CAN.h

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/*
 * CAN.h
 *
 *  Created on: 21.06.2021
 *      Author: Yannick
 */
 
#ifndef SRC_CAN_H_
#define SRC_CAN_H_
#include "target_constants.h"
#ifdef CANBUS
//#include "CanHandler.h"
#include "main.h"
#include <algorithm>
#include <vector>
#include "semaphore.hpp"
#include <GPIOPin.h>
#include "PersistentStorage.h"
#include "CommandHandler.h"
#include <span>
 
 
class CANPort;
 
#if defined(CAN1)
#define CANTYPE_2B
#define CAN_INITTYPE uint32_t
#define CAN_MSGBUFSIZE 8
#elif defined(FDCAN1)
#define CANTYPE_FDCAN
#define CAN_INITTYPE FDCAN_InitTypeDef&
#define CAN_MSGBUFSIZE 64
const uint8_t DLCtoBytes[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 12, 16, 20, 24, 32, 48, 64};
#endif
 
//class CANPort;
 
 
class CANPortHardwareConfig{
public:
    struct PresetEntry{// Helper for preset entries
        const CAN_INITTYPE init;
        const uint32_t speed;
        const char* name;
        constexpr PresetEntry(const CAN_INITTYPE init,const uint32_t speed,const char* name):init(init),speed(speed),name(name){}
    };
    constexpr CANPortHardwareConfig(const bool canChangeSpeed,std::span<const PresetEntry> presets_list)
    : canChangeSpeed(canChangeSpeed),presets(presets_list){}
 
    // Values
    const bool canChangeSpeed;
    constexpr PresetEntry getPreset(uint8_t idx) const {return PresetEntry(presets[std::min<uint8_t>(idx,presets.size())]);}
    constexpr uint32_t speedToPreset(uint32_t speed) const {
        auto it = std::find_if( presets.begin(), presets.end(), [&speed](const PresetEntry &e){return e.speed == speed;});
        return it == presets.end() ? 255 : std::distance(presets.begin(),it);
    }
    constexpr uint32_t presetToSpeed(uint8_t preset) const {return presets[preset].speed;}
    const std::span<const PresetEntry> presets; // Name for listing and init types for setup
};
 
typedef struct {
    uint32_t id = 0;
    uint32_t length = 0;
    bool extId = false;
    bool rtr = false;
    bool fdcan = false; // Placeholder
//  bool fdcan_rateswitch = false;
} CAN_msg_header_tx;
 
class CAN_msg_header_rx{
public:
    uint32_t id = 0;
    uint32_t length = 0;
    bool extId = false;
    bool rtr = false;
    uint32_t filter = 0;
    uint32_t timestamp = 0;
    bool fdcan = false;
//  bool fdcan_rateswitch = false;
    CAN_msg_header_rx(){};
#if defined(CANTYPE_2B)
#pragma GCC diagnostic ignored "-Wmaybe-uninitialized"
    CAN_msg_header_rx(CAN_RxHeaderTypeDef* hdr) : id(hdr->IDE==CAN_ID_STD ? hdr->StdId : hdr->ExtId),length(hdr->DLC),extId(hdr->IDE==CAN_ID_EXT),rtr(hdr->RTR == CAN_RTR_REMOTE),filter(hdr->FilterMatchIndex),timestamp(hdr->Timestamp),fdcan(false) {};
#elif defined(CANTYPE_FDCAN)
#pragma GCC diagnostic ignored "-Wmaybe-uninitialized"
    CAN_msg_header_rx(FDCAN_RxHeaderTypeDef* hdr) : id(hdr->Identifier),length(DLCtoBytes[hdr->DataLength >> 16]),extId(hdr->FDFormat),rtr(hdr->RxFrameType == FDCAN_REMOTE_FRAME),filter(hdr->FilterIndex),timestamp(hdr->RxTimestamp),fdcan(hdr->FDFormat == FDCAN_FD_CAN) {};
#endif
    virtual ~CAN_msg_header_rx(){};
};
 
typedef struct{
    uint8_t data[CAN_MSGBUFSIZE] = {0};
    //CAN_TxHeaderTypeDef header = {0,0,0,CAN_RTR_DATA,8,(FunctionalState)0};
    CAN_msg_header_tx header;
} CAN_tx_msg;
 
// Unused?
typedef struct{
    uint8_t data[CAN_MSGBUFSIZE] = {0};
    //CAN_RxHeaderTypeDef header = {0,0,0,0,0,0};
    CAN_msg_header_rx header;
    uint8_t fifo = 0;
    uint32_t size(){return header.length;}
} CAN_rx_msg;

typedef struct {
    uint32_t filter_id = 0;
    uint32_t filter_mask = 0;
    uint32_t buffer = 0; // FIFO index or fdcan buffer mode
    bool active = true;
    bool extid = false;
//  bool dedicated_buffer = false; // Not yet supported
} CAN_filter;
 
 
 
//template<class INIT>
class CANPort : public PersistentStorage { //  : public CanHandler if interrupt callbacks needed
    static std::vector<CANPort*> canPorts;
public:
 
    CANPort(const CANPortHardwareConfig& presets,uint8_t instance = 0);
    virtual ~CANPort();
 
    // ---- Implement these in the CAN port ---
    virtual bool start() = 0;

    virtual bool stop() = 0;
 
    virtual bool sendMessage(CAN_tx_msg& msg) = 0;
    virtual bool sendMessage(CAN_msg_header_tx *pHeader, uint8_t aData[],uint32_t *pTxMailbox = nullptr) = 0;
    virtual void abortTxRequests() = 0;
 
    virtual int32_t addCanFilter(CAN_filter filter) = 0;
    virtual void removeCanFilter(uint8_t filterId) = 0;
 
    virtual void setSpeed(uint32_t speed) = 0;
    virtual void setSpeedPreset(uint8_t preset) = 0;
    virtual uint32_t getSpeed() = 0;
    virtual uint8_t getSpeedPreset() = 0;
 
    virtual void setSilentMode(bool silent) = 0;
 
    virtual bool isWaiting();
 
 
    // ---------------------------------------------
 
    // Common implementations
    virtual int32_t getPortUsers(){return portUsers;}
    virtual void takePort(){
        if(portUsers++ == 0){
            start();
        }
    }
    virtual void freePort(){
        if(portUsers>0){
            portUsers--;
        }
 
        if(portUsers == 0){
            stop();
        }
    }
    virtual void giveSemaphore(){
        bool isIsr = inIsr();
        BaseType_t taskWoken = 0;
        if(isIsr)
            this->semaphore.GiveFromISR(&taskWoken);
        else
            this->semaphore.Give();
        isWaitingFlag = false;
        portYIELD_FROM_ISR(taskWoken);
    }
    virtual bool takeSemaphore(uint32_t delay = portMAX_DELAY){
        bool isIsr = inIsr();
        BaseType_t taskWoken = 0;
        bool success;
        if(isIsr)
            success = this->semaphore.TakeFromISR(&taskWoken);
        else{
            success = this->semaphore.Take(delay);
        }
        //isTakenFlag = true;
        portYIELD_FROM_ISR(taskWoken);
        return success;
    }
    static CANPort* handleToPort(void* handle);
    virtual uint8_t speedToPreset(uint32_t speed){return presets.speedToPreset(speed);} 
    virtual uint32_t presetToSpeed(uint8_t preset){return presets.presetToSpeed(preset);} 
 
protected:
    cpp_freertos::BinarySemaphore semaphore = cpp_freertos::BinarySemaphore(true); // Semaphore will block
    cpp_freertos::BinarySemaphore configSem = cpp_freertos::BinarySemaphore(true); // Semaphore will block
    const CANPortHardwareConfig& presets; 
    bool isWaitingFlag = false;
    int32_t portUsers = 0;
    virtual void* getHandle() = 0;
};
 
 
 
 
#endif /* SRC_CAN_H_ */
#endif