/** * @file NbusBridge.cpp * @brief Implemetnácia modulu nBus Brige * @date Mar 7, 2025 * @author Juraj Dudak */ #include "NbusBridge.h" volatile uint8_t scan_request = 0; static uint8_t const crc8x_table[] = { 0x00, 0x07, 0x0E, 0x09, 0x1C, 0x1B, 0x12, 0x15, 0x38, 0x3F, 0x36, 0x31, 0x24, 0x23, 0x2A, 0x2D, 0x70, 0x77, 0x7E, 0x79, 0x6C, 0x6B, 0x62, 0x65, 0x48, 0x4F, 0x46, 0x41, 0x54, 0x53, 0x5A, 0x5D, 0xE0, 0xE7, 0xEE, 0xE9, 0xFC, 0xFB, 0xF2, 0xF5, 0xD8, 0xDF, 0xD6, 0xD1, 0xC4, 0xC3, 0xCA, 0xCD, 0x90, 0x97, 0x9E, 0x99, 0x8C, 0x8B, 0x82, 0x85, 0xA8, 0xAF, 0xA6, 0xA1, 0xB4, 0xB3, 0xBA, 0xBD, 0xC7, 0xC0, 0xC9, 0xCE, 0xDB, 0xDC, 0xD5, 0xD2, 0xFF, 0xF8, 0xF1, 0xF6, 0xE3, 0xE4, 0xED, 0xEA, 0xB7, 0xB0, 0xB9, 0xBE, 0xAB, 0xAC, 0xA5, 0xA2, 0x8F, 0x88, 0x81, 0x86, 0x93, 0x94, 0x9D, 0x9A, 0x27, 0x20, 0x29, 0x2E, 0x3B, 0x3C, 0x35, 0x32, 0x1F, 0x18, 0x11, 0x16, 0x03, 0x04, 0x0D, 0x0A, 0x57, 0x50, 0x59, 0x5E, 0x4B, 0x4C, 0x45, 0x42, 0x6F, 0x68, 0x61, 0x66, 0x73, 0x74, 0x7D, 0x7A, 0x89, 0x8E, 0x87, 0x80, 0x95, 0x92, 0x9B, 0x9C, 0xB1, 0xB6, 0xBF, 0xB8, 0xAD, 0xAA, 0xA3, 0xA4, 0xF9, 0xFE, 0xF7, 0xF0, 0xE5, 0xE2, 0xEB, 0xEC, 0xC1, 0xC6, 0xCF, 0xC8, 0xDD, 0xDA, 0xD3, 0xD4, 0x69, 0x6E, 0x67, 0x60, 0x75, 0x72, 0x7B, 0x7C, 0x51, 0x56, 0x5F, 0x58, 0x4D, 0x4A, 0x43, 0x44, 0x19, 0x1E, 0x17, 0x10, 0x05, 0x02, 0x0B, 0x0C, 0x21, 0x26, 0x2F, 0x28, 0x3D, 0x3A, 0x33, 0x34, 0x4E, 0x49, 0x40, 0x47, 0x52, 0x55, 0x5C, 0x5B, 0x76, 0x71, 0x78, 0x7F, 0x6A, 0x6D, 0x64, 0x63, 0x3E, 0x39, 0x30, 0x37, 0x22, 0x25, 0x2C, 0x2B, 0x06, 0x01, 0x08, 0x0F, 0x1A, 0x1D, 0x14, 0x13, 0xAE, 0xA9, 0xA0, 0xA7, 0xB2, 0xB5, 0xBC, 0xBB, 0x96, 0x91, 0x98, 0x9F, 0x8A, 0x8D, 0x84, 0x83, 0xDE, 0xD9, 0xD0, 0xD7, 0xC2, 0xC5, 0xCC, 0xCB, 0xE6, 0xE1, 0xE8, 0xEF, 0xFA, 0xFD, 0xF4, 0xF3}; static uint8_t crc8x_fast(void const *mem, uint16_t len) { uint8_t crc = 0; uint8_t const *data = (uint8_t *)mem; if (data == NULL) return 0xff; crc &= 0xff; while (len--) crc = crc8x_table[crc ^ *data++]; return crc; } NbusBridge::NbusBridge() : _raw_data_frame(_data_packet, DATAPACKET_SIZE, TYPE_RAW, CRC_OFF), _master_frame(_data_packet, DATAPACKET_SIZE, TYPE_PLAIN, CRC_ON) { _communicator = NULL; _num_slaves = 0; _run_state = STATE_STOPPED; _pdu.sa = BROADCAST_ADDRESS; } void NbusBridge::setCommunicator(NbusCommunicator *nc) { if (nc == NULL) { while (1) { __NOP(); } } _communicator = nc; _num_slaves = 0; _run_state = STATE_STOPPED; _pdu.sa = BROADCAST_ADDRESS; } NbusBridge::~NbusBridge() { // empty } /** * Spustí scan internej nbus siete. * Posiela requesty pre celý adresný priestor ako ECHO paket. * Výsledok je uložený interne. K jednotlivým slave-om sa dá dostať cez metódu getSlave(index), kde 0<=indexsendAndReceive(&pdu, data, 4); if (!frame->IsEmpty()) { response = frame->GetFrame(); if (response[0 + data_offset] == 110 && response[1 + data_offset] == 66 && response[2 + data_offset] == 117 && response[3 + data_offset] == 115) { _num_slaves++; _slaves[i].setAddress(i); _slaves[i].setCommunicator(_communicator); _slave_adress[slave_index++] = i; } } } HAL_GPIO_WritePin(GPIOB, GPIO_PIN_3, GPIO_PIN_RESET); } /** * @brief Vráti inštanciu index-teho zdetegovaného nBus slave. * @return Smerník na existujúc NbusBridge alebo NULL */ NbusSlave *NbusBridge::getSlave(uint8_t index) { if (index >= 0 && index < MAX_SLAVES) { if (_slaves[index].isActive()) { return &_slaves[index]; } } return NULL; } /** * Vráti počet detegovaných nBus slave modulov na internej zbernici. * @return počet nBus slave zariadení. */ uint8_t NbusBridge::getNumSlaves() { return _num_slaves; } /** * Na internú zbernicu odošle Broadcast request "START" */ void NbusBridge::broadcastStart() { _pdu.fc = FC_START; _pdu.ma = BROADCAST_ADDRESS; _communicator->send(&_pdu, NULL, 0); _run_state = STATE_RUNNING; } /** * Na internú zbernicu odošle Broadcast request "STOP" */ void NbusBridge::broadcastStop() { _pdu.fc = FC_STOP; _pdu.ma = BROADCAST_ADDRESS; _communicator->send(&_pdu, NULL, 0); _run_state = STATE_TO_STOP; } /** * Spracovanie broadcast requestu. * Inplementované funkcie: * - FC_STOP * - FC_START */ void NbusBridge::process_broadcast(uint8_t *rxFrame) { switch (FUNCTION_CODE(rxFrame)) { case FC_STOP: /* 2 */ this->broadcastStop(); break; case FC_START: /* 3 */ this->broadcastStart(); break; default:; // nothing } } /** * Spracovanie requestu pre bridge. * Implementované funkcie: * - FC_SLAVES * Formát odpovede: [senzor_idenx:sensor_address,] * - FC_RESET * Odpoveď: kópia požiadavky * - FC_INFO * Odpoved: XXXYYYZZZ, kde X-verzia FW, Y-použitá platfoma MCU, Z-verzia HW (formát: ASCII) * - FC_ECHO * Odpoveď: kópia požiadavky */ void NbusBridge::process_bridge_request(uint8_t *rxFrame, uint8_t size) { _master_frame.Init(); _master_frame.AddArray(rxFrame, PDU_SIZE); switch (FUNCTION_CODE(rxFrame)) { case FC_ECHO: /* 1 */ _master_frame.AddArray(&DATA0_ADDRESS(rxFrame), size - RX_META); break; case FC_RESET: /* 9 */ { scan_request = 1; // send same frame back _master_frame.AddArray(&DATA0_ADDRESS(rxFrame), size - RX_META); } break; case FC_INFO: /* 0xE => 15 */ _master_frame.AddArray((uint8_t *)BRIDGE_INFO_VERSION, 3); _master_frame.AddArray((uint8_t *)BRIDGE_INFO_HW_FAMILY, 3); _master_frame.AddArray((uint8_t *)BRIDGE_INFO_HW_VERSION, 3); break; case FC_SLAVES: /* 0x10 => 16 */ for (uint8_t i = 0; i < _num_slaves; i++) { _master_frame.AddInt8(i + 1); _master_frame.AddInt8(_slave_adress[i]); } break; default:; // nothing } _master_frame.Commit(); _communicator->sendToMaster(&_master_frame); } void NbusBridge::process_slave_request(uint8_t *rxFrame, uint8_t size) { uint8_t send_reponse = 1; NbusSlave *selected_slave = getSlave(MODULE_ADDRESS(rxFrame)); if (selected_slave == NULL) { return; } if (!selected_slave->isActive()) { return; } switch (FUNCTION_CODE(rxFrame)) { case FC_FIND: /* 0 */ _worker_frame_ptr = selected_slave->nbus_module_find(); break; case FC_ECHO: /* 1 */ _worker_frame_ptr = selected_slave->nbus_echo(&DATA0_ADDRESS(rxFrame), size - RX_META); break; case FC_PARAM: /* 4 */ if (size == RX_META) { _worker_frame_ptr = selected_slave->nbus_sensor_parameters(SENSOR_ADDRESS(rxFrame)); } else { _worker_frame_ptr = selected_slave->nbus_sensor_parameter(SENSOR_ADDRESS(rxFrame), rxFrame[RX_META - 1]); } break; case FC_SENSOR_CNT: /* 5 */ _worker_frame_ptr = selected_slave->nbus_sensor_count(); break; case FC_SLEEP: /* 6 */ break; case FC_WAKEUP: /* 7 */ break; case FC_CALIBRATE: /* 8 */ break; case FC_RESET: /* 9 */ break; case FC_STORE: /* 0xA => 10 */ break; case FC_DATA: /* 0xB => 11 Get data from specific slave, Unicast mode */ _worker_frame_ptr = selected_slave->nbus_sensor_getData(SENSOR_ADDRESS(rxFrame)); break; case FC_SYNC: /* 0xC => 12 */ break; case FC_SENSOR_TYPE: /* 0xD => 13 */ _worker_frame_ptr = selected_slave->nbus_sensor_type(SENSOR_ADDRESS(rxFrame)); break; case FC_INFO: /* 0xE => 14 */ _worker_frame_ptr = selected_slave->nbus_module_info(); break; case FC_SENSOR_FORMAT: /* 0xF => 15 */ _worker_frame_ptr = selected_slave->nbus_sensor_format(SENSOR_ADDRESS(rxFrame)); break; default: send_reponse = 0; } if (send_reponse == 1) { _communicator->sendToMaster(_worker_frame_ptr); } } /** * Pripraví informáciu o všetkcýh nBus slave moduloch */ DataFrame* NbusBridge::getBridgeSlaves() { _raw_data_frame.Init(); for (uint8_t i = 0; i < _num_slaves; i++) { _raw_data_frame.AddInt8(i + 1); _raw_data_frame.AddInt8(_slave_adress[i]); } _raw_data_frame.Commit(); return &_raw_data_frame; } DataFrame * NbusBridge::getBridgeInfo() { _raw_data_frame.Init(); _raw_data_frame.AddArray((uint8_t *)BRIDGE_INFO_VERSION, 3); _raw_data_frame.AddArray((uint8_t *)BRIDGE_INFO_HW_FAMILY, 3); _raw_data_frame.AddArray((uint8_t *)BRIDGE_INFO_HW_VERSION, 3); _raw_data_frame.Commit(); return &_raw_data_frame; } /** * Implementácia rozhrania nBus. */ void NbusBridge::processRequest(uint8_t *rxFrame, uint8_t size) { uint8_t crcC = crc8x_fast(rxFrame, size - 1); if (crcC != rxFrame[size - 1]) { return; } _pdu.ma = rxFrame[0]; _pdu.sa = rxFrame[1]; _pdu.fc = (Nbus_FC_e)rxFrame[2]; if (_pdu.ma == BROADCAST_ADDRESS) { if (_pdu.sa == BRIDGE_ADDRESS) { process_bridge_request(rxFrame, size); } else { process_broadcast(rxFrame); } } else { process_slave_request(rxFrame, size); } } /** * Implementácia stavu STATE_RUNNING. * V tomto stave je spustené automatické odčítanie údajov zo všetkých slave/všetkých senzorov. * Dáta sa v dávke (za všetky slavy) odosielajú na Master. */ void NbusBridge::processRunningState() { if (scan_request == 1) { scan_request = 0; this->scan(); } if (_run_state == STATE_STOPPED) { return; } if (_run_state == STATE_TO_STOP) { HAL_GPIO_WritePin(GPIOB, GPIO_PIN_3, GPIO_PIN_RESET); _run_state = STATE_STOPPED; return; } HAL_GPIO_WritePin(GPIOB, GPIO_PIN_3, GPIO_PIN_SET); NbusSlave *slave = NULL; uint8_t *slaveFrameResponse; _raw_data_frame.Init(); _raw_data_frame.AddHeader(TYPE_HEADER_2B); _raw_data_frame.AddInt32(HAL_GetTick()); for (uint32_t i = 0; i < _num_slaves; i++) { slave = getSlave(_slave_adress[i]); if (slave != NULL && slave->isActive()) { for (uint32_t k = 1; k <= slave->nbus_get_sensor_count(false); k++) { _raw_data_frame.AddInt8(slave->getModuleAddress()); _worker_frame_ptr = slave->nbus_sensor_getData(k); slaveFrameResponse = _worker_frame_ptr->GetFrame(); _raw_data_frame.AddInt8(slave->getSensorAddress()); _raw_data_frame.AddArray(&slaveFrameResponse[3], _worker_frame_ptr->GetLength() - 3); } } } _raw_data_frame.AddInt8(0xFF); _raw_data_frame.AddInt8(0xFF); _raw_data_frame.Commit(); // TODO problem: v stavi RUNNING pride STOP prikaz, ale ten sa nespracuje, pretoze bezi obsluha tejto funkcie. if (_run_state == STATE_RUNNING) { _communicator->sendToMaster(&_raw_data_frame); } /// TODO toto sa MI NEPACI, TREBA VYRIESIT INAK!!!!!! HAL_Delay(50); // TREBA VYSKUSAT }