#include <mrm-board.h>

Inheritance diagram for Board:

Public Member Functions
	Board (Robot robot, uint8_t maxNumberOfBoards, uint8_t devicesOnABoard, const char boardName, BoardType boardType, BoardId id)

void	add (char *deviceName, uint16_t canIn, uint16_t canOut)

bool	alive (uint8_t deviceNumber=0, bool checkAgainIfDead=false, bool errorIfNotAfterCheckingAgain=false)

uint8_t	count ()

void	aliveSet (bool yesOrNo, uint8_t deviceNumber=0)

BoardType	boardType ()

uint8_t	deadOrAliveCount ()

uint8_t	devicesOnASingleBoard ()

uint8_t	devicesMaximumNumberInAllBoards ()

uint8_t	devicesScan (bool verbose=true, uint16_t mask=0xFFFF)

uint8_t	errorCodeLast ()

uint8_t	errorWasInDeviceNumber ()

void	firmwareRequest (uint8_t deviceNumber=0xFF)

uint16_t	fps (uint8_t deviceNumber=0)

void	fpsDisplay ()

void	fpsRequest (uint8_t deviceNumber=0xFF)

BoardId	id ()

void	idChange (uint16_t newDeviceNumber, uint8_t deviceNumber=0)

void	info (uint8_t deviceNumber=0xFF)

bool	isForMe (uint32_t canIdOut, uint8_t deviceNumber)

bool	isFromMe (uint32_t canIdOut, uint8_t deviceNumber)

uint32_t	lastMessageMs (uint8_t deviceNumber=0)

virtual bool	messageDecode (uint32_t canId, uint8_t data[8])=0

bool	messagePrint (uint32_t msgId, uint8_t dlc, uint8_t *data, bool outbound)
	‍** Prints a frame More...

void	messageSend (uint8_t *data, uint8_t dlc, uint8_t deviceNumber=0)

char *	name (uint8_t deviceNumber)

char *	name ()

void	notificationRequest (uint8_t commandRequestingNotification, uint8_t deviceNumber)

void	oscillatorTest (uint8_t deviceNumber=0xFF)

void	reset (uint8_t deviceNumber=0xFF)

void	start (uint8_t deviceNumber=0xFF, uint8_t measuringModeNow=0, uint16_t refreshMs=0)

void	swap (uint8_t deviceNumber1, uint8_t deviceNumber2)

void	stop (uint8_t deviceNumber=0xFF)

virtual void	test (uint8_t deviceNumber=0xFF, uint16_t betweenTestsMs=0)

Protected Member Functions
bool	messageDecodeCommon (uint32_t canId, uint8_t data[8], uint8_t deviceNumber=0)

Protected Attributes
uint32_t	_alive

bool	_aliveReport = false

char	_boardsName [12]

BoardType	_boardType

uint8_t	canData [8]

uint8_t	devicesOnABoard

uint8_t	errorCode = 0

uint8_t	errorInDeviceNumber = 0

std::vector< uint16_t > *	fpsLast

BoardId	_id

std::vector< uint32_t > *	idIn

std::vector< uint32_t > *	idOut

std::vector< uint32_t > *	lastMessageReceivedMs

std::vector< uint32_t > *	_lastReadingMs

uint8_t	maximumNumberOfBoards

uint8_t	measuringMode = 0

uint8_t	measuringModeLimit = 0

uint8_t	_message [29]

std::vector< char[10]> *	_name

int	nextFree

Robot *	robotContainer

Detailed Description

Board is a class of all the boards of the same type, not a single board!

Constructor & Destructor Documentation

◆ Board()

Board::Board	(	Robot *	robot,
		uint8_t	maxNumberOfBoards,
		uint8_t	devicesOnABoard,
		const char *	boardName,
		BoardType	boardType,
		BoardId	id
	)

Parameters

robot	- robot containing this board
maxNumberOfBoards	- maximum number of boards
devicesOnABoard	- number of devices on each board
boardName	- board's name
id	- unique id

Board is a single instance for all boards of the same type, not a single board (if there are more than 1 of the same type)!

Parameters

robot	- robot containing this board
esp32CANBusSingleton	- a single instance of CAN Bus common library for all CAN Bus peripherals.
maxNumberOfBoards	- maximum number of boards
devicesOn1Board	- number of devices on each board
boardName	- board's name
id	- unique id

Member Function Documentation

◆ add()

void Board::add	(	char *	deviceName,
		uint16_t	canIn,
		uint16_t	canOut
	)

Add a device.

Parameters

deviceName
canIn
canOut

◆ alive()

bool Board::alive	(	uint8_t	deviceNumber = `0`,
		bool	checkAgainIfDead = `false`,
		bool	errorIfNotAfterCheckingAgain = `false`
	)

Did it respond to last ping? If not, try another ping and see if it responds.

Parameters

deviceNumber	- Devices's ordinal number. Each call of function add() assigns a increasing number to the device, starting with 0. 0xFF - any alive.
checkAgainIfDead	- try another ping
errorIfNotAfterCheckingAgain	- the robot will stop. Otherwise only warning displayed.

Returns: - alive or not

◆ aliveSet()

void Board::aliveSet	(	bool	yesOrNo,
		uint8_t	deviceNumber = `0`
	)

Set aliveness

Parameters

yesOrNo
deviceNumber	- Devices's ordinal number. Each call of function add() assigns a increasing number to the device, starting with 0.

◆ count()

uint8_t Board::count ( )

Did any device respond to last ping?

Parameters

deviceNumber - Devices's ordinal number. Each call of function add() assigns a increasing number to the device, starting with 0.

◆ deadOrAliveCount()

uint8_t Board::deadOrAliveCount ( )

Count all the devices, alive or not

Returns: - count

◆ devicesMaximumNumberInAllBoards()

uint8_t Board::devicesMaximumNumberInAllBoards ( )

inline

Maximum number of devices in all groups (boards) @raturn - number of devices

◆ devicesOnASingleBoard()

uint8_t Board::devicesOnASingleBoard ( )

inline

Number of devices in each group (board)

Returns: - number of devices

◆ devicesScan()

uint8_t Board::devicesScan	(	bool	verbose = `true`,
		uint16_t	mask = `0xFFFF`
	)

Ping devices and refresh alive array

Parameters

verbose	- prints statuses
mask	- bitwise, 16 bits - no more than 16 devices! Bit == 1 - scan, 0 - no scan.

Returns: - alive count

◆ errorCodeLast()

uint8_t Board::errorCodeLast ( )

inline

Last error code

Returns: - last error code from all devices of this kind

◆ errorWasInDeviceNumber()

uint8_t Board::errorWasInDeviceNumber ( )

inline

Device which caused last error

Returns: - device number

◆ firmwareRequest()

void Board::firmwareRequest ( uint8_t deviceNumber = 0xFF )

Request firmware version

Parameters

deviceNumber - Devices's ordinal number. Each call of function add() assigns a increasing number to the device, starting with 0. 0xFF - for all devices.

Request firmware version

Parameters

deviceNumber - Devices's ordinal number. Each call of function add() assigns a increasing number to the device, starting with 0.

◆ fps()

uint16_t Board::fps ( uint8_t deviceNumber = 0 )

Frames Per Second

Parameters

deviceNumber - Devices's ordinal number. Each call of function add() assigns a increasing number to the device, starting with 0.

Returns: - FPS

Frames Per Second

Parameters

deviceNumber - Devices's ordinal number. Each call of function add() assigns a increasing number to the device, starting with 0. 0xFF - for all devices.

Returns: - FPS

◆ fpsDisplay()

void Board::fpsDisplay ( )

Display FPS for all devices

◆ fpsRequest()

void Board::fpsRequest ( uint8_t deviceNumber = 0xFF )

Request Frames Per Second

Parameters

deviceNumber - Devices's ordinal number. Each call of function add() assigns a increasing number to the device, starting with 0. 0xFF - for all devices.

◆ id()

BoardId Board::id ( )

inline

Board class id, not each device's

◆ idChange()

void Board::idChange	(	uint16_t	newDeviceNumber,
		uint8_t	deviceNumber = `0`
	)

Change CAN Bus id

Parameters

newDeviceNumber	- new number
deviceNumber	- Devices's ordinal number. Each call of function add() assigns a increasing number to the device, starting with 0.

Change CAN Bus id

Parameters

newId	- CAN Bus id
deviceNumber	- Devices's ordinal number. Each call of function add() assigns a increasing number to the device, starting with 0.

◆ info()

void Board::info ( uint8_t deviceNumber = 0xFF )

Request information

Parameters

deviceNumber - Devices's ordinal number. Each call of function add() assigns a increasing number to the device, starting with 0. 0xFF - for all devices.

◆ isForMe()

bool Board::isForMe	(	uint32_t	canIdOut,
		uint8_t	deviceNumber
	)

Is the frame addressed to this device's Arduino object?

Parameters

canIdOut	- CAN Bus id.
deviceNumber	- Devices's ordinal number. Each call of function add() assigns a increasing number to the device, starting with 0.

Returns: - if true, it is

Is the frame addressed to this device's Arduino object?

Parameters

canIdOut	- CAN Bus id.
deviceNumber	- Devices's ordinal number. Each call of function add() assigns a increasing number to the deviceNumber, starting with 0.

Returns: - if true, it is

◆ isFromMe()

bool Board::isFromMe	(	uint32_t	canIdOut,
		uint8_t	deviceNumber
	)

Does the frame originate from this device's Arduino object?

Parameters

canIdOut	- CAN Bus id.
deviceNumber	- Devices's ordinal number. Each call of function add() assigns a increasing number to the deviceNumber, starting with 0.

Returns: - if true, it does

◆ lastMessageMs()

uint32_t Board::lastMessageMs ( uint8_t deviceNumber = 0 )

inline

Last message received

Parameters

deviceNumber - Devices's ordinal number. Each call of function add() assigns a increasing number to the device, starting with 0.

Returns: - milliseconds

◆ messageDecode()

virtual bool Board::messageDecode	(	uint32_t	canId,
		uint8_t	data[8]
	)

pure virtual

Read CAN Bus message into local variables

Parameters

canId	- CAN Bus id
data	- 8 bytes from CAN Bus message.

Returns: - true if canId for this class

Implemented in Mrm_us1, Mrm_us, Mrm_us_b, Mrm_therm_b_can, Mrm_ref_can, Mrm_node, Mrm_lid_can_b2, Mrm_lid_can_b, Mrm_ir_finder3, Mrm_ir_finder_can, Mrm_fet_can, Mrm_col_can, Mrm_col_b, SensorBoard, MotorBoard, and Mrm_8x8a.

◆ messageDecodeCommon()

bool Board::messageDecodeCommon	(	uint32_t	canId,
		uint8_t	data[8],
		uint8_t	deviceNumber = `0`
	)

protected

Common part of message decoding

Parameters

canId	- CAN Bus id
data	- 8 bytes from CAN Bus message.
deviceNumber	- Devices's ordinal number. Each call of function add() assigns a increasing number to the device, starting with 0.

Returns: - command found

◆ messagePrint()

bool Board::messagePrint	(	uint32_t	msgId,
		uint8_t	dlc,
		uint8_t *	data,
		bool	outbound
	)

‍** Prints a frame

Prints a frame

Parameters

msgId	- messageId
dlc	- data length
data	- payload
outbound	- otherwise inbound

Returns: -if true, foundand printed

Prints a frame

Parameters

msgId	- messageId
dlc	- data length
data	- payload
outbound	- otherwise inbound

Returns: - if true, found and printed

◆ messageSend()

void Board::messageSend	(	uint8_t *	data,
		uint8_t	dlc,
		uint8_t	deviceNumber = `0`
	)

Send CAN Bus message

Parameters

dlc	- data length
data	- payload
deviceNumber	- Devices's ordinal number. Each call of function add() assigns a increasing number to the device, starting with 0.

◆ name() [1/2]

char* Board::name ( )

inline

Returns device group's name

Returns: - name

◆ name() [2/2]

char * Board::name ( uint8_t deviceNumber )

Returns device's name

Parameters

deviceNumber - Motor's ordinal number. Each call of function add() assigns a increasing number to the device, starting with 0.

Returns: - name

Returns device's name

Parameters

deviceNumber - Device's ordinal number. Each call of function add() assigns a increasing number to the device, starting with 0.

Returns: - name

◆ notificationRequest()

void Board::notificationRequest	(	uint8_t	commandRequestingNotification,
		uint8_t	deviceNumber
	)

Request notification

Parameters

commandRequestingNotification
deviceNumber	- Devices's ordinal number. Each call of function add() assigns a increasing number to the device, starting with 0.

◆ oscillatorTest()

void Board::oscillatorTest ( uint8_t deviceNumber = 0xFF )

Reserved for production

Parameters

deviceNumber - Devices's ordinal number. Each call of function add() assigns a increasing number to the device, starting with 0.

◆ reset()

void Board::reset ( uint8_t deviceNumber = 0xFF )

Reset

Parameters

deviceNumber - Device's ordinal number. Each call of function add() assigns a increasing number to the device, starting with 0. 0xFF - all devices.

◆ start()

void Board::start	(	uint8_t	deviceNumber = `0xFF`,
		uint8_t	measuringModeNow = `0`,
		uint16_t	refreshMs = `0`
	)

Starts periodical CANBus messages that will be refreshing values that can be read by reading()

Parameters

deviceNumber	- Device's ordinal number. Each call of function add() assigns a increasing number to the device, starting with 0. 0xFF - all devices.
measuringModeNow	- Measuring mode id. Default 0.
refreshMs	- gap between 2 CAN Bus messages to refresh local Arduino copy of device's data. 0 - device's default.

◆ stop()

void Board::stop ( uint8_t deviceNumber = 0xFF )

Stops periodical CANBus messages that refresh values that can be read by reading()

Parameters

deviceNumber - Device's ordinal number. Each call of function add() assigns a increasing number to the device, starting with 0.

◆ swap()

void Board::swap	(	uint8_t	deviceNumber1,
		uint8_t	deviceNumber2
	)

add() assigns device numbers one after another. swap() changes the sequence later. Therefore, add(); add(); will assign number 0 to a device with the smallest CAN Bus id and 1 to the one with the next smallest. If we want to change the order so that now the device 1 is the one with the smalles CAN Bus id, we will call swap(0, 1); after the the add() commands.

Parameters

deviceNumber1	- Device's ordinal number. Each call of function add() assigns a increasing number to the device, starting with 0.
deviceNumber2	- Second device.

◆ test()

virtual void Board::test	(	uint8_t	deviceNumber = `0xFF`,
		uint16_t	betweenTestsMs = `0`
	)

inlinevirtual

Test

Parameters

deviceNumber	- Device's ordinal number. Each call of function add() assigns a increasing number to the device, starting with 0. 0xFF - all devices.
betweenTestsMs	- time in ms between 2 tests. 0 - default.

Reimplemented in Mrm_lid_can_b, and MotorBoard.

The documentation for this class was generated from the following files:

C:/Users/priba/Documents/PlatformIO/Projects/MRMS/lib/mrm-board/src/mrm-board.h
C:/Users/priba/Documents/PlatformIO/Projects/MRMS/lib/mrm-board/src/mrm-board.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ Board()

Member Function Documentation

◆ add()

◆ alive()

◆ aliveSet()

◆ count()

◆ deadOrAliveCount()

◆ devicesMaximumNumberInAllBoards()

◆ devicesOnASingleBoard()

◆ devicesScan()

◆ errorCodeLast()

◆ errorWasInDeviceNumber()

◆ firmwareRequest()

◆ fps()

◆ fpsDisplay()

◆ fpsRequest()

◆ id()

◆ idChange()

◆ info()

◆ isForMe()

◆ isFromMe()

◆ lastMessageMs()

◆ messageDecode()

◆ messageDecodeCommon()

◆ messagePrint()

◆ messageSend()

◆ name() [1/2]

◆ name() [2/2]

◆ notificationRequest()

◆ oscillatorTest()

◆ reset()

◆ start()

◆ stop()

◆ swap()

◆ test()