nBus-bridge/Core/Src/NbusCommunicator.cpp

/*
 * @file NbusCommunicator.cpp
 * @brief Implemetnácia komunikačnej vrstvy: 1) internej 2) externej
 * @date Mar 7, 2025
 * @author Juraj Dudak
 */

#include "NbusCommunicator.h"

NbusCommunicator::NbusCommunicator(UART_HandleTypeDef* uartUbus, UART_HandleTypeDef *uartMaster) {
	_packet_tx = new DataFrame(_data_packet_tx, sizeof(_data_packet_tx), TYPE_PLAIN, CRC_ON);
	if(_packet_tx == NULL)
	{
		while(1){
			__NOP();
		}
	}

	_packet_rx = new DataFrame(_data_packet_rx, sizeof(_data_packet_rx), TYPE_PLAIN, CRC_OFF);\
	if(_packet_rx == NULL)
	{
		while(1){
			__NOP();
		}
	}

	if(uartUbus == NULL)
	{
		while(1){
			__NOP();
		}
	}
	_uart_nbus = uartUbus;

	if(uartMaster == NULL)
	{
		while(1){
			__NOP();
		}
	}
	_uart_master = uartMaster;

}

NbusCommunicator::~NbusCommunicator() {
	// empty
}


void NbusCommunicator::_receive(){
	uint16_t received_size;
	HAL_GPIO_WritePin(GPIOB, GPIO_PIN_3, GPIO_PIN_SET);

	// komunikacia v DMA musi byt spracovana aj tak ako blokujuca
	// takto je tu menej rezie. Timeout je 2ms
	HAL_UARTEx_ReceiveToIdle(_uart_nbus, _data_packet_comm, NBUS_MAX_FRAME_SIZE, &received_size, 2);

	HAL_GPIO_WritePin(GPIOB, GPIO_PIN_3, GPIO_PIN_RESET);

	_packet_rx->Init();
	if(received_size > 0){
		_packet_rx->FromArray(_data_packet_comm, received_size);
	}
	_packet_rx->Commit();

}

//void NbusCommunicator::transmit(uint8_t *frame, uint8_t length){
//	HAL_UART_Transmit(_uart_nbus, frame, length, 100);
//
//	HAL_UARTEx_ReceiveToIdle_DMA(_uart_nbus, _data_packet_rx, 64);
//}

DataFrame* NbusCommunicator::sendAndReceive(Nbus_pdu *pdu, uint8_t *data, uint8_t data_len){
	this->send(pdu, data, data_len);
	this->_receive();
	return _packet_rx;

}

void NbusCommunicator::send(Nbus_pdu *pdu, uint8_t *data, uint8_t data_len){
	_packet_tx->Init();
	_packet_tx->AddInt8(pdu->ma);	// Module address
	_packet_tx->AddInt8(pdu->sa);	// Slave address
	_packet_tx->AddInt8(pdu->fc);	// Function Code
	for(int i = 0 ; i< data_len ; i++){
		_packet_tx->AddInt8(data[i]);
	}
	int length = _packet_tx->Commit();

	HAL_GPIO_WritePin(GPIOB, GPIO_PIN_3, GPIO_PIN_SET);
	HAL_UART_Transmit_DMA(_uart_nbus, _packet_tx->GetFrame(), length);
	HAL_GPIO_WritePin(GPIOB, GPIO_PIN_3, GPIO_PIN_RESET);

}

void NbusCommunicator::sendToMaster(DataFrame *master_frame){

	while (_uart_master->gState != HAL_UART_STATE_READY) {
		__NOP(); // cakanie na ukoncenie prebiehajuceho odosielania
				// tu to moze byt vcelku tesno odoslany dalsi paket. je tam pauza o dlzke 1.2bit
	}
	HAL_UART_Transmit_DMA(_uart_master, master_frame->GetFrame(), master_frame->GetLength());
}