CANPort2B.h

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/*
 * CANPort2B.h
 *
 *  Created on: 21.09.2023
 *      Author: Yannick
 */
 
#ifndef CANPORT2B_H_
#define CANPORT2B_H_
#include "CAN.h"
#include "CanHandler.h"
 
#if defined(CANTYPE_2B)
class CANPort;
class CANPort_2B : public CANPort, public CommandHandler,public CanHandler{
    enum class CanPort_commands : uint32_t {speed,send,len};
public:
    CANPort_2B(CAN_HandleTypeDef &hcan,const CANPortHardwareConfig& presets,const OutputPin* silentPin=nullptr,uint8_t instance = 0);
    virtual ~CANPort_2B();
 
    bool start();
    bool stop();
 
 
    bool sendMessage(CAN_tx_msg& msg);
    bool sendMessage(CAN_msg_header_tx *pHeader, uint8_t aData[],uint32_t *pTxMailbox = nullptr);
    void abortTxRequests();
 
    int32_t addCanFilter(CAN_filter filter);
    void removeCanFilter(uint8_t filterId);
 
    void setSpeed(uint32_t speed);
    void setSpeedPreset(uint8_t preset);
    uint32_t getSpeed();
    uint8_t getSpeedPreset();
 
    void setSilentMode(bool silent);
 
    static const uint8_t slaveFilterStart = 14;
 
    void canTxCpltCallback(CANPort *port,uint32_t mailbox) override;
    void canTxAbortCallback(CANPort *port,uint32_t mailbox) override;
    void canErrorCallback(CANPort *port, uint32_t code) override;
 
    // Config
 
    CommandStatus command(const ParsedCommand& cmd,std::vector<CommandReply>& replies);
    void registerCommands();
    void saveFlash();
    void restoreFlash();
    static ClassIdentifier info;
    const ClassIdentifier getInfo(){return this->info;}
    const ClassType getClassType() override {return ClassType::Port;};
    void* getHandle(){return this->hcan;}
 
private:
    uint8_t speedPreset = speedToPreset(500000); // default
    CAN_HandleTypeDef *hcan = nullptr;
    std::vector<CAN_FilterTypeDef> canFilters;
    uint32_t txMailboxes = 0;
 
 
    const OutputPin* silentPin;
    bool silent = true;
    bool active = false;
 
    uint32_t lastSentTime = 0;
 
    static const uint32_t sendTimeout = 20;
 
    CAN_TxHeaderTypeDef header = {0,0,0,CAN_RTR_DATA,8,(FunctionalState)0};
    uint8_t nextLen = 8;
 
};
#endif
 
#endif /* CANPORTFDCAN_H_ */