AMiRo-OS

#ifndef IWRAP_CAN_MUX_HPP_

#define IWRAP_CAN_MUX_HPP_

#include <ch.hpp>

#define BLUETOOTH_START_FRAME   0xBF

/** \brief Define bluetooth link address to iWRAP control */

#define BLUETOOTH_LINK          0x00

/** \brief Define bluetooth frame flags */

#define BLUETOOTH_FLAGS         0x00

/** \brief Define nLINK = {LINK} XOR 0xFF */

#define BLUETOOTH_NLINK         0xFF

/* States of bluetooth communication */

/** \brief bluetooth waiting for start frame signal */

#define BLUETOOTH_STATUS_START    0

/** \brief bluetooth waiting for link address */

#define BLUETOOTH_STATUS_LINK     1

/** \brief bluetooth waiting for frame flags */

#define BLUETOOTH_STATUS_FLAGS    2

/** \brief bluetooth waiting for data length */

#define BLUETOOTH_STATUS_LENGTH   3

/** \brief bluetooth waiting for data */

#define BLUETOOTH_STATUS_DATA     4

/** \brief bluetooth waiting for frame end (nLINK) */

#define BLUETOOTH_STATUS_END      5

#define OFFSET_TIME_RESET_MS                2000

#define INPUT_BL_RESET_ADDITIONAL_BYTES     0

#define INPUT_BL_RESET_LENGTH               3

namespace amiro {

  class IwrapCanMux : public chibios_rt::BaseSequentialStreamInterface {

  public:

    IwrapCanMux(SerialDriver *_sd_, CANDriver *can, const uint8_t boardId);

    virtual ~IwrapCanMux();

    void convCan2Serial(uint8_t *inputs, size_t n);

    void sendSwitchCmd(uint8_t setid);

    void rcvSwitchCmd(uint8_t setid);

    size_t write(const uint8_t *bp, size_t n);

    size_t read(uint8_t *bp, size_t n);

    msg_t put(uint8_t b);

    msg_t get(void);

  protected:

  private:

    /* Reset command. */

    const uint8_t inputBLReset[3] = {0x02, 0xFF, 0x00};

//    const uint8_t inputchshell[3] = {0x00, 0x68, 0x0D};

//    const uint8_t inputsh_board[8] = {0x73, 0x68, 0x5F, 0x62, 0x6F, 0x61, 0x72, 0x6C};

//    void checkBluetoothStatus(void)

    void restartSystem(void);

    bool checkByteForBLReset(uint8_t *inputs, size_t size);

    msg_t sendViaCan(uint32_t id, uint8_t *inputs, size_t size);

    uint8_t inputAddBytes[INPUT_BL_RESET_ADDITIONAL_BYTES];    // Buffer for additional bytes.

    uint8_t resetStatus;      // Status of reset

    uint8_t resetAddBytes;    // Counter of additional bytes

    uint8_t bluetoothStatus;

    SerialDriver *sd_;

    CANDriver *canDriver;

    uint8_t myID;

    volatile uint8_t queryShellID;

    volatile uint8_t replyShellID;

    CANTxFrame txmsg;

    uint8_t inputChar[16] = {};

  };

} /* amiro */

#endif /* IWRAP_CAN_MUX_HPP_ */