mrm-lid-can-b2.h

#pragma once
#include "Arduino.h"
#include <mrm-board.h>
 
#define CAN_ID_LID_CAN_B2_0_IN 0x0150
#define CAN_ID_LID_CAN_B2_0_OUT 0x0151
#define CAN_ID_LID_CAN_B2_1_IN 0x0152
#define CAN_ID_LID_CAN_B2_1_OUT 0x0153
#define CAN_ID_LID_CAN_B2_2_IN 0x0154
#define CAN_ID_LID_CAN_B2_2_OUT 0x0155
#define CAN_ID_LID_CAN_B2_3_IN 0x0156
#define CAN_ID_LID_CAN_B2_3_OUT 0x0157
#define CAN_ID_LID_CAN_B2_4_IN 0x0158
#define CAN_ID_LID_CAN_B2_4_OUT 0x0159
#define CAN_ID_LID_CAN_B2_5_IN 0x015A
#define CAN_ID_LID_CAN_B2_5_OUT 0x015B
#define CAN_ID_LID_CAN_B2_6_IN 0x015C
#define CAN_ID_LID_CAN_B2_6_OUT 0x015D
#define CAN_ID_LID_CAN_B2_7_IN 0x015E
#define CAN_ID_LID_CAN_B2_7_OUT 0x015F
 
#define CAN_ID_LID_CAN_B2_8_IN 0x0270
#define CAN_ID_LID_CAN_B2_8_OUT 0x0271
#define CAN_ID_LID_CAN_B2_9_IN 0x0272
#define CAN_ID_LID_CAN_B2_9_OUT 0x0273
#define CAN_ID_LID_CAN_B2_10_IN 0x0274
#define CAN_ID_LID_CAN_B2_10_OUT 0x0275
#define CAN_ID_LID_CAN_B2_11_IN 0x0276
#define CAN_ID_LID_CAN_B2_11_OUT 0x0277
#define CAN_ID_LID_CAN_B2_12_IN 0x0278
#define CAN_ID_LID_CAN_B2_12_OUT 0x0279
#define CAN_ID_LID_CAN_B2_13_IN 0x027A
#define CAN_ID_LID_CAN_B2_13_OUT 0x027B
#define CAN_ID_LID_CAN_B2_14_IN 0x027C
#define CAN_ID_LID_CAN_B2_14_OUT 0x027D
#define CAN_ID_LID_CAN_B2_15_IN 0x027E
#define CAN_ID_LID_CAN_B2_15_OUT 0x027F
 
//CANBus commands
#define COMMAND_LID_CAN_B2_CALIBRATE 0x05
#define COMMAND_LID_CAN_B2_DISTANCE_MODE 0x50
#define COMMAND_LID_CAN_B2_TIMING_BUDGET 0x51
#define COMMAND_LID_CAN_B2_MEASUREMENT_TIME 0x52
#define COMMAND_LID_CAN_B2_ROI 0x53
 
#define MRM_LID_CAN_B2_INACTIVITY_ALLOWED_MS 10000
 
class Mrm_lid_can_b2 : public SensorBoard
{
    std::vector<uint16_t>* readings; // Analog readings of all sensors
 
    bool started(uint8_t deviceNumber);
    
public:
    
    Mrm_lid_can_b2(Robot* robot = NULL, uint8_t maxDevices = 12);
 
    ~Mrm_lid_can_b2();
 
    void add(char * deviceName = (char*)"");
    
    void calibration(uint8_t deviceNumber = 0);
 
    void defaults(uint8_t deviceNumber = 0xFF);
 
    void distanceMode(uint8_t deviceNumber, bool isShort = true);
    
    void measurementTime(uint8_t deviceNumber, uint16_t ms = 100);
 
    bool messageDecode(uint32_t canId, uint8_t data[8]);
 
    uint16_t reading(uint8_t deviceNumber = 0);
 
    void readingsPrint();
 
    void roi(uint8_t deviceNumber, uint8_t x = 16, uint8_t y = 16);
 
    void test();
 
    void timingBudget(uint8_t deviceNumber, uint16_t ms = 100);
};