LIN slave node base class. More...

#include <LIN_slave_Base.h>

Inheritance diagram for LIN_Slave_Base:

[legend]

Classes
struct	callback_t
	User-defined callback function with data length. More...

Public Types
enum	version_t : uint8_t { LIN_V1 = 1 , LIN_V2 = 2 }
	LIN protocol version. More...

enum	frame_t : uint8_t { MASTER_REQUEST = 0x10 , SLAVE_RESPONSE = 0x20 }
	LIN frame type. Use high nibble for type, low nibble for number of data bytes -> minimize callback[] size. More...

enum	state_t : uint8_t { STATE_OFF = 0x01 , STATE_WAIT_FOR_BREAK = 0x02 , STATE_WAIT_FOR_SYNC = 0x04 , STATE_WAIT_FOR_PID = 0x08 , STATE_RECEIVING_DATA = 0x10 , STATE_RECEIVING_ECHO = 0x20 , STATE_WAIT_FOR_CHK = 0x40 , STATE_DONE = 0x80 }
	LIN state machine states. Use bitmasks for fast checking multiple states. More...

enum	error_t : uint8_t { NO_ERROR = 0x00 , ERROR_STATE = 0x01 , ERROR_ECHO = 0x02 , ERROR_TIMEOUT = 0x04 , ERROR_CHK = 0x08 , ERROR_SYNC = 0x10 , ERROR_PID = 0x20 , ERROR_MISC = 0x80 }
	LIN error codes. Use bitmasks, as error is latched. Use same as LIN_master_portable. More...

Public Member Functions
	LIN_Slave_Base (LIN_Slave_Base::version_t Version=LIN_Slave_Base::LIN_V2, const char NameLIN[]="Slave", uint32_t TimeoutRx=1500L, const int8_t PinTxEN=INT8_MIN)
	LIN slave node constructor.

virtual	~LIN_Slave_Base (void)
	LIN slave node destructor, here dummy. Any class with virtual functions should have virtual destructor.

virtual void	begin (uint16_t Baudrate=19200)
	Open serial interface.

virtual void	end (void)
	Close serial interface.

virtual bool	available (void)
	check if a byte is available in Rx buffer. Here dummy

void	resetStateMachine (void)
	Reset LIN state machine.

LIN_Slave_Base::state_t	getState (void)
	Getter for LIN state machine state.

void	resetError (void)
	Clear error of LIN state machine.

LIN_Slave_Base::error_t	getError (void)
	Getter for LIN state machine error.

void	getFrame (LIN_Slave_Base::frame_t &Type, uint8_t &Id, uint8_t &NumData, uint8_t Data[])
	Getter for LIN frame.

void	registerMasterRequestHandler (uint8_t ID, LIN_Slave_Base::LinMessageCallback Fct, uint8_t NumData)
	Attach user callback function for master request frame.

void	registerSlaveResponseHandler (uint8_t ID, LIN_Slave_Base::LinMessageCallback Fct, uint8_t NumData)
	Attach user callback function for slave response frame.

virtual void	handler (void)
	Handle LIN protocol and call user-defined frame callbacks.

Public Attributes
char	nameLIN [LIN_SLAVE_BUFLEN_NAME]
	LIN node name, e.g. for debug.

Protected Types
typedef void(*	LinMessageCallback) (uint8_t numData, uint8_t *data)
	Type for frame callback function.

Protected Member Functions
uint8_t	_calculatePID (uint8_t ID)
	Calculate protected frame ID.

uint8_t	_calculateChecksum (uint8_t NumData, uint8_t Data[])
	Calculate LIN frame checksum.

virtual bool	_getBreakFlag (void)
	Get break detection flag. Is hardware dependent.

virtual void	_resetBreakFlag (void)
	Clear break detection flag. Is hardware dependent.

virtual uint8_t	_serialPeek (void)
	peek next byte from Rx buffer. Here dummy

virtual uint8_t	_serialRead (void)
	read next byte from Rx buffer. Here dummy

virtual void	_serialWrite (uint8_t buf[], uint8_t num)
	write bytes to Tx buffer. Here dummy

void	_enableTransmitter (void)
	Enable RS485 transmitter (DE=high)

void	_disableTransmitter (void)
	Disable RS485 transmitter (DE=low)

Protected Attributes
int8_t	pinTxEN
	optional Tx direction pin, e.g. for LIN via RS485

uint16_t	baudrate
	communication baudrate [Baud]

LIN_Slave_Base::version_t	version
	LIN protocol version.

LIN_Slave_Base::state_t	state
	status of LIN state machine

LIN_Slave_Base::error_t	error
	error state. Is latched until cleared

bool	flagBreak
	flag for BREAK detected. Needs to be set in Rx-ISR

LIN_Slave_Base::callback_t	callback [64]
	array of user callback functions for IDs 0x00..0x3F

uint8_t	pid
	protected frame identifier (0..255)

uint8_t	id
	unprotected frame identifier (0..63)

LIN_Slave_Base::frame_t	type
	frame type (master request or slave response)

uint8_t	numData
	number of data bytes in frame

uint8_t	bufData [9]
	buffer for data bytes (max. 8B) + checksum

uint8_t	idxData
	current index in bufData

uint32_t	timeoutRx
	timeout [us] for bytes in frame

uint32_t	timeLastRx
	time [us] of last received byte in frame

Detailed Description

LIN slave node base class.

LIN slave node base class. From this class the actual LIN classes for a Serialx are derived.

Definition at line 105 of file LIN_slave_Base.h.

Member Typedef Documentation

◆ LinMessageCallback

typedef void(* LIN_Slave_Base::LinMessageCallback) (uint8_t numData, uint8_t *data)

protected

Type for frame callback function.

Definition at line 158 of file LIN_slave_Base.h.

Member Enumeration Documentation

◆ error_t

enum LIN_Slave_Base::error_t : uint8_t

LIN error codes. Use bitmasks, as error is latched. Use same as LIN_master_portable.

Enumerator
NO_ERROR	no error
ERROR_STATE	error in LIN state machine
ERROR_ECHO	error reading response echo
ERROR_TIMEOUT	frame timeout error
ERROR_CHK	LIN checksum error.
ERROR_SYNC	error in SYNC (not 0x55)
ERROR_PID	ID parity error.
ERROR_MISC	misc error, should not occur

Definition at line 141 of file LIN_slave_Base.h.

◆ frame_t

enum LIN_Slave_Base::frame_t : uint8_t

LIN frame type. Use high nibble for type, low nibble for number of data bytes -> minimize callback[] size.

Enumerator
MASTER_REQUEST	LIN master request frame.
SLAVE_RESPONSE	LIN slave response frame.

Definition at line 119 of file LIN_slave_Base.h.

◆ state_t

enum LIN_Slave_Base::state_t : uint8_t

LIN state machine states. Use bitmasks for fast checking multiple states.

Enumerator
STATE_OFF	LIN interface closed.
STATE_WAIT_FOR_BREAK	no LIN transmission ongoing, wait for BRK
STATE_WAIT_FOR_SYNC	BRK received, wait for SYNC.
STATE_WAIT_FOR_PID	SYNC received, wait for frame PID.
STATE_RECEIVING_DATA	receiving master request data
STATE_RECEIVING_ECHO	receiving slave response echo
STATE_WAIT_FOR_CHK	waiting for checksum
STATE_DONE	frame is completed

Definition at line 127 of file LIN_slave_Base.h.

◆ version_t

enum LIN_Slave_Base::version_t : uint8_t

LIN protocol version.

Enumerator
LIN_V1	LIN protocol version 1.x.
LIN_V2	LIN protocol version 2.x.

Definition at line 111 of file LIN_slave_Base.h.

Constructor & Destructor Documentation

◆ LIN_Slave_Base()

LIN_Slave_Base::LIN_Slave_Base	(	LIN_Slave_Base::version_t	Version = `LIN_Slave_Base::LIN_V2`,
		const char	NameLIN[] = `"Slave"`,
		uint32_t	TimeoutRx = `1500L`,
		const int8_t	PinTxEN = `INT8_MIN`
	)

LIN slave node constructor.

LIN slave node constructor. Initialize class variables to default values. For an explanation of the LIN bus and protocol e.g. see https://en.wikipedia.org/wiki/Local_Interconnect_Network

Parameters

[in]	Version	LIN protocol version (default = v2)
[in]	NameLIN	LIN node name (default = "Slave")
[in]	TimeoutRx	timeout [us] for bytes in frame (default = 1500)
[in]	PinTxEN	optional Tx enable pin (high active) e.g. for LIN via RS485 (default = -127/none)

Definition at line 127 of file LIN_slave_Base.cpp.

◆ ~LIN_Slave_Base()

virtual LIN_Slave_Base::~LIN_Slave_Base ( void )

inlinevirtual

LIN slave node destructor, here dummy. Any class with virtual functions should have virtual destructor.

Definition at line 256 of file LIN_slave_Base.h.

Member Function Documentation

◆ _calculateChecksum()

uint8_t LIN_Slave_Base::_calculateChecksum	(	uint8_t	NumData,
		uint8_t	Data[]
	)

protected

Calculate LIN frame checksum.

Calculate LIN frame checksum as described in LIN1.x / LIN2.x specs

Parameters

[in]	NumData	number of data bytes in frame
[in]	Data	frame data bytes

Returns: calculated checksum, depending on protocol version

Definition at line 59 of file LIN_slave_Base.cpp.

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◆ _calculatePID()

uint8_t LIN_Slave_Base::_calculatePID ( uint8_t ID )

protected

Calculate protected frame ID.

Calculate protected frame ID as described in LIN2.0 spec "2.3.1.3 Protected identifier field"

Parameters

[in] ID frame ID to protect (protected or unprotected)

Returns: Protected frame ID

Definition at line 30 of file LIN_slave_Base.cpp.

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◆ _disableTransmitter()

void LIN_Slave_Base::_disableTransmitter ( void )

inlineprotected

Disable RS485 transmitter (DE=low)

Definition at line 236 of file LIN_slave_Base.h.

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◆ _enableTransmitter()

void LIN_Slave_Base::_enableTransmitter ( void )

inlineprotected

Enable RS485 transmitter (DE=high)

Definition at line 224 of file LIN_slave_Base.h.

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◆ _getBreakFlag()

bool LIN_Slave_Base::_getBreakFlag ( void )

protectedvirtual

Get break detection flag. Is hardware dependent.

Get break detection flag. Is hardware dependent, here dummy!

Returns: status of break detection

Reimplemented in LIN_Slave_HardwareSerial, LIN_Slave_HardwareSerial_ESP32, LIN_Slave_NeoHWSerial_AVR, and LIN_Slave_SoftwareSerial.

Definition at line 93 of file LIN_slave_Base.cpp.

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◆ _resetBreakFlag()

void LIN_Slave_Base::_resetBreakFlag ( void )

protectedvirtual

Clear break detection flag. Is hardware dependent.

Clear break detection flag. Is hardware dependent, here dummy!

Reimplemented in LIN_Slave_HardwareSerial, LIN_Slave_HardwareSerial_ESP32, LIN_Slave_NeoHWSerial_AVR, and LIN_Slave_SoftwareSerial.

Definition at line 106 of file LIN_slave_Base.cpp.

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◆ _serialPeek()

virtual uint8_t LIN_Slave_Base::_serialPeek ( void )

inlineprotectedvirtual

peek next byte from Rx buffer. Here dummy

Reimplemented in LIN_Slave_HardwareSerial, LIN_Slave_HardwareSerial_ESP32, LIN_Slave_NeoHWSerial_AVR, and LIN_Slave_SoftwareSerial.

Definition at line 214 of file LIN_slave_Base.h.

◆ _serialRead()

virtual uint8_t LIN_Slave_Base::_serialRead ( void )

inlineprotectedvirtual

read next byte from Rx buffer. Here dummy

Reimplemented in LIN_Slave_HardwareSerial, LIN_Slave_HardwareSerial_ESP32, LIN_Slave_NeoHWSerial_AVR, and LIN_Slave_SoftwareSerial.

Definition at line 217 of file LIN_slave_Base.h.

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◆ _serialWrite()

virtual void LIN_Slave_Base::_serialWrite	(	uint8_t	buf[],
		uint8_t	num
	)

inlineprotectedvirtual

write bytes to Tx buffer. Here dummy

Reimplemented in LIN_Slave_HardwareSerial, LIN_Slave_HardwareSerial_ESP32, LIN_Slave_NeoHWSerial_AVR, and LIN_Slave_SoftwareSerial.

Definition at line 220 of file LIN_slave_Base.h.

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◆ available()

virtual bool LIN_Slave_Base::available ( void )

inlinevirtual

check if a byte is available in Rx buffer. Here dummy

Reimplemented in LIN_Slave_HardwareSerial, LIN_Slave_HardwareSerial_ESP32, LIN_Slave_NeoHWSerial_AVR, and LIN_Slave_SoftwareSerial.

Definition at line 266 of file LIN_slave_Base.h.

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◆ begin()

void LIN_Slave_Base::begin ( uint16_t Baudrate = 19200 )

virtual

Open serial interface.

Open serial interface with specified baudrate. Here dummy!

Parameters

[in] Baudrate communication speed [Baud] (default = 19200)

Reimplemented in LIN_Slave_HardwareSerial, LIN_Slave_HardwareSerial_ESP32, LIN_Slave_HardwareSerial_ESP8266, LIN_Slave_NeoHWSerial_AVR, and LIN_Slave_SoftwareSerial.

Definition at line 163 of file LIN_slave_Base.cpp.

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◆ end()

void LIN_Slave_Base::end ( void )

virtual

Close serial interface.

Close serial interface. Here dummy!

Reimplemented in LIN_Slave_HardwareSerial, LIN_Slave_HardwareSerial_ESP32, LIN_Slave_HardwareSerial_ESP8266, LIN_Slave_NeoHWSerial_AVR, and LIN_Slave_SoftwareSerial.

Definition at line 201 of file LIN_slave_Base.cpp.

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◆ getError()

LIN_Slave_Base::error_t LIN_Slave_Base::getError ( void )

inline

Getter for LIN state machine error.

Definition at line 304 of file LIN_slave_Base.h.

◆ getFrame()

void LIN_Slave_Base::getFrame	(	LIN_Slave_Base::frame_t &	Type,
		uint8_t &	Id,
		uint8_t &	NumData,
		uint8_t	Data[]
	)

inline

Getter for LIN frame.

Definition at line 316 of file LIN_slave_Base.h.

◆ getState()

LIN_Slave_Base::state_t LIN_Slave_Base::getState ( void )

inline

Getter for LIN state machine state.

Definition at line 281 of file LIN_slave_Base.h.

◆ handler()

void LIN_Slave_Base::handler ( void )

virtual

Handle LIN protocol and call user-defined frame callbacks.

Handle LIN protocol and call user-defined frame callback functions.

Handle LIN protocol and call user-defined frame callback functions, both for slave request and slave response frames

Reimplemented in LIN_Slave_HardwareSerial, and LIN_Slave_SoftwareSerial.

Definition at line 267 of file LIN_slave_Base.cpp.

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◆ registerMasterRequestHandler()

void LIN_Slave_Base::registerMasterRequestHandler	(	uint8_t	ID,
		LIN_Slave_Base::LinMessageCallback	Fct,
		uint8_t	NumData
	)

Attach user callback function for master request frame.

Attach user callback function for master request frame. Callback functions are called by handler() after reception of a master request frame

Parameters

[in]	ID	frame ID (protected or unprotected)
[in]	Fct	user callback function
[in]	NumData	number of frame data bytes

Definition at line 224 of file LIN_slave_Base.cpp.

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◆ registerSlaveResponseHandler()

void LIN_Slave_Base::registerSlaveResponseHandler	(	uint8_t	ID,
		LIN_Slave_Base::LinMessageCallback	Fct,
		uint8_t	NumData
	)

Attach user callback function for slave response frame.

Attach user callback function for slave response frame. Callback functions are called by handler() after reception of a PID

Parameters

[in]	ID	frame ID (protected or unprotected)
[in]	Fct	user callback function
[in]	NumData	number of frame data bytes

Definition at line 247 of file LIN_slave_Base.cpp.

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◆ resetError()

void LIN_Slave_Base::resetError ( void )

inline

Clear error of LIN state machine.

Definition at line 293 of file LIN_slave_Base.h.

◆ resetStateMachine()

void LIN_Slave_Base::resetStateMachine ( void )

inline

Reset LIN state machine.

Definition at line 270 of file LIN_slave_Base.h.

Member Data Documentation

◆ baudrate

uint16_t LIN_Slave_Base::baudrate

protected

communication baudrate [Baud]

Definition at line 173 of file LIN_slave_Base.h.

◆ bufData

uint8_t LIN_Slave_Base::bufData[9]

protected

buffer for data bytes (max. 8B) + checksum

Definition at line 185 of file LIN_slave_Base.h.

◆ callback

LIN_Slave_Base::callback_t LIN_Slave_Base::callback[64]

protected

array of user callback functions for IDs 0x00..0x3F

Definition at line 178 of file LIN_slave_Base.h.

◆ error

LIN_Slave_Base::error_t LIN_Slave_Base::error

protected

error state. Is latched until cleared

Definition at line 176 of file LIN_slave_Base.h.

◆ flagBreak

bool LIN_Slave_Base::flagBreak

protected

flag for BREAK detected. Needs to be set in Rx-ISR

Definition at line 177 of file LIN_slave_Base.h.

◆ id

uint8_t LIN_Slave_Base::id

protected

unprotected frame identifier (0..63)

Definition at line 182 of file LIN_slave_Base.h.

◆ idxData

uint8_t LIN_Slave_Base::idxData

protected

current index in bufData

Definition at line 186 of file LIN_slave_Base.h.

◆ nameLIN

char LIN_Slave_Base::nameLIN[LIN_SLAVE_BUFLEN_NAME]

LIN node name, e.g. for debug.

Definition at line 194 of file LIN_slave_Base.h.

◆ numData

uint8_t LIN_Slave_Base::numData

protected

number of data bytes in frame

Definition at line 184 of file LIN_slave_Base.h.

◆ pid

uint8_t LIN_Slave_Base::pid

protected

protected frame identifier (0..255)

Definition at line 181 of file LIN_slave_Base.h.

◆ pinTxEN

int8_t LIN_Slave_Base::pinTxEN

protected

optional Tx direction pin, e.g. for LIN via RS485

Definition at line 172 of file LIN_slave_Base.h.

◆ state

LIN_Slave_Base::state_t LIN_Slave_Base::state

protected

status of LIN state machine

Definition at line 175 of file LIN_slave_Base.h.

◆ timeLastRx

uint32_t LIN_Slave_Base::timeLastRx

protected

time [us] of last received byte in frame

Definition at line 188 of file LIN_slave_Base.h.

◆ timeoutRx

uint32_t LIN_Slave_Base::timeoutRx

protected

timeout [us] for bytes in frame

Definition at line 187 of file LIN_slave_Base.h.

◆ type

LIN_Slave_Base::frame_t LIN_Slave_Base::type

protected

frame type (master request or slave response)

Definition at line 183 of file LIN_slave_Base.h.

◆ version

LIN_Slave_Base::version_t LIN_Slave_Base::version

protected

LIN protocol version.

Definition at line 174 of file LIN_slave_Base.h.

The documentation for this class was generated from the following files:

Classes

Public Types

Public Member Functions

Public Attributes

Protected Types

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ LinMessageCallback

Member Enumeration Documentation

◆ error_t

◆ frame_t

◆ state_t

◆ version_t

Constructor & Destructor Documentation

◆ LIN_Slave_Base()

◆ ~LIN_Slave_Base()

Member Function Documentation

◆ _calculateChecksum()

◆ _calculatePID()

◆ _disableTransmitter()

◆ _enableTransmitter()

◆ _getBreakFlag()

◆ _resetBreakFlag()

◆ _serialPeek()

◆ _serialRead()

◆ _serialWrite()

◆ available()

◆ begin()

◆ end()

◆ getError()

◆ getFrame()

◆ getState()

◆ handler()

◆ registerMasterRequestHandler()

◆ registerSlaveResponseHandler()

◆ resetError()

◆ resetStateMachine()

Member Data Documentation

◆ baudrate

◆ bufData

◆ callback

◆ error

◆ flagBreak

◆ id

◆ idxData

◆ nameLIN

◆ numData

◆ pid

◆ pinTxEN

◆ state

◆ timeLastRx

◆ timeoutRx

◆ type

◆ version