canbus.h

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#pragma once
 
#include "esphome/core/automation.h"
#include "esphome/core/component.h"
#include "esphome/core/optional.h"
 
#include <cinttypes>
#include <vector>
 
namespace esphome::canbus {
 
enum Error : uint8_t {
  ERROR_OK = 0,
  ERROR_FAIL = 1,
  ERROR_ALLTXBUSY = 2,
  ERROR_FAILINIT = 3,
  ERROR_FAILTX = 4,
  ERROR_NOMSG = 5
};
 
enum CanSpeed : uint8_t {
  CAN_1KBPS,
  CAN_5KBPS,
  CAN_10KBPS,
  CAN_12K5BPS,
  CAN_16KBPS,
  CAN_20KBPS,
  CAN_25KBPS,
  CAN_31K25BPS,
  CAN_33KBPS,
  CAN_40KBPS,
  CAN_50KBPS,
  CAN_80KBPS,
  CAN_83K3BPS,
  CAN_95KBPS,
  CAN_100KBPS,
  CAN_125KBPS,
  CAN_200KBPS,
  CAN_250KBPS,
  CAN_500KBPS,
  CAN_800KBPS,
  CAN_1000KBPS
};
 
class CanbusTrigger;
template<typename... Ts> class CanbusSendAction;
 
/* CAN payload length definitions according to ISO 11898-1 */
static const uint8_t CAN_MAX_DATA_LENGTH = 8;
 
/*
Can Frame describes a normative CAN Frame
The RTR = Remote Transmission Request is implemented in every CAN controller but rarely used
So currently the flag is passed to and from the hardware but currently ignored to the user application.
*/
struct CanFrame {
  bool use_extended_id = false;
  bool remote_transmission_request = false;
  uint32_t can_id;              /* 29 or 11 bit CAN_ID  */
  uint8_t can_data_length_code; /* frame payload length in byte (0 .. CAN_MAX_DATA_LENGTH) */
  uint8_t data[CAN_MAX_DATA_LENGTH] __attribute__((aligned(8)));
};
 
class Canbus : public Component {
 public:
  Canbus(){};
  void setup() override;
  void dump_config() override;
  float get_setup_priority() const override { return setup_priority::HARDWARE; }
  void loop() override;
 
  canbus::Error send_data(uint32_t can_id, bool use_extended_id, bool remote_transmission_request,
                          const std::vector<uint8_t> &data);
  canbus::Error send_data(uint32_t can_id, bool use_extended_id, const std::vector<uint8_t> &data) {
    // for backwards compatibility only
    return this->send_data(can_id, use_extended_id, false, data);
  }
  void set_can_id(uint32_t can_id) { this->can_id_ = can_id; }
  void set_use_extended_id(bool use_extended_id) { this->use_extended_id_ = use_extended_id; }
  void set_bitrate(CanSpeed bit_rate) { this->bit_rate_ = bit_rate; }
  void set_max_frames_per_loop(uint32_t max_frames_per_loop) { this->max_frames_per_loop_ = max_frames_per_loop; }
 
  void add_trigger(CanbusTrigger *trigger);
  template<typename F> void add_callback(F &&callback) { this->callback_manager_.add(std::forward<F>(callback)); }
 
 protected:
  template<typename... Ts> friend class CanbusSendAction;
  std::vector<CanbusTrigger *> triggers_{};
  uint32_t can_id_;
  uint32_t max_frames_per_loop_{50};  // Keep in sync with DEFAULT_MAX_FRAMES_PER_LOOP in __init__.py
  CanSpeed bit_rate_{CAN_125KBPS};    // Keep in sync with DEFAULT_BIT_RATE in __init__.py
  bool use_extended_id_{false};
  CallbackManager<void(uint32_t can_id, bool extended_id, bool rtr, const std::vector<uint8_t> &data)>
      callback_manager_{};
 
  virtual bool setup_internal() = 0;
  virtual Error send_message(struct CanFrame *frame) = 0;
  virtual Error read_message(struct CanFrame *frame) = 0;
};
 
template<typename... Ts> class CanbusSendAction final : public Action<Ts...>, public Parented<Canbus> {
 public:
  void set_data_template(std::vector<uint8_t> (*func)(Ts...)) {
    // Stateless lambdas (generated by ESPHome) implicitly convert to function pointers
    this->data_.func = func;
    this->len_ = -1;  // Sentinel value indicates template mode
  }
 
  // Store pointer to static data in flash (no RAM copy)
  void set_data_static(const uint8_t *data, size_t len) {
    this->data_.data = data;
    this->len_ = len;  // Length >= 0 indicates static mode
  }
 
  void set_can_id(uint32_t can_id) { this->can_id_ = can_id; }
 
  void set_use_extended_id(bool use_extended_id) { this->use_extended_id_ = use_extended_id; }
 
  void set_remote_transmission_request(bool remote_transmission_request) {
    this->remote_transmission_request_ = remote_transmission_request;
  }
 
  void play(const Ts &...x) override {
    auto can_id = this->can_id_.has_value() ? *this->can_id_ : this->parent_->can_id_;
    auto use_extended_id =
        this->use_extended_id_.has_value() ? *this->use_extended_id_ : this->parent_->use_extended_id_;
    std::vector<uint8_t> data;
    if (this->len_ >= 0) {
      // Static mode: copy from flash to vector
      data.assign(this->data_.data, this->data_.data + this->len_);
    } else {
      // Template mode: call function
      data = this->data_.func(x...);
    }
    this->parent_->send_data(can_id, use_extended_id, this->remote_transmission_request_, data);
  }
 
 protected:
  optional<uint32_t> can_id_{};
  optional<bool> use_extended_id_{};
  bool remote_transmission_request_{false};
  ssize_t len_{-1};  // -1 = template mode, >=0 = static mode with length
  union Data {
    std::vector<uint8_t> (*func)(Ts...);  // Function pointer (stateless lambdas)
    const uint8_t *data;                  // Pointer to static data in flash
  } data_;
};
 
class CanbusTrigger final : public Trigger<std::vector<uint8_t>, uint32_t, bool>, public Component {
  friend class Canbus;
 
 public:
  explicit CanbusTrigger(Canbus *parent, const std::uint32_t can_id, const std::uint32_t can_id_mask,
                         const bool use_extended_id)
      : parent_(parent), can_id_(can_id), can_id_mask_(can_id_mask), use_extended_id_(use_extended_id){};
 
  void set_remote_transmission_request(bool remote_transmission_request) {
    this->remote_transmission_request_ = remote_transmission_request;
  }
 
  void setup() override { this->parent_->add_trigger(this); }
 
 protected:
  Canbus *parent_;
  uint32_t can_id_;
  uint32_t can_id_mask_;
  bool use_extended_id_;
  optional<bool> remote_transmission_request_{};
};
 
}  // namespace esphome::canbus