61 lines
2.3 KiB
C++
61 lines
2.3 KiB
C++
#ifndef _NMEA2KTWAI_H
|
|
#define _NMEA2KTWAI_H
|
|
#include "NMEA2000.h"
|
|
#include "GwTimer.h"
|
|
|
|
class Nmea2kTwai : public tNMEA2000{
|
|
public:
|
|
Nmea2kTwai(gpio_num_t _TxPin, gpio_num_t _RxPin, unsigned long recP=0, unsigned long logPeriod=0);
|
|
typedef enum{
|
|
ST_STOPPED,
|
|
ST_RUNNING,
|
|
ST_BUS_OFF,
|
|
ST_RECOVERING,
|
|
ST_OFFLINE,
|
|
ST_ERROR
|
|
} STATE;
|
|
typedef struct{
|
|
//see https://docs.espressif.com/projects/esp-idf/en/latest/esp32/api-reference/peripherals/twai.html#_CPPv418twai_status_info_t
|
|
uint32_t rx_errors=0;
|
|
uint32_t tx_errors=0;
|
|
uint32_t tx_failed=0;
|
|
uint32_t rx_missed=0;
|
|
uint32_t rx_overrun=0;
|
|
uint32_t tx_timeouts=0;
|
|
STATE state=ST_ERROR;
|
|
} Status;
|
|
Status getStatus();
|
|
unsigned long getLastRecoveryStart(){return lastRecoveryStart;}
|
|
void loop();
|
|
static const char * stateStr(const STATE &st);
|
|
virtual bool CANOpen();
|
|
virtual ~Nmea2kTwai(){};
|
|
static const int LOG_ERR=0;
|
|
static const int LOG_INFO=1;
|
|
static const int LOG_DEBUG=2;
|
|
static const int LOG_MSG=3;
|
|
protected:
|
|
// Virtual functions for different interfaces. Currently there are own classes
|
|
// for Arduino due internal CAN (NMEA2000_due), external MCP2515 SPI CAN bus controller (NMEA2000_mcp),
|
|
// Teensy FlexCAN (NMEA2000_Teensy), NMEA2000_avr for AVR, NMEA2000_mbed for MBED and NMEA2000_socketCAN for e.g. RPi.
|
|
virtual bool CANSendFrame(unsigned long id, unsigned char len, const unsigned char *buf, bool wait_sent=true);
|
|
virtual bool CANGetFrame(unsigned long &id, unsigned char &len, unsigned char *buf);
|
|
// This will be called on Open() before any other initialization. Inherit this, if buffers can be set for the driver
|
|
// and you want to change size of library send frame buffer size. See e.g. NMEA2000_teensy.cpp.
|
|
virtual void InitCANFrameBuffers();
|
|
virtual void logDebug(int level,const char *fmt,...){}
|
|
|
|
|
|
private:
|
|
void initDriver();
|
|
bool startRecovery();
|
|
bool checkRecovery();
|
|
Status logStatus();
|
|
gpio_num_t TxPin;
|
|
gpio_num_t RxPin;
|
|
uint32_t txTimeouts=0;
|
|
GwIntervalRunner timers;
|
|
unsigned long lastRecoveryStart=0;
|
|
};
|
|
|
|
#endif |