Janosch
145 lines
4.5 KiB
C++
145 lines
4.5 KiB
C++
/*
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* This file is part of the libopeninv project.
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*
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* Copyright (C) 2016 Nail Güzel
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* Johannes Huebner <dev@johanneshuebner.com>
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#ifndef STM32_CAN_H_INCLUDED
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#define STM32_CAN_H_INCLUDED
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#include "params.h"
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#define CAN_ERR_INVALID_ID -1
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#define CAN_ERR_INVALID_OFS -2
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#define CAN_ERR_INVALID_LEN -3
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#define CAN_ERR_MAXMESSAGES -4
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#define CAN_ERR_MAXITEMS -5
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#ifndef MAX_ITEMS
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#define MAX_ITEMS 70
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#endif // MAX_ITEMS_PER_MESSAGE
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#ifndef MAX_MESSAGES
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#define MAX_MESSAGES 10
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#endif // MAX_MESSAGES
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#ifndef SENDBUFFER_LEN
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#define SENDBUFFER_LEN 20
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#endif // SENDBUFFER_LEN
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#ifndef MAX_USER_MESSAGES
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#define MAX_USER_MESSAGES 10
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#endif // MAX_USER_MESSAGES
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class CANIDMAP;
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class SENDBUFFER;
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class Can
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{
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public:
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enum baudrates
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{
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Baud125, Baud250, Baud500, Baud800, Baud1000, BaudLast
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};
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Can(uint32_t baseAddr, enum baudrates baudrate, bool remap = false);
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void Clear(void);
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void SetBaudrate(enum baudrates baudrate);
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void Send(uint32_t canId, uint32_t data[2]) { Send(canId, data, 8); }
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void Send(uint32_t canId, uint8_t data[8], uint8_t len) { Send(canId, (uint32_t*)data, len); }
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void Send(uint32_t canId, uint32_t data[2], uint8_t len);
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void SendAll();
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void SDOWrite(uint8_t remoteNodeId, uint16_t index, uint8_t subIndex, uint32_t data);
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void Save();
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void SetReceiveCallback(void (*recv)(uint32_t, uint32_t*));
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bool RegisterUserMessage(uint32_t canId);
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void ClearUserMessages();
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uint32_t GetLastRxTimestamp();
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int AddSend(Param::PARAM_NUM param, uint32_t canId, uint8_t offsetBits, uint8_t length, float gain);
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int AddRecv(Param::PARAM_NUM param, uint32_t canId, uint8_t offsetBits, uint8_t length, float gain);
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int AddSend(Param::PARAM_NUM param, uint32_t canId, uint8_t offsetBits, uint8_t length, float gain, int8_t offset);
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int AddRecv(Param::PARAM_NUM param, uint32_t canId, uint8_t offsetBits, uint8_t length, float gain, int8_t offset);
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int Remove(Param::PARAM_NUM param);
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bool FindMap(Param::PARAM_NUM param, uint32_t& canId, uint8_t& offset, uint8_t& length, float& gain, bool& rx);
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void IterateCanMap(void (*callback)(Param::PARAM_NUM, uint32_t, uint8_t, uint8_t, float, bool));
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void HandleRx(int fifo);
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void HandleTx();
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void SetNodeId(uint8_t id) { nodeId = id; }
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static Can* GetInterface(int index);
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private:
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static volatile bool isSaving;
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struct CANPOS
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{
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float gain;
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uint16_t mapParam;
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int8_t offset;
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uint8_t offsetBits;
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uint8_t numBits;
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uint8_t next;
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};
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struct CANIDMAP
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{
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#ifdef CAN_EXT
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uint32_t canId;
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#else
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uint16_t canId;
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#endif // CAN_EXT
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uint8_t first;
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};
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struct SENDBUFFER
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{
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uint32_t id;
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uint32_t len;
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uint32_t data[2];
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};
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CANIDMAP canSendMap[MAX_MESSAGES];
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CANIDMAP canRecvMap[MAX_MESSAGES];
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CANPOS canPosMap[MAX_ITEMS + 1]; //Last item is a "tail"
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uint32_t lastRxTimestamp;
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SENDBUFFER sendBuffer[SENDBUFFER_LEN];
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int sendCnt;
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void (*recvCallback)(uint32_t, uint32_t*);
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uint16_t userIds[MAX_USER_MESSAGES];
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int nextUserMessageIndex;
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uint32_t canDev;
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uint8_t nodeId;
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void ProcessSDO(uint32_t data[2]);
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void ClearMap(CANIDMAP *canMap);
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int RemoveFromMap(CANIDMAP *canMap, Param::PARAM_NUM param);
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int Add(CANIDMAP *canMap, Param::PARAM_NUM param, uint32_t canId, uint8_t offsetBits, uint8_t length, float gain, int8_t offset);
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uint32_t SaveToFlash(uint32_t baseAddress, uint32_t* data, int len);
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int LoadFromFlash();
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CANIDMAP *FindById(CANIDMAP *canMap, uint32_t canId);
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int CopyIdMapExcept(CANIDMAP *source, CANIDMAP *dest, Param::PARAM_NUM param);
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void ReplaceParamEnumByUid(CANIDMAP *canMap);
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void ReplaceParamUidByEnum(CANIDMAP *canMap);
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void ConfigureFilters();
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void SetFilterBank(int& idIndex, int& filterId, uint16_t* idList);
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void SetFilterBank29(int& idIndex, int& filterId, uint32_t* idList);
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uint32_t GetFlashAddress();
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static Can* interfaces[];
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};
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#endif
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