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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>
class CanMessageBuffer;
class DDA;
class DriveMovement;
struct PrepParams;
typedef Bitmap<uint16_t> CanDriversBitmap;
// Class to accumulate a set of values relating to CAN-connected drivers
template<class T>class CanDriversData
{
public:
CanDriversData() noexcept;
void AddEntry(DriverId id, T val) noexcept;
size_t GetNumEntries() const noexcept { return numEntries; }
CanAddress GetNextBoardDriverBitmap(size_t& startFrom, CanDriversBitmap& driversBitmap) const noexcept;
T GetElement(size_t n) const pre(n < GetnumEntries()) noexcept { return data[n].val; }
private:
struct DriverDescriptor
{
DriverId driver;
T val;
};
size_t numEntries;
DriverDescriptor data[MaxCanDrivers];
};
class CanDriversList
{
public:
CanDriversList() noexcept : numEntries(0) { }
void Clear() noexcept { numEntries = 0; }
void AddEntry(DriverId id) noexcept;
size_t GetNumEntries() const noexcept { return numEntries; }
bool IsEmpty() const noexcept { return numEntries == 0; }
CanAddress GetNextBoardDriverBitmap(size_t& startFrom, CanDriversBitmap& driversBitmap) const noexcept;
private:
size_t numEntries;
DriverId drivers[MaxCanDrivers];
};
namespace CanInterface
{
// Note: GetCanAddress() in this namespace is now declared in RepRapFirmware.h to overcome ordering issues
constexpr uint32_t CanResponseTimeout = 1000;
// Low level functions
void Init() noexcept;
void Shutdown() noexcept;
#if SUPPORT_REMOTE_COMMANDS
bool InExpansionMode() noexcept;
void SwitchToExpansionMode(CanAddress addr) noexcept;
#endif
CanRequestId AllocateRequestId(CanAddress destination) 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, stdext::inplace_function<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 !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);
void WakeAsyncSenderFromIsr() noexcept;
// Remote handle functions
GCodeResult CreateHandle(CanAddress boardAddress, RemoteInputHandle h, const char *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
}
// Members of template class CanDriversData
template<class T> CanDriversData<T>::CanDriversData() noexcept
{
numEntries = 0;
}
// Insert a new entry, keeping the list ordered
template<class T> void CanDriversData<T>::AddEntry(DriverId driver, T val) noexcept
{
if (numEntries < ARRAY_SIZE(data))
{
// We could do a binary search here but the number of CAN drivers supported isn't huge, so linear search instead
size_t insertPoint = 0;
while (insertPoint < numEntries && data[insertPoint].driver < driver)
{
++insertPoint;
}
memmove(data + (insertPoint + 1), data + insertPoint, (numEntries - insertPoint) * sizeof(data[0]));
data[insertPoint].driver = driver;
data[insertPoint].val = val;
++numEntries;
}
}
// Get the details of the drivers on the next board and advance startFrom beyond the entries for this board
template<class T> CanAddress CanDriversData<T>::GetNextBoardDriverBitmap(size_t& startFrom, CanDriversBitmap& driversBitmap) const noexcept
{
driversBitmap.Clear();
if (startFrom >= numEntries)
{
return CanId::NoAddress;
}
const CanAddress boardAddress = data[startFrom].driver.boardAddress;
do
{
driversBitmap.SetBit(data[startFrom].driver.localDriver);
++startFrom;
} while (startFrom < numEntries && data[startFrom].driver.boardAddress == boardAddress);
return boardAddress;
}
#endif
#endif /* SRC_CAN_CANINTERFACE_H_ */
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