Marcel Peterkau
98629b744d
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79 lines
2.4 KiB
C
79 lines
2.4 KiB
C
#pragma once
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#include <Arduino.h>
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#include <mcp_can.h>
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#include "common.h"
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// ==== Board-Pin ====
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// Falls nicht bereits global definiert:
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#ifndef GPIO_CS_CAN
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#define GPIO_CS_CAN 5
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#endif
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// ==== Öffentliche, einzige Instanz ====
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extern MCP_CAN CAN0;
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// ==== Init-Config ====
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struct CanHalConfig {
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uint8_t baud = CAN_500KBPS; // laut Lib
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uint8_t clock = MCP_16MHZ; // 8/16 MHz je nach Quarz
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uint16_t listenOnlyProbeMs = 0; // optionaler kurzer Hörtest
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uint16_t modeSettleMs = 10; // Wartezeit für Mode-Set (Retry-Fenster)
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};
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// ==== Universeller Filter-Descriptor ====
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struct CanFilter {
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uint32_t id; // 11-bit oder 29-bit Roh-ID
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bool ext; // false = STD(11-bit), true = EXT(29-bit)
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};
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// =====================
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// Trace / Logging Types
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// =====================
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struct CanLogFrame {
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uint32_t ts_ms;
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uint32_t id;
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bool ext;
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bool rx; // true = RX, false = TX
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uint8_t dlc;
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uint8_t data[8];
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};
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using CanTraceSink = void (*)(const CanLogFrame& f);
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// ==== API ====
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// 1) Einmalige Hardware-Initialisierung + integrierter Loopback-Selftest.
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// - begin()
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// - LOOPBACK senden/echo prüfen (ohne Bus)
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// - optional: ListenOnly-Probe (nur Heuristik)
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// - Default: Filter/Masks weit offen, NORMAL-Mode
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// Rückgabe: true = bereit; false = Fehler (kein CAN verwenden)
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bool CAN_HAL_Init(const CanHalConfig& cfg);
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// Ist die HAL bereit (nach Init)?
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bool CAN_HAL_IsReady();
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// Bestätigter Moduswechsel (CONFIG/NORMAL/LISTENONLY/LOOPBACK)
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// true = erfolgreich; setzt bei Misserfolg DTC_CAN_TRANSCEIVER_FAILED
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bool CAN_HAL_SetMode(uint8_t mode);
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// Masken/Filter
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bool CAN_HAL_SetMask(uint8_t bank, bool ext, uint32_t rawMask);
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bool CAN_HAL_SetStdMask11(uint8_t bank, uint16_t mask11);
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void CAN_HAL_ClearFilters();
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bool CAN_HAL_AddFilter(const CanFilter& f);
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bool CAN_HAL_SetFilters(const CanFilter* list, size_t count);
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// Non-blocking IO
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bool CAN_HAL_Read(unsigned long& id, uint8_t& len, uint8_t data[8]); // true = Frame gelesen
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uint8_t CAN_HAL_Send(unsigned long id, bool ext, uint8_t len, const uint8_t* data); // CAN_OK bei Erfolg
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// Diagnose/Utilities
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uint8_t CAN_HAL_GetErrorFlags(); // Intern: getError()
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void CAN_HAL_GetErrorCounters(uint8_t& tec, uint8_t& rec); // TX/RX Error Counter
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// Trace / Sniffer
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void CAN_HAL_SetTraceSink(CanTraceSink sink);
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void CAN_HAL_EnableRawSniffer(bool enable);
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bool CAN_HAL_IsRawSnifferEnabled();
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