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firestar5683
d874c9258c
Extend native safety and health contracts with explicit AOL state and bounded message handling. Keep vehicle-specific admissions outside the generic layer. Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
21 lines
659 B
C
21 lines
659 B
C
#pragma once
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// IRQs: CAN1_TX, CAN1_RX0, CAN1_SCE
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// CAN2_TX, CAN2_RX0, CAN2_SCE
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// CAN3_TX, CAN3_RX0, CAN3_SCE
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#define CAN_ARRAY_SIZE 3
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#define CAN_IRQS_ARRAY_SIZE 3
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extern CAN_TypeDef *cans[CAN_ARRAY_SIZE];
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extern uint8_t can_irq_number[CAN_IRQS_ARRAY_SIZE][CAN_IRQS_ARRAY_SIZE];
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bool can_set_speed(uint8_t can_number);
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void can_clear_send(CAN_TypeDef *CANx, uint8_t can_number);
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void update_can_health_pkt(uint8_t can_number, uint32_t ir_reg);
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// ***************************** CAN *****************************
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// CANx_TX IRQ Handler
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// CANx_RX0 IRQ Handler
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// blink blue when we are receiving CAN messages
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void can_rx(uint8_t can_number);
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