CCS-COMM_BOARD/Periphery.h

#pragma once

#include <stdint.h>

#include "DSP28x_Project.h"
#include "DSP2833x_Device.h"
#include "Protocol/CAN.h"
#include "Protocol/CAN_data.h"
#include "Protocol/DigitalIO.h"
#include "Protocol/MemoryMap.h"

#include "DSP28335/SCIBase.h"
#include "DSP28335/SCIB.h"

#include "ModbusRTU.h"


struct SoftwareVersion{
    uint16_t DSP;
    uint16_t CPLD;
};

class Periphery{
public:
    Periphery();
    void config();
    uint16_t getVersionFPGA();
    void updateVersionFPGA();

    void receiveModbusParameters();
    void getModbusConfiguration();

    void processDigitalInput();
    void processDigitalOutput();

    void sendModbusDataToCPU();
    void receiveCpuModbusData();

    void canInterruptHandle();

private:
    can_space::CAN _cana;
    interface::DigitalIO _digitalIO;
    uint16_t* _zone6_ptr;

    DSP28335::SCIB _scib;

    SoftwareVersion _softVersion;
    can_space::CANMessage _message;
    uint16_t _modbusRegCounter;
    bool _error;

public:
    MODBUSRTU::ModbusRTU modbusRTU;
};