mirror of https://github.com/esphome/esphome.git
135 lines
3.8 KiB
C++
135 lines
3.8 KiB
C++
#pragma once
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#include "esphome/core/automation.h"
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#include "esphome/core/component.h"
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#include "esphome/core/optional.h"
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namespace esphome {
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namespace canbus {
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enum Error : uint8_t {
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ERROR_OK = 0,
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ERROR_FAIL = 1,
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ERROR_ALLTXBUSY = 2,
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ERROR_FAILINIT = 3,
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ERROR_FAILTX = 4,
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ERROR_NOMSG = 5
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};
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enum CanSpeed : uint8_t {
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CAN_5KBPS,
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CAN_10KBPS,
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CAN_20KBPS,
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CAN_31K25BPS,
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CAN_33KBPS,
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CAN_40KBPS,
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CAN_50KBPS,
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CAN_80KBPS,
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CAN_83K3BPS,
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CAN_95KBPS,
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CAN_100KBPS,
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CAN_125KBPS,
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CAN_200KBPS,
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CAN_250KBPS,
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CAN_500KBPS,
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CAN_1000KBPS
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};
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class CanbusTrigger;
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template<typename... Ts> class CanbusSendAction;
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/* CAN payload length definitions according to ISO 11898-1 */
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static const uint8_t CAN_MAX_DATA_LENGTH = 8;
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/*
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Can Frame describes a normative CAN Frame
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The RTR = Remote Transmission Request is implemented in every CAN controller but rarely used
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So currently the flag is passed to and from the hardware but currently ignored to the user application.
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*/
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struct CanFrame {
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bool use_extended_id = false;
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bool remote_transmission_request = false;
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uint32_t can_id; /* 29 or 11 bit CAN_ID */
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uint8_t can_data_length_code; /* frame payload length in byte (0 .. CAN_MAX_DATA_LENGTH) */
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uint8_t data[CAN_MAX_DATA_LENGTH] __attribute__((aligned(8)));
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};
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class Canbus : public Component {
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public:
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Canbus(){};
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void setup() override;
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void dump_config() override;
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float get_setup_priority() const override { return setup_priority::HARDWARE; }
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void loop() override;
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void send_data(uint32_t can_id, bool use_extended_id, const std::vector<uint8_t> &data);
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void set_can_id(uint32_t can_id) { this->can_id_ = can_id; }
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void set_use_extended_id(bool use_extended_id) { this->use_extended_id_ = use_extended_id; }
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void set_bitrate(CanSpeed bit_rate) { this->bit_rate_ = bit_rate; }
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void add_trigger(CanbusTrigger *trigger);
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protected:
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template<typename... Ts> friend class CanbusSendAction;
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std::vector<CanbusTrigger *> triggers_{};
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uint32_t can_id_;
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bool use_extended_id_;
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CanSpeed bit_rate_;
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virtual bool setup_internal();
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virtual Error send_message(struct CanFrame *frame);
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virtual Error read_message(struct CanFrame *frame);
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};
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template<typename... Ts> class CanbusSendAction : public Action<Ts...>, public Parented<Canbus> {
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public:
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void set_data_template(const std::function<std::vector<uint8_t>(Ts...)> func) {
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this->data_func_ = func;
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this->static_ = false;
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}
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void set_data_static(const std::vector<uint8_t> &data) {
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this->data_static_ = data;
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this->static_ = true;
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}
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void set_can_id(uint32_t can_id) { this->can_id_ = can_id; }
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void set_use_extended_id(bool use_extended_id) { this->use_extended_id_ = use_extended_id; }
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void play(Ts... x) override {
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auto can_id = this->can_id_.has_value() ? *this->can_id_ : this->parent_->can_id_;
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auto use_extended_id =
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this->use_extended_id_.has_value() ? *this->use_extended_id_ : this->parent_->use_extended_id_;
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if (this->static_) {
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this->parent_->send_data(can_id, use_extended_id, this->data_static_);
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} else {
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auto val = this->data_func_(x...);
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this->parent_->send_data(can_id, use_extended_id, val);
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}
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}
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protected:
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optional<uint32_t> can_id_{};
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optional<bool> use_extended_id_{};
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bool static_{false};
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std::function<std::vector<uint8_t>(Ts...)> data_func_{};
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std::vector<uint8_t> data_static_{};
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};
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class CanbusTrigger : public Trigger<std::vector<uint8_t>>, public Component {
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friend class Canbus;
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public:
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explicit CanbusTrigger(Canbus *parent, const std::uint32_t can_id, const bool use_extended_id)
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: parent_(parent), can_id_(can_id), use_extended_id_(use_extended_id){};
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void setup() override { this->parent_->add_trigger(this); }
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protected:
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Canbus *parent_;
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uint32_t can_id_;
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bool use_extended_id_;
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};
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} // namespace canbus
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} // namespace esphome
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