CanButtons.cpp

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/*
 * CanButtons.cpp
 *
 *  Created on: 06.04.2022
 *      Author: Yannick
 */
 
#include "CanButtons.h"
#include "math.h"
 
#ifdef CANBUTTONS
ClassIdentifier CanButtons::info = {
         .name = "CAN Buttons" ,
         .id=CLSID_BTN_CAN,
 };
const ClassIdentifier CanButtons::getInfo(){
    return info;
}
 
CanButtons::CanButtons() : CommandHandler("canbtn", CLSID_BTN_CAN, 0) {
    CommandHandler::registerCommands();
    ButtonSource::btnnum=32;
    registerCommand("btnnum", CanButtons_commands::btnnum, "Amount of buttons",CMDFLAG_GET | CMDFLAG_SET);
    registerCommand("invert", CanButtons_commands::invert, "Invert buttons",CMDFLAG_GET | CMDFLAG_SET);
    registerCommand("canid", CanButtons_commands::canid, "CAN frame ID",CMDFLAG_GET | CMDFLAG_SET);
    restoreFlash();
 
    setupCanPort();
}
 
void CanButtons::setupCanPort(){
    if(filterId != -1){
        this->port->removeCanFilter(filterId);
    }
//  CAN_FilterTypeDef sFilterConfig;
//  sFilterConfig.FilterBank = 0;
//  sFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK;
//  sFilterConfig.FilterScale = CAN_FILTERSCALE_32BIT;
//  sFilterConfig.FilterIdHigh = (canId << 5); // Just one ID
//  sFilterConfig.FilterIdLow = 0x0000;
//  sFilterConfig.FilterMaskIdHigh = 0xFFFF;
//  sFilterConfig.FilterMaskIdLow = 0x0000;
//  sFilterConfig.FilterFIFOAssignment = CAN_RX_FIFO0;
//  sFilterConfig.FilterActivation = ENABLE;
//  sFilterConfig.SlaveStartFilterBank = 14;
 
    CAN_filter filterConf;
    filterConf.buffer = 0;
    filterConf.filter_id = canId;
    filterConf.filter_mask =  0xFFFF;
 
    this->filterId = this->port->addCanFilter(filterConf);
 
    //this->port->setSpeedPreset(CANSPEEDPRESET_500); // default speed used
    this->port->start();
}
 
CanButtons::~CanButtons() {
    if(filterId != -1)
        this->port->removeCanFilter(filterId);
}
 
void CanButtons::saveFlash(){
    uint16_t conf1 = (btnnum-1) & 0x3F;
    conf1 |= (invert & 0x1) << 6;
    Flash_Write(ADR_CANBTN_CONF1, conf1);
 
    uint16_t conf2 = canId & 0x7ff;
    Flash_Write(ADR_CANBTN_CONF2, conf2);
}
 
void CanButtons::restoreFlash(){
    uint16_t conf;
    if(Flash_Read(ADR_CANBTN_CONF1, &conf)){
        setBtnNum((conf & 0x3F) +1);
        invert = (conf >> 6) & 0x1;
    }
    // CAN settings
    if(Flash_Read(ADR_CANBTN_CONF2, &conf)){
        canId = conf & 0x7ff;
    }
}
 
void CanButtons::setBtnNum(uint8_t num){
    num = clip<uint8_t,uint8_t>(num, 1, 64); // up to 8 PCF8574 can be chained resulting in 64 buttons
    this->btnnum = num;
    if(num == 64){ // Special case
        mask = 0xffffffffffffffff;
    }else{
        mask = (uint64_t)pow<uint64_t>(2,num)-(uint64_t)1; // Must be done completely in 64 bit!
    }
}
 
 
uint8_t CanButtons::readButtons(uint64_t* buf){
    if(invert){
        *buf = ~currentButtons;
    }else{
        *buf = currentButtons;
    }
    *buf &= mask;
    return ButtonSource::btnnum;
}
 
CommandStatus CanButtons::command(const ParsedCommand& cmd,std::vector<CommandReply>& replies){
 
    switch(static_cast<CanButtons_commands>(cmd.cmdId)){
 
    case CanButtons_commands::btnnum:
        if(cmd.type == CMDtype::get){
            replies.emplace_back(this->btnnum);
        }else if(cmd.type == CMDtype::set){
            setBtnNum(cmd.val);
        }
    break;
    case CanButtons_commands::invert:
        return handleGetSet(cmd, replies, this->invert);
    break;
 
    case CanButtons_commands::canid:
        if(cmd.type == CMDtype::get){
            replies.emplace_back(this->canId);
        }else if(cmd.type == CMDtype::set){
            canId = (cmd.val) & 0x7ff;
            setupCanPort(); // Set can filter
        }
    break;
 
    default:
        return CommandStatus::NOT_FOUND;
    }
    return CommandStatus::OK;
}
 
void CanButtons::canRxPendCallback(CANPort* port,CAN_rx_msg& msg){
 
    uint32_t id = (msg.header.id) & 0x7FF;
    pulseClipLed();
    if(id != this->canId || msg.header.rtr || msg.header.length != 8){
        return;
    }
 
    currentButtons = *reinterpret_cast<uint64_t*>(msg.data);
}
 
 
#endif