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ahb_comm_CAN.h
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ahb_comm_CAN.h
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/*
aHomeBus CAN interface
@copyright 2019 Ivan Raspopov
Based on aSysBus - 2015-2017 Florian Knodt, www.adlerweb.info
Based on iSysBus - 2010 Patrick Amrhein, www.isysbus.org
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#ifndef AHB_CAN__H
#define AHB_CAN__H
#include "ahb.h"
#include <mcp_can_coryjfowler.h>
#include <SPI.h>
/**
* Global variable indicating a CAN-bus got a message
* This is currently shared amongst all CAN-interfaces!
*/
extern volatile bool ahb_CANIntReq;
/**
* Global interrupt function called on CAN interrupts
* This is currently shared amongst all CAN-interfaces!
*/
void ahb_CANInt(void);
/**
* CAN Communication Interface
* @see AHB_COMM
*/
class AHB_CAN : public AHB_COMM { // <net_size>
private:
/**
* CAN-Bus object
* @see MCP_CAN
* @see https://github.com/coryjfowler/MCP_CAN_lib
*/
MCP_CAN _interface;
/**
* Interrupt pin to be used
*/
byte _intPin = 0;
/**
* CAN Bus Speed
*/
byte _speed = 0;
/**
* CAN Crystal Frequency
*/
byte _clockspd = 0;
public:
void SetNodeId(uint8_t nodeId);
/**
* Pointer to ARRAY from user main app. Array send to consructor route_table
* {1,2,10,22} etc.
*/
uint8_t *all_network_address;
/**
* Size route table from constructor. Get from user main app, from constructor.
* Used as all_network_address [net_size]
*/
uint8_t net_size;
/**
* Return to main class net_size for routing logic
*/
uint8_t net_size_get(void);
/**
* Return to main class data from array all_network_address[] for routing logic
*/
uint8_t address_network_get(uint8_t i);
/**
* Return to main class busType for communication logic from typedef enum enum_busType
*/
uint8_t busType();
/**
* Constructor for NonInterrupt operation
* @TODO This is not implemented yet…
* @param cs pin used for CHIP_SELECT
* @param speed CAN bus speed definition from mcp_can_dfs.h (bottom)
* @param clockspd MCP crystal frequency from mcp_can_dfs.h (bootom)
*/
AHB_CAN(byte cs, byte speed, byte clockspd);
/**
* Constructor for Interrupt based operation
* @param cs pin used for CHIP_SELECT
* @param speed CAN bus speed definition from mcp_can_dfs.h (bottom)
* @param clockspd MCP crystal frequency from mcp_can_dfs.h (bootom)
* @param interrupt pin used for interrupt. Must have hardware INT support
* @see
*/
AHB_CAN(byte cs, byte speed, byte clockspd, byte interrupt, uint8_t *route_table, uint8_t netsize);
/**
* Initialize CAN controller
* @return byte error code
* @see
*/
byte begin(void);
void mcp2515_reset(void);
uint8_t checkError(void);
uint8_t errorCountRX(void);
uint8_t errorCountTX(void);
uint8_t getError(void);
/**
* Parse CAN-address into our metadata format
* @param canAddr CAN-address
* @return ahbMeta object containing decoded metadata, targst/source==0x00 on errors
*/
ahbMeta ahbCanAddrParse(uint32_t rxId_can);
/**
* Assemble a CAN-address based on our adressing format
* @param meta ahbMeta object
* @return unsigned long CAN-address
*/
uint32_t ahbCanAddrAssemble(ahbMeta meta);
/**
* Assemble a CAN-address based on our adressing format
* @param type 2 bit message type (AHB_PKGTYPE_*)
* @param target address between 0x0001 and 0x07FF/0xFFFF
* @param source source address between 0x0001 and 0x07FF
* @return unsigned long CAN-address
*/
//unsigned long ahbCanAddrAssemble(byte type, unsigned int target, unsigned int source);
uint32_t ahbCanAddrAssemble(uint8_t type, uint8_t target, uint8_t source);
/**
* Assemble a CAN-address based on our adressing format
* @param type 2 bit message type (AHB_PKGTYPE_*)
* @param target address between 0x0001 and 0x07FF/0xFFFF
* @param source source address between 0x0001 and 0x07FF
* @param port port address between 0x00 and 0x1F, Unicast only
* @return unsigned long CAN-address
*/
//unsigned long ahbCanAddrAssemble(byte type, unsigned int target, unsigned int source, char port);
//uint32_t ahbCanAddrAssemble(uint8_t f_type, uint8_t f_cmd, uint8_t f_target, uint8_t f_port, uint8_t f_source);
uint32_t ahbCanAddrAssemble(bool priority, uint8_t dev_type, uint8_t f_target, uint8_t msg_type, uint8_t f_source);
/**
* Send message to CAN-bus
* @param type 2 bit message type (AHB_PKGTYPE_*)
* @param target address between 0x0001 and 0x07FF/0xFFFF
* @param source source address between 0x0001 and 0x07FF
* @param port port address between 0x00 and 0x1F, Unicast only
* @param len number of bytes to send (0-8)
* @param data array of bytes to send
*/
//Тип передаваемого сообщения msg_type
//Тип устройства пр передаче управляющих команд для Node и команды сети dev_type
bool ahbSend_V(uint8_t type, uint8_t dev_type, uint8_t target, uint8_t msg_type, uint8_t source, uint8_t len, byte data[8]);
/**
* Receive a message from the CAN-bus
*
* This polls the CAN-Controller for new messages.
* The received message will be passed to &pkg, if no message
* is available the function will return false.
*
* @param pkg ahbPacket-Reference to store received packet
* @return true if a message was received
*/
bool ahbReceive_V(ahbPacket &pkg);
};
#endif /* AHB_CAN__H */
/* typedef enum enum_nodeState {
Initialisation = 0x00, // 0: 'INITIALISING', - +
Disconnected = 0x01, // 1: ''
Connecting = 0x02, // 2: ''
Preparing = 0x02, // 3: ''
Stopped = 0x04, // 4: 'STOPPED', - +
Operational = 0x05, // 5: 'OPERATIONAL', - + полный функционал
// 80: 'SLEEP', -
// 96: 'STANDBY', -
Pre_operational = 0x7F, // 127: 'PRE-OPERATIONAL'- + конфигурирование по SDO, PDO отключен???
Unknown_state = 0x0F //
}e_nodeState;
typedef struct {
INTEGER8 csBoot_Up;
INTEGER8 csSDO;
INTEGER8 csEmergency;
INTEGER8 csSYNC;
INTEGER8 csLifeGuard;
INTEGER8 csPDO;
INTEGER8 csLSS;
} s_state_communication;
*/
/**
* Bus address of this node
*/