CAN DUE, relative items, CAN-MQTT brige

lighthub/candriver.cpp

@@ -8,7 +8,7 @@
 
 #if defined(ARDUINO_ARCH_STM32)
 #include <STM32_CAN.h>
-STM32_CAN STMCan( CAN1, ALT, RX_SIZE_64, TX_SIZE_16 );
+STM32_CAN STMCan( CAN1, CAN_PINS::DEF, RX_SIZE_64, TX_SIZE_16 );
 #endif
 
 #if defined(ARDUINO_ARCH_ESP32)
@@ -24,6 +24,7 @@ extern systemConfig sysConf;
 extern canStream CANConfStream; 
 extern aJsonObject * root;
 extern volatile int8_t configLocked;
+extern bool configLoaded;
 
 
 void printFrame(datagram_t * frame, uint8_t len ) {
@@ -163,6 +164,13 @@ bool canDriver::begin()
 
             #if defined(__SAM3X8E__)
             Can0.begin(CAN_BPS_125K);
+
+              int filter;
+            //extended
+            for (filter = 0; filter < 3; filter++) {
+	            Can0.setRXFilter(filter, 0, 0, true);
+	            //Can1.setRXFilter(filter, 0, 0, true);
+            }  
             #endif
 
             debugSerial<<"CAN initialized"<<endl;
@@ -232,10 +240,15 @@ int canDriver::readFrame()
 
                 //DUE
                 #if defined(__SAM3X8E__)
-                CAN_FRAME incoming;
+                CAN_FRAME CAN_RX_msg;
                 if (Can0.available() > 0) {
-                                                Can0.read(incoming); 
+                                            
-                                                printFrame(incoming);
+                                                Can0.read(CAN_RX_msg); 
+                                                if (CAN_RX_msg.length>8) CAN_RX_msg.length=8;
+                                                memcpy(RXpacket.data, CAN_RX_msg.data.bytes,CAN_RX_msg.length);
+                                                RXlen = CAN_RX_msg.length;
+                                                RXid.id  = CAN_RX_msg.id;
+                                                return RXlen;
                                             } 
 
                 #endif
@@ -263,8 +276,10 @@ switch (state)
     break;
 
     case canState::Error:
-        if (isTimeOver(responseTimer,millis(),10000UL)) 
+        if (configLoaded) state=canState::ConfigLoaded;
-        lookupMAC();
+           else 
+                if (isTimeOver(responseTimer,millis(),10000UL)) 
+                     lookupMAC();
     break;
 
     case canState::ReadConfig:
@@ -314,13 +329,51 @@ bool canDriver::processPacket(canid_t id, datagram_t *packet, uint8_t len, bool
 {
 
 debugSerial.print("CAN Received ");
-debugSerialPort.print(len);
+debugSerial.print(len);
-debugSerialPort.print(" bytes id 0x");
+debugSerial.print(" bytes id 0x");
-debugSerialPort.println(id.id,HEX);
+debugSerial.print(id.id,HEX);
 
 if (len) printFrame(packet,len);
-if (id.status)
+if (id.status){
     //Responces
+    //@ any state
+    switch (id.payloadType)
+    {
+        case payloadType::itemCommand:
+        {
+        if (len!=8) return false;    
+        aJsonObject  *confObj = findConfbyID(id.deviceId);
+        if (confObj)
+            {
+                debugSerial<<F("CAN: status received for dev ")<<id.deviceId<<endl;
+                //char * itemNName = findItemName(id.itemId);
+                aJsonObject  *itemsObj = aJson.getObjectItem(confObj,"items");
+                if (!itemsObj) return false;;
+                Item it(id.itemId, itemsObj);
+                if (it.isValid())
+                    {
+                        itemCmd ic;
+                        uint16_t flags = 0;
+                        ic.cmd = packet->cmd;
+                        ic.param = packet->param;
+
+                        debugSerial<<F("CAN: item ")<<it.itemArr->name;
+                        ic.debugOut();
+                        
+                        if (ic.isCommand()) flags |= FLAG_COMMAND;
+                        if (ic.isValue()) flags |= FLAG_PARAMETERS;
+                        ic.saveItem(&it,flags);
+                        it.SendStatusImmediate(ic,flags | FLAG_NOT_SEND_CAN);
+                        return true;
+                    }
+
+            }
+
+        }    
+        break;
+        
+    }
+
     switch (state)
     {
         case canState::MACLookup:
@@ -346,8 +399,19 @@ if (id.status)
         case canState::Error:
         return false;
     }
+}   
 else //Requests
     {
+        /*
+            switch (id.payloadType)
+    {
+            case payloadType::itemCommand:
+            break;
+
+            case payloadType::sysCmd:
+            break;
+        
+    }*/
         if ((id.payloadType == payloadType::itemCommand) && (len ==8))
             {
                 Item it(id.itemId);
@@ -439,7 +503,7 @@ uint8_t canDriver::getIdByMac(macAddress mac)
    memset(macStr,0,sizeof(macStr));
    for (byte i = 0; i < 6; i++)
 {
-  if (mac[i]<16) macStr[strptr++]='0';
+ // if (mac[i]<16) macStr[strptr++]='0';
 
   SetBytes(&mac[i],1,&macStr[strptr]);
   strptr+=2;
@@ -494,16 +558,16 @@ bool canDriver::write(uint32_t msg_id, datagram_t * buf, uint8_t size)
                 #endif
 
                 #if defined(__SAM3X8E__)
-                CAN_FRAME outGoting;
+                CAN_FRAME CAN_TX_msg;
-	            outgoing.id = 0x400;
+	            CAN_TX_msg.id = msg_id;
-                outgoing.extended = true;
+                CAN_TX_msg.extended = true;
-                outgoing.priority = 4; //0-15 lower is higher priority
+                CAN_TX_msg.length=size;
-                
+                //outgoing.priority = 4; //0-15 lower is higher priority
-                outgoing.data.s0 = 0xFEED;
+                if (buf) for(uint8_t i=0;i<size; i++) CAN_TX_msg.data.bytes[i]=buf->data[i];
-                outgoing.data.byte[2] = 0xDD;
+                res=Can0.sendFrame(CAN_TX_msg);
-                outgoing.data.byte[3] = 0x55;
+                if (res) debugSerial<<("CAN Wrote ")<<size<<" bytes, id "<<_HEX(msg_id)<<endl;
-                outgoing.data.high = 0xDEADBEEF;
+                                                    else debugSerial.println("CAN Write error");
-                Can0.sendFrame(outgoing);
+                return res;
                 #endif
         }
     
@@ -519,8 +583,10 @@ bool canDriver::sendStatus(uint8_t itemNum, itemCmd cmd)
 
 bool canDriver::sendCommand(aJsonObject * can,itemCmd cmd, bool status)
 {
-    debugSerial<<"CAN: sendCommand ";
+// debugSerial<<"CAN: ";
-    cmd.debugOut();
+//    if (status) debugSerial<<F("sendStatus ");
+//        else debugSerial<<F("sendCommand ");
+//    cmd.debugOut();
     
      if (can && (can->type == aJson_Array))
        {
@@ -549,7 +615,7 @@ bool canDriver::sendCommand(uint8_t devID, uint16_t itemID, itemCmd cmd, bool st
  packet.cmd = cmd.cmd;
  packet.param = cmd.param;
  
- debugSerial << ((status)?"CAN: Status":"CAN: Command");
+ debugSerial << ((status)?"CAN: send Status":"CAN: send Command");
  debugSerial<<F(" for dev:item ")<<devID<<":"<<itemID<<" "; 
  cmd.debugOut();
 

lighthub/candriver.h

@@ -93,7 +93,7 @@ typedef union {
 
 enum canState
 {
-Unknown,
+stateUnknown,
 MACLookup,
 Idle,
 StreamOpenedWrite,
@@ -110,7 +110,7 @@ Error
 class canDriver 
 {
 public:
-canDriver(){ready=false; controllerId=0; responseTimer=0; state=canState::Unknown;};
+canDriver(){ready=false; controllerId=0; responseTimer=0; state=canState::stateUnknown;};
 uint8_t getMyId();
 bool sendStatus(uint8_t itemNum, itemCmd cmd);
 bool sendCommand(uint8_t devID, uint16_t itemID, itemCmd cmd, bool status=false);
@@ -139,6 +139,11 @@ private:
     CAN_message_t CAN_RX_msg;
     CAN_message_t CAN_TX_msg;
     #endif
+
+    #if defined(__SAM3X8E__)
+    //CAN_FRAME CAN_RX_msg;
+    #endif
+
     bool ready;
     
 
@@ -156,7 +161,7 @@ extern aJsonObject * topics;
 class canStream : public Stream
 {
 public:
-    canStream(canDriver * _driver) : readPos(0),writePos(0),devId(0), pType(payloadType::unknown),state(canState::Unknown){driver=_driver; }
+    canStream(canDriver * _driver) : readPos(0),writePos(0),devId(0), pType(payloadType::unknown),state(canState::stateUnknown){driver=_driver; }
     int open(uint8_t controllerID, payloadType _pType, char _mode) 
                 {  
                     if (mode) close();
@@ -171,7 +176,7 @@ public:
                 {
                     if ((mode == 'w') && writePos) flush();
                     mode = '\0';
-                    state=canState::Unknown;
+                    state=canState::stateUnknown;
                     return 1;
                 }
 

lighthub/item.cpp

@@ -141,8 +141,9 @@ int txt2subItem(char *payload) {
 
 //const short defval[4] = {0, 0, 0, 0}; //Type,Arg,Val,Cmd
 
-Item::Item(aJsonObject *obj)//Constructor
+Item::Item(aJsonObject *obj, aJsonObject *_items)//Constructor
 {
+    rootItems=_items;
     itemArr = obj;
     driver = NULL;
     *defaultSubItem = 0;
@@ -291,13 +292,14 @@ Item::~Item()
               }
 }
 
-Item::Item(char *name) //Constructor
+Item::Item(char *name, aJsonObject *_items) //Constructor
 {
     char * pDefaultSubItem = defaultSubItem;
+    rootItems=_items;
     driver = NULL;
     defaultSubItem[0] =0;
     defaultSuffixCode = 0;
-    if (name && items)
+    if (name && rootItems)
     {   char* sub;
         if (sub=strchr(name,'/'))
         {
@@ -306,7 +308,7 @@ Item::Item(char *name) //Constructor
         for(i=0;(name[i] && (name[i]!='/') && (i<MQTT_SUBJECT_LENGTH));i++)
             buf[i]=name[i];
         buf[i]=0;
-        itemArr = aJson.getObjectItem(items, buf);
+        itemArr = aJson.getObjectItem(rootItems, buf);
         sub++;
         strncpy(defaultSubItem,sub,sizeof(defaultSubItem)-1);
         defaultSuffixCode = retrieveCode (&pDefaultSubItem);
@@ -314,7 +316,7 @@ Item::Item(char *name) //Constructor
         //debugSerial<<F("defaultSubItem: ")<<defaultSubItem<<F(" defaultSuffixCode:")<<defaultSuffixCode<<endl;
         }
         else
-        itemArr = aJson.getObjectItem(items, name);
+        itemArr = aJson.getObjectItem(rootItems, name);
     }
     else itemArr = NULL;
     Parse();
@@ -341,20 +343,21 @@ uint8_t getCanNum(aJsonObject* verb)
    return 0; 
   }
 
- Item::Item(uint16_t num)
+ Item::Item(uint16_t num, aJsonObject *_items)
  {
 
     itemArr = NULL;
     itemArg = NULL;
     itemVal = NULL;  
     itemExt = NULL;
+    rootItems=_items;
 
     driver = NULL;
     defaultSubItem[0] =0;
     defaultSuffixCode = 0;
 
-    if (!items) return;
+    if (!rootItems) return;
-    itemArr = items->child;
+    itemArr = rootItems->child;
     while (itemArr)
         {
             if (getCanNum(itemArr->child) == num)
@@ -778,7 +781,7 @@ return 0;
 // Recursive function with small stack consumption
 // if cmd defined - execute Ctrl for any group members recursively
 // else performs Activity check for group members and return true if any member is active 
-bool digGroup (aJsonObject *itemArr, itemCmd *cmd, char* subItem, bool authorized)
+bool Item::digGroup (aJsonObject *itemArr, itemCmd *cmd, char* subItem, bool authorized)
 {    if (!itemArr || itemArr->type!=aJson_Array) return false; 
      // Iterate across array of names
       aJsonObject *i = itemArr->child;                                        
@@ -786,7 +789,7 @@ bool digGroup (aJsonObject *itemArr, itemCmd *cmd, char* subItem, bool authorize
                 while (i) {
                     if (i->type == aJson_String)
                     {   //debugSerial<< i->valuestring<<endl;
-                        aJsonObject *nextItem = aJson.getObjectItem(items, i->valuestring);
+                        aJsonObject *nextItem = aJson.getObjectItem(rootItems, i->valuestring);
                         if (nextItem && nextItem->type == aJson_Array) //nextItem is correct item
                                {    
                                 Item it(nextItem);  
@@ -1789,7 +1792,7 @@ int Item::SendStatus(int sendFlags) {
     st.debugOut();
 
     #ifdef CANDRV
-    LHCAN.sendStatus(getCanNum(itemArr->child),st);
+    if (!(sendFlags & FLAG_NOT_SEND_CAN)) LHCAN.sendStatus(getCanNum(itemArr->child),st);
     #endif
 
     if (sendFlags & FLAG_COMMAND)
@@ -2501,7 +2504,7 @@ int Item::checkModbusDimmer() {
                 nextItem.checkModbusDimmer(data);
                 pollingItem = pollingItem->next;
                 if (!pollingItem)
-                    pollingItem = items->child;
+                    pollingItem = rootItems->child;
             }
     } else
         debugSerial << F("MB: polling ") << itemArr->name<< F(" error=") << _HEX(result) << endl;

lighthub/item.h

@@ -98,17 +98,17 @@ extern aJsonObject *items;
 extern short thermoSetCurTemp(char *name, float t);
 
 int txt2cmd (char * payload);
-bool digGroup (aJsonObject *itemArr, itemCmd *cmd = NULL, char* subItem = NULL, bool authorized = false);
+
 class Item
 {
   public:
-  aJsonObject *itemArr, *itemArg,*itemVal,*itemExt;
+  aJsonObject *rootItems, *itemArr, *itemArg,*itemVal,*itemExt;
   uint8_t itemType;
   abstractOut * driver;
 
-  Item(char * name);
+  Item(char * name, aJsonObject *_items = items);
-  Item(aJsonObject * obj);
+  Item(aJsonObject * obj, aJsonObject *_items = items);
-  Item(uint16_t num);
+  Item(uint16_t num, aJsonObject *_items = items);
   ~Item();
 
   boolean isValid ();
@@ -148,7 +148,9 @@ class Item
   int scheduleOppositeCommand(itemCmd cmd,bool isActiveNow,bool authorized);
   int isScheduled();
 
+
   protected:
+  bool digGroup (aJsonObject *itemArr, itemCmd *cmd = NULL, char* subItem = NULL, bool authorized = false);
   long int limitSetValue();
   int VacomSetFan (itemCmd st);
   int VacomSetHeat(itemCmd st);

lighthub/itemCmd.h

@@ -119,7 +119,7 @@ const ch_type ch_type_P[] PROGMEM =
 #define FLAG_HALTED 0x40000UL
 #define FLAG_XON 0x80000UL
 
-
+#define FLAG_NOT_SEND_CAN 0x2UL
 
 int txt2cmd (char * payload);
 

lighthub/utils.cpp

@@ -766,7 +766,9 @@ switch (cmdType)
   
     if (mqttClient.connected() && !ethernetIdleCount)
     {
-    if (!strchr(addrstr,'/')) setTopic(addrstr,sizeof(addrstr),T_OUT,emit->valuestring);
+    if (!strchr(addrstr,'/')) setTopic(addrstr,sizeof(addrstr),T_OUT,emit->valuestring); ///ChangeMe - if no '/' in addr - template not working
+    
+    debugSerial << F("MQTT: ")<<addrstr<< F(" -> ")<<emitCommand<<endl;  
     mqttClient.publish(addrstr, emitCommand , true);
     }
 } // emit  

platformio.ini

@@ -733,6 +733,8 @@ lib_deps =
 	https://github.com/khoih-prog/TimerInterrupt_Generic.git
 	https://github.com/rlogiacco/CircularBuffer
     rweather/Crypto
+	https://github.com/collin80/due_can.git
+	https://github.com/collin80/can_common.git
 monitor_speed = 115200
 
 [env:controllino]