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/*
* CanInterface.h
*
* Created on: 19 Sep 2018
* Author: David
*/
#ifndef SRC_CAN_CANINTERFACE_H_
#define SRC_CAN_CANINTERFACE_H_
#include "RepRapFirmware.h"
#if SUPPORT_CAN_EXPANSION
#include <CanId.h>
#include <CanMessageFormats.h>
#include "CanDriversData.h"
class CanMessageBuffer;
class DDA;
class DriveMovement;
struct PrepParams;
namespace CanInterface
{
// Note: GetCanAddress() in this namespace is now declared in RepRapFirmware.h to overcome ordering issues
constexpr uint32_t UsualResponseTimeout = 1000; // how long we normally wait for a response, in milliseconds
constexpr uint32_t UsualSendTimeout = 200; // how long we normally wait to send a message, in milliseconds
// Low level functions
void Init() noexcept;
void Shutdown() noexcept;
inline CanAddress GetCurrentMasterAddress() noexcept { return CanId::MasterAddress; } // currently fixed, but might change in future
#if SUPPORT_REMOTE_COMMANDS
bool InExpansionMode() noexcept;
bool InTestMode() noexcept;
void SwitchToExpansionMode(CanAddress addr, bool useTestMode) noexcept;
void SendAnnounce(CanMessageBuffer *buf) noexcept;
void RaiseEvent(EventType type, uint16_t param, uint8_t device, const char *format, va_list vargs) noexcept;
void MainBoardAcknowledgedAnnounce() noexcept;
#endif
CanRequestId AllocateRequestId(CanAddress destination, CanMessageBuffer *buf) noexcept;
GCodeResult SendRequestAndGetStandardReply(CanMessageBuffer *buf, CanRequestId rid, const StringRef& reply, uint8_t *extra = nullptr) noexcept;
GCodeResult SendRequestAndGetCustomReply(CanMessageBuffer *buf, CanRequestId rid, const StringRef& reply, uint8_t *extra, CanMessageType replyType, function_ref<void(const CanMessageBuffer*) /*noexcept*/> callback) noexcept;
void SendResponseNoFree(CanMessageBuffer *buf) noexcept;
void SendBroadcastNoFree(CanMessageBuffer *buf) noexcept;
void SendMessageNoReplyNoFree(CanMessageBuffer *buf) noexcept;
void Diagnostics(MessageType mtype) noexcept;
CanMessageBuffer *AllocateBuffer(const GCodeBuffer* gb) THROWS(GCodeException);
void CheckCanAddress(uint32_t address, const GCodeBuffer& gb) THROWS(GCodeException);
uint16_t GetTimeStampCounter() noexcept;
#if DUAL_CAN
uint32_t SendPlainMessageNoFree(CanMessageBuffer *buf, uint32_t timeout = UsualSendTimeout) noexcept;
bool ReceivePlainMessage(CanMessageBuffer *null buf, uint32_t timeout = UsualResponseTimeout) noexcept;
#endif
#if !SAME70
uint16_t GetTimeStampPeriod() noexcept;
#endif
// Info functions
GCodeResult GetRemoteFirmwareDetails(uint32_t boardAddress, GCodeBuffer& gb, const StringRef& reply) THROWS(GCodeException);
GCodeResult RemoteDiagnostics(MessageType mt, uint32_t boardAddress, unsigned int type, GCodeBuffer& gb, const StringRef& reply) THROWS(GCodeException);
GCodeResult RemoteM408(uint32_t boardAddress, unsigned int type, GCodeBuffer& gb, const StringRef& reply) THROWS(GCodeException);
// Motor control functions
void SendMotion(CanMessageBuffer *buf) noexcept;
GCodeResult EnableRemoteDrivers(const CanDriversList& drivers, const StringRef& reply) noexcept;
void EnableRemoteDrivers(const CanDriversList& drivers) noexcept;
GCodeResult DisableRemoteDrivers(const CanDriversList& drivers, const StringRef& reply) noexcept;
void DisableRemoteDrivers(const CanDriversList& drivers) noexcept;
void SetRemoteDriversIdle(const CanDriversList& drivers, float idleCurrentFactor) noexcept;
GCodeResult SetRemoteStandstillCurrentPercent(const CanDriversData<float>& data, const StringRef& reply) noexcept;
GCodeResult SetRemoteDriverCurrents(const CanDriversData<float>& data, const StringRef& reply) noexcept;
GCodeResult SetRemotePressureAdvance(const CanDriversData<float>& data, const StringRef& reply) noexcept;
GCodeResult SetRemoteDriverStepsPerMmAndMicrostepping(const CanDriversData<StepsPerUnitAndMicrostepping>& data, const StringRef& reply) noexcept;
GCodeResult ConfigureRemoteDriver(DriverId driver, GCodeBuffer& gb, const StringRef& reply) THROWS(GCodeException);
GCodeResult GetSetRemoteDriverStallParameters(const CanDriversList& drivers, GCodeBuffer& gb, const StringRef& reply, OutputBuffer *& buf) THROWS(GCodeException);
#if 0 // not currently used
unsigned int GetNumPendingMotionMessages() noexcept;
#endif
void WakeAsyncSenderFromIsr() noexcept;
// Remote handle functions
GCodeResult CreateHandle(CanAddress boardAddress, RemoteInputHandle h, const char *_ecv_array pinName, uint16_t threshold, uint16_t minInterval, bool& currentState, const StringRef& reply) noexcept;
GCodeResult DeleteHandle(CanAddress boardAddress, RemoteInputHandle h, const StringRef& reply) noexcept;
GCodeResult GetHandlePinName(CanAddress boardAddress, RemoteInputHandle h, bool& currentState, const StringRef& reply) noexcept;
GCodeResult EnableHandle(CanAddress boardAddress, RemoteInputHandle h, bool enable, bool& currentState, const StringRef& reply) noexcept;
GCodeResult ChangeHandleResponseTime(CanAddress boardAddress, RemoteInputHandle h, uint16_t responseMillis, bool ¤tState, const StringRef &reply) noexcept;
typedef void (*ReadHandlesCallbackFunction)(RemoteInputHandle h, uint16_t val) noexcept;
GCodeResult ReadRemoteHandles(CanAddress boardAddress, RemoteInputHandle mask, RemoteInputHandle pattern, ReadHandlesCallbackFunction callback, const StringRef &reply) noexcept;
// Filament monitor functions
GCodeResult CreateFilamentMonitor(DriverId driver, uint8_t type, const GCodeBuffer& gb, const StringRef& reply) noexcept;
GCodeResult ConfigureFilamentMonitor(DriverId driver, GCodeBuffer& gb, const StringRef& reply) THROWS(GCodeException);
GCodeResult DeleteFilamentMonitor(DriverId driver, GCodeBuffer* gb, const StringRef& reply) noexcept; // called from a destructor, so must not throw
// Misc functions
GCodeResult WriteGpio(CanAddress boardAddress, uint8_t portNumber, float pwm, bool isServo, const GCodeBuffer *gb, const StringRef& reply) noexcept;
GCodeResult ChangeAddressAndNormalTiming(GCodeBuffer& gb, const StringRef& reply) THROWS(GCodeException);
GCodeResult ChangeFastTiming(GCodeBuffer& gb, const StringRef& reply) THROWS(GCodeException);
#if SUPPORT_ACCELEROMETERS
GCodeResult StartAccelerometer(DriverId device, uint8_t axes, uint16_t numSamples, uint8_t mode, const GCodeBuffer& gb, const StringRef& reply) THROWS(GCodeException);
#endif
GCodeResult StartClosedLoopDataCollection(DriverId device, uint16_t filter, uint16_t numSamples, uint16_t rateRequested, uint8_t movementRequested, uint8_t mode, const GCodeBuffer& gb, const StringRef& reply) THROWS(GCodeException);
#if DUAL_CAN
namespace ODrive {
CanId ArbitrationId(DriverId driver, uint8_t cmd) noexcept;
CanMessageBuffer * PrepareSimpleMessage(DriverId const driver, const StringRef& reply) noexcept;
void FlushCanReceiveHardware() noexcept;
bool GetExpectedSimpleMessage(CanMessageBuffer *buf, DriverId const driver, uint8_t const cmd, const StringRef& reply) noexcept;
}
#endif
}
#endif
#endif /* SRC_CAN_CANINTERFACE_H_ */
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