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130 lines
4.5 KiB
C
130 lines
4.5 KiB
C
/*
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* SPDX-FileCopyrightText: 2024-2025 Espressif Systems (Shanghai) CO LTD
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*
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* SPDX-License-Identifier: Apache-2.0
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*/
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#pragma once
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#include "esp_err.h"
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#include "esp_twai_types.h"
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#ifdef __cplusplus
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extern "C" {
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#endif
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/* -------------------------------------------------- Node Control -------------------------------------------------- */
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/**
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* @brief Enable the TWAI node
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*
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* @param node Handle to the TWAI node
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* @return ESP_OK on success, error code otherwise
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*/
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esp_err_t twai_node_enable(twai_node_handle_t node);
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/**
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* @brief Disable the TWAI node
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*
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* @param node Handle to the TWAI node
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* @return ESP_OK on success, error code otherwise
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*/
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esp_err_t twai_node_disable(twai_node_handle_t node);
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/**
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* @brief Init the recover process for TWAI node which in bus-off
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* @note Follow `on_state_change` callback or `twai_node_get_info` to know recover finish or not
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*
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* @param node Handle to the TWAI node
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* @return ESP_OK on success, error code otherwise
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*/
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esp_err_t twai_node_recover(twai_node_handle_t node);
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/**
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* @brief Delete the TWAI node and release resources
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*
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* @param node Handle to the TWAI node
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* @return ESP_OK on success, error code otherwise
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*/
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esp_err_t twai_node_delete(twai_node_handle_t node);
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/**
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* @brief Register event callbacks for the TWAI node
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*
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* @param node Handle to the TWAI node
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* @param cbs Pointer to a structure of event callback functions
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* @param user_data User-defined data passed to callback functions
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* @return ESP_OK on success, error code otherwise
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*/
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esp_err_t twai_node_register_event_callbacks(twai_node_handle_t node, const twai_event_callbacks_t *cbs, void *user_data);
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/**
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* @brief Reconfigure the timing settings of the TWAI node
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*
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* @note You can reconfigure the timing for the arbitration and data phase, separately or together.
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*
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* @param node Handle to the TWAI node
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* @param bit_timing Optional,pointer to new twai cc(classic) or arbitration phase of twai fd timing configuration
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* @param data_timing Optional, pointer to new twai fd timing configuration
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* @return ESP_OK on success, error code otherwise
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*/
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esp_err_t twai_node_reconfig_timing(twai_node_handle_t node, const twai_timing_advanced_config_t *bit_timing, const twai_timing_advanced_config_t *data_timing);
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/**
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* @brief Configure the mask filter of the TWAI node
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*
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* @param node Handle to the TWAI node
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* @param filter_id Index of the filter to configure
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* @param mask_cfg Pointer to the mask filter configuration
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* @return ESP_OK on success, error code otherwise
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*/
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esp_err_t twai_node_config_mask_filter(twai_node_handle_t node, uint8_t filter_id, const twai_mask_filter_config_t *mask_cfg);
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/**
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* @brief Configure the range filter of the TWAI node
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*
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* @param node Handle to the TWAI node
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* @param filter_id Index of the filter to configure
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* @param range_cfg Pointer to the range filter configuration
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* @return ESP_OK on success, error code otherwise
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*/
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esp_err_t twai_node_config_range_filter(twai_node_handle_t node, uint8_t filter_id, const twai_range_filter_config_t *range_cfg);
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/**
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* @brief Get information about the TWAI node
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*
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* @param node Handle to the TWAI node
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* @param status_ret Pointer to store the current node status
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* @param statistics_ret Pointer to store node statistics
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* @return ESP_OK on success, error code otherwise
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*/
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esp_err_t twai_node_get_info(twai_node_handle_t node, twai_node_status_t *status_ret, twai_node_record_t *statistics_ret);
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/* ----------------------------------------------- Node Communication ----------------------------------------------- */
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/**
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* @brief Transmit a TWAI frame
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*
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* @param[in] node Handle to the TWAI node
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* @param[in] frame Pointer to the frame to transmit
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* @param[in] timeout_ms Maximum wait time if the transmission queue is full (milliseconds), -1 to wait forever
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* @return ESP_OK on success, error code otherwise
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*/
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esp_err_t twai_node_transmit(twai_node_handle_t node, const twai_frame_t *frame, int timeout_ms);
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/**
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* @brief Receive a TWAI frame from 'rx_done_cb'
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*
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* @note This function can only be called from the `rx_done_cb` callback, you can't call it from a task.
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* @note Please also provide `buffer` and `buffer_len` inside the rx_frame
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* @note Can get original data length from `twaifd_dlc2len(rx_frame.header.dlc)`
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*
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* @param[in] node Handle to the TWAI node
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* @param[out] rx_frame Pointer to the frame store rx content
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* @return ESP_OK on success, error code otherwise
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*/
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esp_err_t twai_node_receive_from_isr(twai_node_handle_t node, twai_frame_t *rx_frame);
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#ifdef __cplusplus
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}
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#endif
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