finish devleop can interface not yet tested

306-controller_interface.X/middleware/can_interface.h

@@ -0,0 +1,99 @@
+/**
+ * @author R<>mi Heredero
+ * @version 1.0.0
+ * @date August 2023
+ * @file can_interface.h
+ */
+#ifndef CAN_H
+#define CAN_H
+
+#include "../xf/xf.h"
+
+typedef enum {
+    STCA_INIT,
+    STCA_PROCESS
+} CAN_STATES;
+
+typedef enum {
+    evCAinit = 10, // TODO change this number (< 256)
+    evCAnewMsg,
+    evCAsend
+} CAN_EVENTS;
+
+typedef void (*CAN_CALLBACK)(uint8_t, uint8_t, uint32_t);
+
+typedef struct {
+    CAN_STATES state;
+    uint8_t sender;
+    CAN_CALLBACK receiveCan;
+} CAN;
+
+CAN CAN_myself;
+
+/**
+ * Initialize the CAN
+ * @param me the CAN itself
+ */
+void CAN_init();
+
+/**
+ * Start the CAN state machine
+ */
+void CAN_startBehaviour();
+
+
+/**
+ * Process the event
+ * @param ev the event to process
+ * @return true if the event is processed
+ */
+bool CAN_processEvent(Event* ev);
+
+/*************
+ * Callbacks *
+ *************/
+
+
+/**
+ * Set the callback function to call when the CAN is entering state read
+ * @param f the function to call
+ */
+void CAN_onReceiveCan(CAN_CALLBACK f);
+
+/************
+ * EMITTERS *
+ ************/
+
+/**
+ * Handler for receiving new can message during.
+ * This function is done during interrupt
+ */
+void CAN_newMsg();
+     
+/**
+ * Put a new can message on the queue
+ * @param idRecipient id for the recipient
+ * @param idMsg id for the message
+ * @param data 4 bytes of data to send
+ */
+void CAN_Send(uint8_t idRecipient, uint8_t idMsg, uint32_t data);
+
+/***********
+ * SETTERS *
+ ***********/
+
+/**
+ * Set the sender of this firmware
+ * @param idSender id of the sender
+ * 1 CONTROL
+ * 2 JOYSTICK
+ * 3 DISPLAY
+ * 4 DRIVE
+ * 5 STEERING
+ * 6 SUPPLY
+ * 7 UNDEFINED YET
+ * 0 BROADCAST/DEBUG
+ */
+void CAN_setSender(uint8_t idSender);
+
+#endif