CanDriverData.h

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/* Copyright (c) 2018 Skyward Experimental Rocketry
 * Author: Luca Erbetta
 *
 * Permission is hereby granted, free of charge, to any person obtaining a copy
 * of this software and associated documentation files (the "Software"), to deal
 * in the Software without restriction, including without limitation the rights
 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
 * copies of the Software, and to permit persons to whom the Software is
 * furnished to do so, subject to the following conditions:
 *
 * The above copyright notice and this permission notice shall be included in
 * all copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
 * THE SOFTWARE.
 */
 
#pragma once
 
#include <cstdint>
 
namespace Boardcore
{
 
namespace Canbus
{
 
struct CanTXResult
{
    uint32_t seq;
    uint8_t mailbox;
    uint8_t txStatus;
    uint8_t tme;
    uint8_t errCode;
};
 
struct CanRXStatus
{
    uint8_t rxStatus;
    uint8_t fifo;
    uint8_t rxErrCounter = 0;
    uint8_t errCode;
    bool fifoOverrun;
    bool fifoFull;
};
 
struct CanPacket
{
    uint32_t timestamp = 0;
 
    uint32_t id;
    bool ext = false;  
 
    bool rtr = false;
 
    uint8_t length = 0;
 
    uint8_t data[8];
};
 
struct CanRXPacket
{
    CanPacket packet;
    CanRXStatus status;
};
 
}  // namespace Canbus
 
}  // namespace Boardcore