ATY_LIB/CAN_ATY.h

/**
* @file CAN_ATY.h
*
* @param Project DEVICE_GENERAL_ATY_LIB
*
* @author ATY
*
* @copyright
*       - Copyright 2017 - 2026 MZ-ATY
*       - This code follows:
*           - MZ-ATY Various Contents Joint Statement -
*               <a href="https://mengze.top/MZ-ATY_VCJS">
*                        https://mengze.top/MZ-ATY_VCJS</a>
*           - CC 4.0 BY-NC-SA -
*               <a href="https://creativecommons.org/licenses/by-nc-sa/4.0/">
*                        https://creativecommons.org/licenses/by-nc-sa/4.0/</a>
*       - Your use will be deemed to have accepted the terms of this statement.
*
* @brief functions of can process for C platform
*
* @version
*       - 1_00_260116 > ATY
*           -# Preliminary version
********************************************************************************
*/

/**
 * =============================================================================
 * CAN Protocol Frame Definitions (Classic CAN, 11-bit Standard ID)
 * =============================================================================
 *
 * -------------------
 * │ Frame Type      │ CAN ID         │ Data Field Layout                      │
 * -------------------
 * │ Broadcast       │ 0x00FF         │ [0]: CMD                               │
 * │ (Host -> Slave) │                │ [1]: REG_ADDR                          │
 * │                 │                │ [2-5]: VALUE (float)                   │
 * │                 │                │ [6-7]: -                               │
 * -------------------
 * │ Multicast       │ 0x100 + N      │ [0]: CMD                               │
 * │ (Host -> Slave) │ (N = Group Id) │ [1]: REG_ADDR                          │
 * │                 │                │ [2-5]: VALUE (float)                   │
 * │                 │                │ [6-7]: -                               │
 * -------------------
 * │ P2P             │ 0x200 + N      │ [0]: CMD                               │
 * │ (Host -> Slave) │ (N = ADDR)     │ [1]: REG_ADDR                          │
 * │                 │                │ [2-5]: VALUE                           │
 * │                 │                │ [6-7]: -                               │
 * -------------------
 * │ Slave Response  │ 0x300 + N      │ [0]: CMD_ECHO                          │
 * │ (Slave -> Host) │ (N = ADDR)     │ [1]: REG_ADDR                          │
 * │                 │                │ [2-5]: VALUE (float)                   │
 * │                 │                │ [6]: ERR                               │
 * │                 │                │ [7]: -                                 │
 * -------------------
 * │ Fault Report    │ 0x0010 + N     │ [0]: FAULT_CODE                        │
 * │ (High Priority) │ (N = ADDR)     │ [1]: SEVERITY                          │
 * │                 │                │ [2-5]: ERROR_VALUE (float)             │
 * │                 │                │ [6-7]: -                               │
 * -------------------
 * =============================================================================
 */

#ifndef __CAN_ATY_H
#define __CAN_ATY_H

#include "INCLUDE_ATY.h"

/******************************* For user *************************************/

/******************************************************************************/

struct CAN_ATY_Dev{
    uint8_t (*addTxMessage)(uint32_t addr, uint8_t* data, uint8_t len);

    uint8_t addr;
    uint8_t groupId;

    uint8_t lock;
};


void CAN_RegRW(struct CAN_ATY_Dev* dev,
    uint32_t frameId, uint8_t cmd, uint8_t regAddr, float value);
void CAN_Response(struct CAN_ATY_Dev* dev,
    uint8_t cmd, uint8_t regAddr, float value, uint8_t error);
void CAN_FaultReport(struct CAN_ATY_Dev* dev,
    uint8_t faultCode, uint8_t severity, float faultValue);
void CAN_RX_Callback(struct CAN_ATY_Dev* dev, uint32_t stdId, float* data, uint8_t* rxData);

#define CAN_FILTER_BROADCAST         1
#define CAN_FILTER_MULTICAST         2
#define CAN_FILTER_P2P               3
#define CAN_FILTER_RESPONSE          4
#define CAN_FILTER_FAULT             5

#define CAN_STD_ID_BROADCAST         0x00FF
#define CAN_STD_ID_MULTICAST         0x0100
#define CAN_STD_ID_P2P               0x0200
#define CAN_STD_ID_RESPONSE          0x0300
#define CAN_STD_ID_FAULT             0x0010

#define CAN_CMD_READ                 0x01
#define CAN_CMD_WRITE                0x02

#define CAN_ERR_NONE                 0x00
#define CAN_ERR_CMD                  0x01
#define CAN_ERR_PARAM                0x02

#define CAN_FAULT_SEVERITY_WARN      0x00
#define CAN_FAULT_SEVERITY_CRITICAL  0x01

#define CAN_FAULT_CODE_NONE          0x00


#endif /* __CAN_ATY_H */

/******************************** End Of File *********************************/