Esp32HardwareTwai.hxx

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#ifndef _FREERTOS_DRIVERS_ESP32_ESP32HARDWARETWAI_HXX_
#define _FREERTOS_DRIVERS_ESP32_ESP32HARDWARETWAI_HXX_
 
#include <hal/gpio_types.h>
#include <soc/soc.h>
#include <soc/soc_caps.h>
#include <stdint.h>
#include <stdio.h>
#include <unistd.h>
 
#include "nmranet_config.h"
#include "utils/Singleton.hxx"
 
namespace openmrn_arduino
{
 
typedef struct
{
    uint32_t rx_processed;
 
    uint32_t rx_missed;
 
    uint32_t rx_discard;
 
    uint32_t rx_lost;
 
    uint32_t rx_overrun;
 
    uint32_t tx_processed;
 
    uint32_t tx_success;
 
    uint32_t tx_failed;
 
    uint32_t arb_loss;
 
    uint32_t bus_error;
} esp32_twai_stats_t;
 
class Esp32HardwareTwai : public Singleton<Esp32HardwareTwai>
{
public:
    Esp32HardwareTwai(int rx, int tx
                    , bool report = true
                    , size_t rx_buffer_size = config_can_rx_buffer_size()
                    , size_t tx_buffer_size = config_can_tx_buffer_size()
                    , const char *path = "/dev/twai"
                    , int clock_out = GPIO_NUM_NC
                    , int bus_status = GPIO_NUM_NC
                    , uint32_t isr_preferred_core = DEFAULT_ISR_CORE);
 
    ~Esp32HardwareTwai();
 
    void hw_init();
    
    void get_driver_stats(esp32_twai_stats_t *stats);
 
private:
    Esp32HardwareTwai();
 
    const int rxPin_;
 
    const int txPin_;
 
    const int extClockPin_;
 
    const int busStatusPin_;
 
    const uint32_t preferredIsrCore_;
 
#if SOC_CPU_CORES_NUM > 1
    static constexpr uint32_t DEFAULT_ISR_CORE = APP_CPU_NUM;
#else
    static constexpr uint32_t DEFAULT_ISR_CORE = PRO_CPU_NUM;
#endif  // SOC_CPU_CORES_NUM > 1
 
    const char *vfsPath_;
 
    DISALLOW_COPY_AND_ASSIGN(Esp32HardwareTwai);
};
 
} // namespace openmrn_arduino
 
using openmrn_arduino::esp32_twai_stats_t;
using openmrn_arduino::Esp32HardwareTwai;
 
#endif // _FREERTOS_DRIVERS_ESP32_ESP32HARDWARETWAI_HXX_