_cmd_driver_t;
-
-typedef union can_sts_driver_payload_s {
-    uint8 buf[CAN_STS_PAYLOAD_DRIVER];
-    struct {
-        uint32 data;
-    } msg;
-} can_sts_driver_payload_t;
-typedef struct can_sts_driver_time_s {
-    can_sts_driver_payload_t payload;
-    uint8 flag;
-} can_sts_driver_t;
-
-/**************************************************
- * DATA STRUCTURES
- **************************************************/
-
+//CAN driver initialization
 void init_can();
 
+//thread of the CAN driver which receives and transmits messages periodically
 void thread_can(void const *args);
 
+//return if a message hasn't been received for longer than
+//CAN_MISSING_DETECTION
 bool can_msg_is_missing(uint8 msg_id);
 
-#endif //__NET_H__
+#endif //__CAN_H__