CanBridge.h

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/*
 * CanBridge.h
 *
 *  Created on: 20.11.2020
 *      Author: Yannick
 */
 
 
#ifndef CANBRIDGE_H_
#define CANBRIDGE_H_
 
#include "cpp_target_config.h"
#ifdef CANBRIDGE
#include <FFBoardMain.h>
#include "cppmain.h"
#include "CanHandler.h"
#include "CAN.h"
 
//extern "C"{
//#include "stm32f4xx_hal_can.h"
//}
 
 
typedef struct{
    bool listenOnly = false;
    uint32_t speed = 500000;
    bool enabled = false;
} CAN_Config_t;
 
 
 
class CanBridge: public FFBoardMain, public CanHandler {
    enum class CanBridge_commands : uint32_t{
        can,canrtr,canspd
    };
public:
 
    CanBridge();
    virtual ~CanBridge();
 
    static ClassIdentifier info;
    const ClassIdentifier getInfo() override;
    static bool isCreatable() {return true;};
    CommandStatus command(const ParsedCommand& cmd,std::vector<CommandReply>& replies);
    void sendMessage(uint32_t id, uint64_t msg,uint8_t len,bool rtr);
    void sendMessage();
    void canRxPendCallback(CANPort* port,CAN_rx_msg& msg) override;
    void canErrorCallback(CANPort* port, uint32_t error);
    void cdcRcv(char* Buf, uint32_t *Len) override;
//  CAN_HandleTypeDef* CanHandle = &CANPORT;
 
    std::string messageToString(CAN_rx_msg msg);
 
    void update(); // Main loop
    volatile bool replyPending = false;
 
    void registerCommands();
    virtual std::string getHelpstring(){return "CAN bus debug bridge. This class is GVRET/SavvyCAN compatible!";}
 
 
private:
    CANPort* port = &canport;
    std::vector<CAN_rx_msg> rxmessages;
    CAN_rx_msg lastmsg;
    int32_t filterId = -1;
    const uint8_t numBuses = 1;
 
 
    CAN_msg_header_tx txHeader;
 
    uint8_t txBuf[8] = {0};
    uint32_t txMailbox;
    uint32_t rxfifo = 0;
    CAN_Config_t conf1;
    CAN_Config_t conf2;
    bool gvretMode = false;
    const std::vector<char> keepalivemsg = {0xF1,0x09, 0xDE,0xAD};
};
#endif /* CANBRIDGE_H_ */
#endif