msg_handler.hpp

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#ifndef STM_UTILS_INC_MSG_HANDLER_HPP_
#define STM_UTILS_INC_MSG_HANDLER_HPP_
 
#include <cstdint>   
#include <fdcan.h>   

#define CAN_NODE_ID 0x067

#define DEVC_NODE_ID 0x077

struct ref_msg_packet {
    uint8_t enable_module;    
    uint8_t reset;            
    uint8_t pow_limit;        
    uint16_t energy_buffer;   
} __attribute__((packed));

struct supercap_msg_packet {
    float chassis_power;      
    uint8_t error;            
    uint8_t cap_energy;       
} __attribute__((packed));

void initCANComm(FDCAN_HandleTypeDef* fdcan_);

class CANComm {
public:
    CANComm(FDCAN_HandleTypeDef* fdcan_) : fdcan(fdcan_) { txHeaderConfig(); }

    ~CANComm() {}

    void sendMessage();
 
private:
    void txHeaderConfig();

    void handleInterrupts();
 
    FDCAN_HandleTypeDef* fdcan;        
 
    FDCAN_RxHeaderTypeDef RxHeader;    
    uint8_t* RxData;                   
    FDCAN_TxHeaderTypeDef TxHeader;    
 
    supercap_msg_packet txMsg;         
 
    int errorStatus;                   
};
 
#endif /* STM_UTILS_INC_MSG_HANDLER_HPP_ */