nBus-bridge/Core/Src/NbusBridge.cpp

/*
 * @file NbusBridge.cpp
 * @brief Implemetnácia modulu nBus Brige
 * @date Mar 7, 2025
 * @author Juraj Dudak
 */

#include "NbusBridge.h"
#include "dataframe.h"

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(NbusCommunicator *nc) {
	if(nc == NULL)
	{
		while(1){
			__NOP();
		}
	}

	_communicator = nc;
	_num_slaves = 0;
	_run_state = STATE_STOPPED;
	_pdu.sa = BROADCAST_ADDRESS;
	_dataFrame = new DataFrame(_dataPacket, sizeof(_dataPacket), TYPE_RAW, CRC_OFF);

}

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


void NbusBridge::scan(){
	_num_slaves = 0;

	DataFrame *frame;
	uint8_t *response;
	Nbus_pdu pdu;
	pdu.fc = FC_ECHO;
	pdu.sa = SLAVE_ADDRESS_MODULE;
	_pdu.ma = SLAVE_ADDRESS_MODULE;
	uint8_t data[4] = {110, 66, 117, 115};	// nBus
	const uint8_t data_offset = 4;
	uint8_t slave_index = 0;

	for(uint32_t i = 1 ; i < MAX_SLAVES; i++){
		pdu.ma = i;
		frame = _communicator->sendAndReceive(&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;
			}
		}
	}
}

NbusSlave * NbusBridge::getSlave(uint8_t index){
	if(index >= 0 && index < MAX_SLAVES){
		if (_slaves[index].isActive()) {
			return &_slaves[index];
		}
	}
	return NULL;
}

uint8_t NbusBridge::getNumSlaves(){
	return _num_slaves;
}

bool NbusBridge::call_echo(uint8_t slave){
	if(slave >= _num_slaves){
			return false;
	}
	if(slave == 0){
		for(uint32_t i = 0 ; i<_num_slaves ; i++){
			getSlave(i)->nbus_echo();
		}
		return true;
	}
	getSlave(slave)->nbus_echo();
	return true;
}

void NbusBridge::sendResponseToMaster(DataFrame *response_frame){
	if(response_frame !=NULL && response_frame->IsEmpty() == false) {
		_communicator->sendToMaster(response_frame);
	}
}

void NbusBridge::broadcastStart(){
	_pdu.fc = FC_START;
	_pdu.ma = BROADCAST_ADDRESS;
	_communicator->send(&_pdu, NULL, 0);
	_run_state = STATE_RUNNING;
}

void NbusBridge::broadcastStop(){
	_pdu.fc = FC_STOP;
	_pdu.ma = BROADCAST_ADDRESS;
	_communicator->send(&_pdu, NULL, 0);
	_run_state = STATE_TO_STOP;
}

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
	}

	HAL_Delay(1);	/// send BC and wait TX complete
}


void NbusBridge::processRequest(uint8_t *rxFrame, uint8_t size){
	if (MODULE_ADDRESS(rxFrame) == 0){
		process_broadcast(rxFrame);
		return;
	}

	uint8_t send_reponse = 1;
	NbusSlave *selected_slave = getSlave(MODULE_ADDRESS(rxFrame));
	if (selected_slave == NULL){
		return;
	}

	if (!selected_slave->isActive()){
		return;
	}

	uint8_t crcC = crc8x_fast(rxFrame, size - 1);

	if (crcC != rxFrame[size-1]){
		return;
	}

	switch(FUNCTION_CODE(rxFrame)) {

	case FC_FIND:			/* 0 */
		// Not implemented yet
	break;

	case FC_ECHO:			/* 1 */
		_frame_nbus_internal = selected_slave->nbus_echo();
		break;

	case FC_PARAM:			/* 4 */
		if(size == RX_META){
			_frame_nbus_internal = selected_slave->nbus_sensor_parameters(SENSOR_ADDRESS(rxFrame));
		} else{
			_frame_nbus_internal = selected_slave->nbus_sensor_parameter(SENSOR_ADDRESS(rxFrame), rxFrame[RX_META-1]);
		}
		break;

	case FC_SENSOR_CNT:		/* 5 */
		_frame_nbus_internal = 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 */
		// NO NEED TO IMPLEMENT on NBUS BRIDGE
		break;

	case FC_SYNC:			/* 0xC => 12 */
		break;

	case FC_SENSOR_TYPE:	/* 0xD => 13 */
		_frame_nbus_internal = selected_slave->nbus_sensor_type(SENSOR_ADDRESS(rxFrame));
		break;

	case FC_INFO:			/* 0xE => 14 */
		_frame_nbus_internal = selected_slave->nbus_module_info();
		break;

	case FC_SENSOR_FORMAT: 	/* 0xF => 15 */
		_frame_nbus_internal = selected_slave->nbus_sensor_format(SENSOR_ADDRESS(rxFrame));
		break;
	default:
		send_reponse = 0;
	}

	if (send_reponse == 1){
		sendResponseToMaster(_frame_nbus_internal);
	}

}

void NbusBridge::processRunningState(){
	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;
	uint8_t *slaveFrameResponse;
	for(uint32_t i=0; i< _num_slaves; i++){
		slave = getSlave(_slave_adress[i]);
		if(slave != NULL && slave->isActive()){
			_dataFrame->Init();
			_dataFrame->AddHeader(TYPE_HEADER_2B);
			_dataFrame->AddInt32(HAL_GetTick());
			for(uint32_t k = 1 ; k <= slave->nbus_get_sensor_count(false) ; k++){
				_dataFrame->AddInt8(slave->getModuleAddress());
				_workerFrame = slave->nbus_sensor_getData(k);
				slaveFrameResponse = _workerFrame->GetFrame();
				_dataFrame->AddInt8(slave->getSensorAddress());
				_dataFrame->AddArray(&slaveFrameResponse[3], _workerFrame->GetLength()-3);
			}
			_dataFrame->AddInt8(0xFF);
			_dataFrame->AddInt8(0xFF);
			_dataFrame->Commit();
			sendResponseToMaster(_dataFrame);
		}

	}
	HAL_Delay(1);	// TREBA VYSKUSAT
}