CANController.h

// Copyright (c) Sandeep Mistry. All rights reserved.
// Licensed under the MIT license. See LICENSE file in the project root for full license information.

#ifndef CAN_CONTROLLER_H
#define CAN_CONTROLLER_H

#include <Arduino.h>

class CANControllerClass : public Stream {

public:
  virtual int begin(long baudRate);
  virtual void end();

  int beginPacket(int id, int dlc = -1, bool rtr = false);
  int beginExtendedPacket(long id, int dlc = -1, bool rtr = false);
  virtual int endPacket();

  virtual int parsePacket();
  long packetId();
  bool packetExtended();
  bool packetRtr();
  int packetDlc();

  // from Print
  virtual size_t write(uint8_t byte);
  virtual size_t write(const uint8_t *buffer, size_t size);

  // from Stream
  virtual int available();
  virtual int read();
  virtual int peek();
  virtual void flush();

  virtual void onReceive(void(*callback)(int));

  virtual int filter(int id) { return filter(id, 0x7ff); }
  virtual int filter(int id, int mask);
  virtual int filterExtended(long id) { return filterExtended(id, 0x1fffffff); }
  virtual int filterExtended(long id, long mask);

  virtual int observe();
  virtual int loopback();
  virtual int sleep();
  virtual int wakeup();

protected:
  CANControllerClass();
  virtual ~CANControllerClass();

protected:
  void (*_onReceive)(int);

  bool _packetBegun;
  long _txId;
  bool _txExtended;
  bool _txRtr;
  int _txDlc;
  int _txLength;
  uint8_t _txData[8];

  long _rxId;
  bool _rxExtended;
  bool _rxRtr;
  int _rxDlc;
  int _rxLength;
  int _rxIndex;
  uint8_t _rxData[8];
};

#endif