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Shared CAN bus types, frame IDs, and runtime API for OpenSkyhawk STM32 nodes.More...

  • #include <stdint.h>
  • #include <HIDControls.h>

Namespaces

Type Name
namespace CANProtocol

Public Types

Type Name
typedef void(*)(uint32_t canId, const uint8_t *data, uint8_t len) CanRxCallback
Fired when a CAN frame is received. Register via onReceive().
enum CanStatus
CAN bus health states. Reported to STM32Board via onStatusChange().
typedef void(*)(CanStatus status) CanStatusCallback
Fired when CAN bus status changes. Register via onStatusChange().
typedef void(*)() CanSyncReqCallback
Fired when SYNC_REQ is received. Register via onSyncReq().

Public Static Attributes

Type Name
constexpr uint32_t CAN_ID_CTRL_BCAST = 0x010
Broadcast ControlPacketPair to all panels.
constexpr uint32_t CAN_ID_SYNC_REQ = 0x012
Request all nodes to re-poll inputs.
constexpr uint32_t CAN_ID_TEST_SEQ = 0x011
RTT throughput test.
constexpr uint16_t CTRL_ID_DCS_MAX = 0x86FF
DCS-BIOS range end.
constexpr uint16_t CTRL_ID_DCS_MIN = 0x8000
DCS-BIOS range start.
constexpr uint8_t DIAG_ERR = 0x03
CAN error counter frame.
constexpr uint8_t DIAG_EVT = 0x04
Sub-node input event forwarded upstream.
constexpr uint8_t DIAG_HB = 0x02
Sub-node heartbeat frame.
constexpr uint8_t DIAG_MAGIC = 0xAA
Frame sync byte.
constexpr uint8_t DIAG_RTT = 0x01
Round-trip time measurement frame.

Public Functions

Type Name
struct __attribute__ ((packed))
Primary input/output routing packet. 4 bytes; two are batched for CTRL_BCAST/EVT_n.
constexpr uint32_t canIdEcho (uint8_t n)
TEST_SEQ echo frame ID for node n. Range 0x301-0x33F.
constexpr uint32_t canIdEvt (uint8_t n)
Input event frame ID for node n. Range 0x201-0x23F.
constexpr uint32_t canIdEvtDir (uint8_t n)
Directional-input event frame ID for node n. RotaryEncoder DIR mode: payload value is a signed ±1 (int16); the bridge formats it INC /DEC for a DCS-BIOS fixed_step control. Range 0x601-0x63F.
constexpr uint32_t canIdEvtRel (uint8_t n)
Relative-input event frame ID for node n. RotaryEncoder REL mode: payload value is a signed ±step (int16); the bridge formats it %+d for a DCS-BIOS variable_step control. Range 0x501-0x53F.
constexpr uint32_t canIdHb (uint8_t n)
Heartbeat frame ID for node n. Range 0x100-0x13F; n=0 is PanelBridge .
constexpr uint32_t canIdReady (uint8_t n)
Boot-complete READY frame ID for node n. Range 0x401-0x43F.

Detailed Description

Owns all CAN bus interaction for PanelGroup and PanelBridge nodes. Types and constants (ControlPacket, CanStatus, frame IDs, CAN ID functions) are platform-agnostic. The runtime namespace (filters, lifecycle, send, callbacks, diagnostics) is STM32-only and guarded by ARDUINO_ARCH_STM32. CAN arbitration IDs (CAN_ID_*, canId*()) and payload ControlPacket::controlId values are separate namespaces; equal numeric values do not conflict because they occupy different CAN frame fields.

Dependency: STM32Board::begin() must be called before CANProtocol::start(). CANProtocol owns CAN bus operation; STM32Board owns peripheral hardware init.

Version:

0.2.0

Copyright:

GPL-2.0-only — see Firmware/LICENSE

Public Types Documentation

typedef CanRxCallback

Fired when a CAN frame is received. Register via onReceive(). 

using CanRxCallback =  void(*)(uint32_t canId, const uint8_t* data, uint8_t len);

enum CanStatus

CAN bus health states. Reported to STM32Board via onStatusChange().

enum CanStatus {
    STARTING,
    NORMAL,
    TX_ERROR,
    BUS_OFF
};

typedef CanStatusCallback

Fired when CAN bus status changes. Register via onStatusChange(). 

using CanStatusCallback =  void(*)(CanStatus status);

typedef CanSyncReqCallback

Fired when SYNC_REQ is received. Register via onSyncReq(). 

using CanSyncReqCallback =  void(*)();

Public Static Attributes Documentation

variable CAN_ID_CTRL_BCAST

Broadcast ControlPacketPair to all panels. 

constexpr uint32_t CAN_ID_CTRL_BCAST;

variable CAN_ID_SYNC_REQ

Request all nodes to re-poll inputs. 

constexpr uint32_t CAN_ID_SYNC_REQ;

variable CAN_ID_TEST_SEQ

RTT throughput test. 

constexpr uint32_t CAN_ID_TEST_SEQ;

variable CTRL_ID_DCS_MAX

DCS-BIOS range end. 

constexpr uint16_t CTRL_ID_DCS_MAX;

variable CTRL_ID_DCS_MIN

DCS-BIOS range start. 

constexpr uint16_t CTRL_ID_DCS_MIN;

variable DIAG_ERR

CAN error counter frame. 

constexpr uint8_t DIAG_ERR;

variable DIAG_EVT

Sub-node input event forwarded upstream. 

constexpr uint8_t DIAG_EVT;

variable DIAG_HB

Sub-node heartbeat frame. 

constexpr uint8_t DIAG_HB;

variable DIAG_MAGIC

Frame sync byte. 

constexpr uint8_t DIAG_MAGIC;

variable DIAG_RTT

Round-trip time measurement frame. 

constexpr uint8_t DIAG_RTT;

Public Functions Documentation

function __attribute__

Primary input/output routing packet. 4 bytes; two are batched for CTRL_BCAST/EVT_n. 

struct __attribute__ (
    (packed)
)

8-byte payload carried by HB_n heartbeat frames.

Two ControlPackets packed into one 8-byte input/output CAN frame.

Used by CTRL_BCAST and EVT_n only. Slot B controlId == 0x0000 signals an empty/padding slot.

Sent every 500 ms by PanelGroup nodes. PanelBridge reads HB_1–HB_63 to track PanelGroup health and populate diagnostics. HB_0 is reserved but not transmitted.

function canIdEcho

TEST_SEQ echo frame ID for node n. Range 0x301-0x33F. 

constexpr uint32_t canIdEcho (
    uint8_t n
)

function canIdEvt

Input event frame ID for node n. Range 0x201-0x23F. 

constexpr uint32_t canIdEvt (
    uint8_t n
)

function canIdEvtDir

Directional-input event frame ID for node n. RotaryEncoder DIR mode: payload value is a signed ±1 (int16); the bridge formats it INC /DEC for a DCS-BIOS fixed_step control. Range 0x601-0x63F.

constexpr uint32_t canIdEvtDir (
    uint8_t n
)

function canIdEvtRel

Relative-input event frame ID for node n. RotaryEncoder REL mode: payload value is a signed ±step (int16); the bridge formats it %+d for a DCS-BIOS variable_step control. Range 0x501-0x53F.

constexpr uint32_t canIdEvtRel (
    uint8_t n
)

function canIdHb

Heartbeat frame ID for node n. Range 0x100-0x13F; n=0 is PanelBridge .

constexpr uint32_t canIdHb (
    uint8_t n
)

function canIdReady

Boot-complete READY frame ID for node n. Range 0x401-0x43F. 

constexpr uint32_t canIdReady (
    uint8_t n
)

The documentation for this class was generated from the following file Firmware/Libraries/CANProtocol/CANProtocol.h