45 lines
1.6 KiB
C++
45 lines
1.6 KiB
C++
#ifndef _NMEA2KTWAI_H
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#define _NMEA2KTWAI_H
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#include "NMEA2000.h"
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#include "GwLog.h"
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class Nmea2kTwai : public tNMEA2000{
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public:
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Nmea2kTwai(gpio_num_t _TxPin, gpio_num_t _RxPin,GwLog *logger);
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typedef enum{
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ST_STOPPED,
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ST_RUNNING,
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ST_BUS_OFF,
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ST_RECOVERING,
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ST_ERROR
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} STATE;
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typedef struct{
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uint32_t rx_errors=0;
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uint32_t tx_errors=0;
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uint32_t tx_failed=0;
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} ERRORS;
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STATE getState();
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ERRORS getErrors();
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bool startRecovery();
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static const char * stateStr(const STATE &st);
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virtual bool CANOpen();
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protected:
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// Virtual functions for different interfaces. Currently there are own classes
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// for Arduino due internal CAN (NMEA2000_due), external MCP2515 SPI CAN bus controller (NMEA2000_mcp),
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// Teensy FlexCAN (NMEA2000_Teensy), NMEA2000_avr for AVR, NMEA2000_mbed for MBED and NMEA2000_socketCAN for e.g. RPi.
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virtual bool CANSendFrame(unsigned long id, unsigned char len, const unsigned char *buf, bool wait_sent=true);
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virtual bool CANGetFrame(unsigned long &id, unsigned char &len, unsigned char *buf);
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// This will be called on Open() before any other initialization. Inherit this, if buffers can be set for the driver
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// and you want to change size of library send frame buffer size. See e.g. NMEA2000_teensy.cpp.
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virtual void InitCANFrameBuffers();
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private:
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void initDriver();
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gpio_num_t TxPin;
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gpio_num_t RxPin;
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GwLog *logger;
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};
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#endif |