hand_acid_mainboard/ucomponents/zcan/zcan.hpp

#pragma once

#include "cmsis_os.h"
#include "stm32basic/stm32basic.hpp"
#include "stm32basic/zqueue.hpp"

namespace iflytop {
using namespace std;

typedef struct {
  uint32_t extid;
  uint8_t  rxpacket[8];
  int32_t  rkpacketlen;
} zcanrx_t;

class ZCAN1 {
  zmutex  m_lock = {"ZCAN1"};
  ZThread canListener;

  ZQueue<zcanrx_t> rxQueue;

  function<void(zcanrx_t *rx)> onZcanRx;
  bool                         inited    = false;
  bool                         txNoError = false;

 public:
  ZCAN1() {}

  static ZCAN1 *ins() {
    static ZCAN1 instance;
    return &instance;
  }

  void zcaninit(Pin_t tx, Pin_t rx);
  bool txMsg(const uint32_t extid, const uint8_t txdata[], uint32_t txdatalen, int32_t overtime);
  bool txMsgNoError(const uint32_t extid, const uint8_t txdata[], uint32_t txdatalen, int32_t overtime);
  bool getRxMsg(zcanrx_t *rx);
  void regOnCanMessage(function<void(zcanrx_t *rx)> onmessage);

 public:
  void STM32_HAL_onCAN_RxFifo0MsgPending(CAN_HandleTypeDef *can);
  void STM32_HAL_onCAN_Error(CAN_HandleTypeDef *can);

 private:
  HAL_StatusTypeDef initializeFilter();
  HAL_StatusTypeDef activateRxIT();
  bool              _txMsg(const uint32_t extid, const uint8_t txdata[], uint32_t txdatalen, int32_t overtime);
};

}  // namespace iflytop