register_class.hpp

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#include <stdbool.h>
#include <stdint.h>
#include <uavcan/_register/Access_1_0.h>
#include <uavcan/_register/List_1_0.h>
#include "drivers/eeprom.h"
 
#ifndef _REGISTER_CLASS_H
#define _REGISTER_CLASS_H
 
// ***************************************************************************************
//               E2PROM STIMAV4 STM32 REGISTER ACCESS LOCATION AND SIZE CONFIG
// ***************************************************************************************
 
// Start Address BASE UAVCAN/CYPAL Register (128 Bytes x Register)
#define MEM_UAVCAN_LEN                      EEPROMSIZE
#define MEM_UAVCAN_ADDR_START               REGISTER_EEPROM_ADDRESS
#define MEM_UAVCAN_MAX_REG                  60u
#define MEM_UAVCAN_LEN_SIZE_T_REG           1u
#define MEM_UAVCAN_LEN_INTEST_REG           60u
#define MEM_UAVCAN_LEN_VALUE_REG            66u
#define MEM_UAVCAN_POS_LEN_NAME             0u
#define MEM_UAVCAN_POS_STR_NAME             MEM_UAVCAN_POS_LEN_NAME + MEM_UAVCAN_LEN_SIZE_T_REG
#define MEM_UAVCAN_POS_LEN_DATA             MEM_UAVCAN_POS_STR_NAME + MEM_UAVCAN_LEN_INTEST_REG
#define MEM_UAVCAN_POS_VALUE_DATA           MEM_UAVCAN_POS_LEN_DATA + MEM_UAVCAN_LEN_SIZE_T_REG
#define MEM_UAVCAN_LEN_NAME_REG             (MEM_UAVCAN_LEN_SIZE_T_REG + MEM_UAVCAN_LEN_INTEST_REG)
#define MEM_UAVCAN_LEN_DATA_REG             (MEM_UAVCAN_LEN_SIZE_T_REG + MEM_UAVCAN_LEN_VALUE_REG)
#define MEM_UAVCAN_LEN_REG                  (MEM_UAVCAN_LEN_NAME_REG + MEM_UAVCAN_LEN_DATA_REG)
#define MEM_UAVCAN_START_AREA_REG           (MEM_UAVCAN_ADDR_START + MEM_UAVCAN_MAX_REG)
#define MEM_UAVCAN_REG_UNDEF                0xFF
#define MEM_UAVCAN_GET_ADDR_FLAG()          (MEM_UAVCAN_ADDR_START)
#define MEM_UAVCAN_GET_ADDR_FLAG_REG(X)     (MEM_UAVCAN_ADDR_START + X)
#define MEM_UAVCAN_GET_ADDR_NAME_LEN(X)     (MEM_UAVCAN_START_AREA_REG + (MEM_UAVCAN_LEN_REG * X))
#define MEM_UAVCAN_GET_ADDR_NAME(X)         (MEM_UAVCAN_START_AREA_REG + (MEM_UAVCAN_LEN_REG * X) + MEM_UAVCAN_LEN_SIZE_T_REG)
#define MEM_UAVCAN_GET_ADDR_VALUE_LEN(X)    (MEM_UAVCAN_START_AREA_REG + (MEM_UAVCAN_LEN_REG * X) + MEM_UAVCAN_LEN_NAME_REG)
#define MEM_UAVCAN_GET_ADDR_VALUE(X)        (MEM_UAVCAN_START_AREA_REG + (MEM_UAVCAN_LEN_REG * X) + MEM_UAVCAN_LEN_NAME_REG + MEM_UAVCAN_LEN_SIZE_T_REG)
#define MEM_UAVCAN_GET_ADDR_BASE_REG(X)     MEM_UAVCAN_GET_ADDR_NAME_LEN(X)
// Start Address Eeprom Application Free usage
#define MEM_UAVCAN_ADDR_END                 (MEM_UAVCAN_START_AREA_REG + (MEM_UAVCAN_LEN_REG * MEM_UAVCAN_MAX_REG))
#define MEM_UAVCAN_USED_TOTAL               (MEM_UAVCAN_ADDR_END - MEM_UAVCAN_ADDR_START)
// Error Size Memory limit
#if (MEM_UAVCAN_ADDR_END > MEM_UAVCAN_LEN)
    #error Uavcan Register limit is more than MAX SIZE (MEM_UAVCAN_LEN). Please check Register configuration
#endif
 
// Register base name for metadata
#define REGISTER_UAVCAN_MTU             "uavcan.can.mtu"
#define REGISTER_UAVCAN_BITRATE         "uavcan.can.bitrate"
#define REGISTER_UAVCAN_NODE_ID         "uavcan.node.id"
#define REGISTER_UAVCAN_UNIQUE_ID       "uavcan.node.unique_id"
#define REGISTER_UAVCAN_NODE_DESCR      "uavcan.node.description"
#define REGISTER_UAVCAN_DATA_PUBLISH    "uavcan.pub.rmap.publish.id"
#define REGISTER_UAVCAN_DATA_SERVICE    "uavcan.srv.rmap.service.id"
#define REGISTER_METADATA_LEVEL_L1      "rmap.metadata.Level.L1"
#define REGISTER_METADATA_LEVEL_L2      "rmap.metadata.Level.L2"
#define REGISTER_METADATA_LEVEL_TYPE1   "rmap.metadata.Level.LevelType1"
#define REGISTER_METADATA_LEVEL_TYPE2   "rmap.metadata.Level.LevelType2"
#define REGISTER_METADATA_TIME_P1       "rmap.metadata.Timerange.P1"
#define REGISTER_METADATA_TIME_PIND     "rmap.metadata.Timerange.Pindicator"
#define REGISTER_DATA_PUBLISH           "rmap.publish"
#define REGISTER_DATA_SERVICE           "rmap.service"
#define REGISTER_RMAP_MASTER_ID         "rmap.master.id"
 
// Class EEProm - Register Uavcan
class EERegister {
 
public:
  // Constructor
  EERegister();
  EERegister(TwoWire *wire, BinarySemaphore *wireLock, uint8_t i2c_address = EEPROM_AT24C64_DEFAULT_ADDRESS);
 
  // Inizializza lo spazio RAM/ROM/FLASH/SD dei registri, ai valori di default
  // N.B.! Azzera tutti registri e quelli non inizializzati devono essere impostati
  // nel relativo modulo di utilizzo
  void setup(void);
 
  void read(const char* const register_name, uavcan_register_Value_1_0* const inout_value);
 
  void write(const char* const register_name, const uavcan_register_Value_1_0* const value);
 
  uavcan_register_Name_1_0 getNameByIndex(const uint16_t index);
 
  void doFactoryReset(void);
 
  bool assign(uavcan_register_Value_1_0* const dst, const uavcan_register_Value_1_0* const src);
 
protected:
private:
 
  void _memory_write_block(uint16_t address, uint8_t *data, uint8_t len);
  void _memory_read_block(uint16_t address, uint8_t *data, uint8_t len);
  void _memory_write_byte(uint16_t address, uint8_t data);
  void _memory_read_byte(uint16_t address, uint8_t *data);
  void _eeprom_register_factory(void);
  void _eeprom_register_clear(uint8_t reg_numb);
  size_t _eeprom_register_get_fast(uint8_t reg_numb, uint8_t *reg_name, uint8_t *reg_value);
  size_t _eeprom_register_get_len_intest_fast(uint8_t reg_numb);
  void _eeprom_register_get_intest_fast(uint8_t reg_numb, uint8_t *reg_name, uint8_t name_len);
  bool _eeprom_register_get_name_from_index(uint8_t reg_numb, uint8_t *reg_name);
  size_t _eeprom_register_get_from_name(uint8_t const *reg_name, uint8_t *reg_numb, uint8_t *data);
  uint8_t _eeprom_register_get_index_from_name(uint8_t *reg_name);
  void _eeprom_register_set(uint8_t reg_numb, uint8_t *reg_name, uint8_t *data, size_t len_data);
  void _eeprom_register_get_next_id(uint8_t *current_register);
  uint8_t _eeprom_register_add(uint8_t *reg_name, uint8_t *data, size_t data_len);
 
  // Private Memory E2prom Object
  EEprom _Eprom;
 
};
 
#endif