mrm-lid-can-b.h

#pragma once
#include "Arduino.h"
#include "mrm-board.h"
 
#define CAN_ID_LID_CAN_B0_IN 0x0180
#define CAN_ID_LID_CAN_B0_OUT 0x0181
#define CAN_ID_LID_CAN_B1_IN 0x0182
#define CAN_ID_LID_CAN_B1_OUT 0x0183
#define CAN_ID_LID_CAN_B2_IN 0x0184
#define CAN_ID_LID_CAN_B2_OUT 0x0185
#define CAN_ID_LID_CAN_B3_IN 0x0186
#define CAN_ID_LID_CAN_B3_OUT 0x0187
#define CAN_ID_LID_CAN_B4_IN 0x0188
#define CAN_ID_LID_CAN_B4_OUT 0x0189
#define CAN_ID_LID_CAN_B5_IN 0x018A
#define CAN_ID_LID_CAN_B5_OUT 0x018B
#define CAN_ID_LID_CAN_B6_IN 0x018C
#define CAN_ID_LID_CAN_B6_OUT 0x018D
#define CAN_ID_LID_CAN_B7_IN 0x018E
#define CAN_ID_LID_CAN_B7_OUT 0x018F
 
#define CAN_ID_LID_CAN_B8_IN 0x0280
#define CAN_ID_LID_CAN_B8_OUT 0x0281
#define CAN_ID_LID_CAN_B9_IN 0x0282
#define CAN_ID_LID_CAN_B9_OUT 0x0283
#define CAN_ID_LID_CAN_B10_IN 0x0284
#define CAN_ID_LID_CAN_B10_OUT 0x0285
#define CAN_ID_LID_CAN_B11_IN 0x0286
#define CAN_ID_LID_CAN_B11_OUT 0x0287
#define CAN_ID_LID_CAN_B12_IN 0x0288
#define CAN_ID_LID_CAN_B12_OUT 0x0289
#define CAN_ID_LID_CAN_B13_IN 0x028A
#define CAN_ID_LID_CAN_B13_OUT 0x028B
#define CAN_ID_LID_CAN_B14_IN 0x028C
#define CAN_ID_LID_CAN_B14_OUT 0x028D
#define CAN_ID_LID_CAN_B15_IN 0x028E
#define CAN_ID_LID_CAN_B15_OUT 0x028F
 
//CANBus commands
#define COMMAND_LID_CAN_B_CALIBRATE 0x05
#define COMMAND_LID_CAN_B_RANGING_TYPE 0x42
 
#define MRM_LID_CAN_INACTIVITY_ALLOWED_MS 10000
 
 
class Mrm_lid_can_b : public SensorBoard
{
    std::vector<uint16_t>* readings; // Analog readings of all sensors
 
    bool started(uint8_t deviceNumber);
    
public:
    
    Mrm_lid_can_b(Robot* robot = NULL, uint8_t maxNumberOfBoards = 14);
 
    ~Mrm_lid_can_b();
 
    void add(char * deviceName = (char*)"");
    
    void calibration(uint8_t deviceNumber = 0);
    
    bool messageDecode(uint32_t canId, uint8_t data[8]);
 
    void rangingType(uint8_t deviceNumber, uint8_t value = 0);
    
    uint16_t reading(uint8_t deviceNumber = 0);
 
    void readingsPrint();
 
    void test(uint8_t deviceNumber = 0xFF, uint16_t betweenTestsMs = 0);
 
};