mrm-ref-can.h

#pragma once
#include "Arduino.h"
#include <mrm-board.h>
 
#define CAN_ID_REF_CAN0_IN 0x0160
#define CAN_ID_REF_CAN0_OUT 0x0161
#define CAN_ID_REF_CAN1_IN 0x0162
#define CAN_ID_REF_CAN1_OUT 0x0163
#define CAN_ID_REF_CAN2_IN 0x0164
#define CAN_ID_REF_CAN2_OUT 0x0165
#define CAN_ID_REF_CAN3_IN 0x0166
#define CAN_ID_REF_CAN3_OUT 0x0167
#define CAN_ID_REF_CAN4_IN 0x0168
#define CAN_ID_REF_CAN4_OUT 0x0169
#define CAN_ID_REF_CAN5_IN 0x016A
#define CAN_ID_REF_CAN5_OUT 0x016B
#define CAN_ID_REF_CAN6_IN 0x016C
#define CAN_ID_REF_CAN6_OUT 0x016D
#define CAN_ID_REF_CAN7_IN 0x016E
#define CAN_ID_REF_CAN7_OUT 0x016F
 
#define MRM_REF_CAN_SENSOR_COUNT 9 // Number of IR transistors in each device.
 
//CANBus commands
#define COMMAND_REF_CAN_MEASURE_ONCE_CENTER 0x04
#define COMMAND_REF_CAN_MEASURE_CONTINUOUS_CENTER 0x05
#define COMMAND_REF_CAN_SENDING_SENSORS_1_TO_3 0x06
#define COMMAND_REF_CAN_SENDING_SENSORS_4_TO_6 0x07
#define COMMAND_REF_CAN_SENDING_SENSORS_7_TO_9 0x08
#define COMMAND_REF_CAN_CALIBRATE 0x09
#define COMMAND_REF_CAN_CALIBRATION_DATA_DARK_1_TO_3 0x0A
#define COMMAND_REF_CAN_CALIBRATION_DATA_DARK_4_TO_6 0x0B
#define COMMAND_REF_CAN_CALIBRATION_DATA_DARK_7_TO_9 0x0C
#define COMMAND_REF_CAN_CALIBRATION_DATA_BRIGHT_1_TO_3 0x0F
#define COMMAND_REF_CAN_CALIBRATION_DATA_BRIGHT_4_TO_6 0x50
#define COMMAND_REF_CAN_CALIBRATION_DATA_BRIGHT_7_TO_9 0x51
#define COMMAND_REF_CAN_CALIBRATION_DATA_REQUEST 0x0D
#define COMMAND_REF_CAN_SENDING_SENSORS_CENTER 0x0E
#define COMMAND_REPORT_ALIVE_QUEUELESS 0x0F // todo
 
#define MRM_REF_CAN_INACTIVITY_ALLOWED_MS 10000
 
class Mrm_ref_can : public SensorBoard
{
    enum mode { ANALOG_VALUES, DIGITAL_AND_BRIGHT_CENTER, DIGITAL_AND_DARK_CENTER };
 
    std::vector<uint16_t[MRM_REF_CAN_SENSOR_COUNT]>* calibrationDataDark; // 
    std::vector<uint16_t[MRM_REF_CAN_SENSOR_COUNT]>* calibrationDataBright;
    std::vector<uint8_t>* dataFresh; // All the data refreshed, bitwise stored. 
                                    // Most significant bit 0: readings for transistors 1 - 3, 
                                    // bit 1: 4 - 6, 
                                    // bit 2: 7 - 9, 
                                    // bit 3: calibration data for transistors 1 - 3, 
                                    // bit 4: 4 - 6, 
                                    // bit 5: 7 - 9
    std::vector<uint8_t>* _mode;
    bool readingDigitalAndCenter = true; // Reading only center and transistors as bits. Otherwise reading all transistors as analog values.
    std::vector<uint16_t[MRM_REF_CAN_SENSOR_COUNT]>* _reading; // Analog or digital readings of all sensors, depending on measuring mode.
    std::vector<uint16_t>* centerOfMeasurements; // Center of the dark sensors.
 
    bool analogStarted(uint8_t deviceNumber);
 
    bool dataCalibrationFreshAsk(uint8_t deviceNumber) { return ((*dataFresh)[deviceNumber] & 0b00011100) == 0b00011100; }
 
    bool dataFreshAsk(uint8_t deviceNumber) { return (*dataFresh)[deviceNumber] == 0xFF; }
 
    void dataFreshCalibrationSet(bool setToFresh, uint8_t deviceNumber = 0);
 
    void dataFreshReadingsSet(bool setToFresh, uint8_t deviceNumber = 0);
 
    bool digitalStarted(uint8_t deviceNumber, bool darkCenter, bool startIfNot = true);
    
public:
 
    Mrm_ref_can(Robot* robot = NULL, uint8_t maxNumberOfBoards = 4);
 
    ~Mrm_ref_can();
 
    void add(char * deviceName = (char*)"");
 
    bool any(bool dark = true, uint8_t deviceNumber = 0, uint8_t fistTransistor = 0, uint8_t lastTransistor = 0xFF);
 
    void calibrate(uint8_t deviceNumber = 0xFF);
 
    uint16_t calibrationDataGet(uint8_t receiverNumberInSensor, bool isDark, uint8_t deviceNumber = 0);
 
    void calibrationPrint();
 
    void calibrationDataRequest(uint8_t deviceNumber = 0, bool waitForResult = false);
 
    uint16_t center(uint8_t deviceNumber = 0, bool ofDark = true);
 
    bool dark(uint8_t receiverNumberInSensor, uint8_t deviceNumber = 0, bool fromAnalog = false);
    
    bool messageDecode(uint32_t canId, uint8_t data[8]);
    
    uint16_t reading(uint8_t receiverNumberInSensor, uint8_t deviceNumber = 0);
 
    void readingsPrint();
 
    void test(bool analog);
 
};