tNMEA2000 device class definition. More...

#include <NMEA2000.h>

Collaboration diagram for tNMEA2000:

[legend]

Classes
struct	tCANSendFrame
	Structure holds all the data needed for a valid CAN-Message. More...

struct	tConfigurationInformation
	Structure that holds the Configuration Information of this device. More...

class	tDevice
	This class represents a N2k device. More...

class	tDeviceInformation
	Class that holds all the device informations and several helper functions to that. More...

class	tInternalDevice
	This class represents an internal device. More...

class	tMsgHandler
	Message handler class. More...

struct	tProductInformation
	Structure that holds all the product information. More...

Public Types
enum	tDebugMode { dm_None , dm_ClearText , dm_Actisense }
	For debugging we have some cases for SendMsg. More...

enum	tForwardType { fwdt_Actisense , fwdt_Text }
	Type how to forward messages in listen mode. More...

enum	tN2kMode { N2km_ListenOnly , N2km_NodeOnly , N2km_ListenAndNode , N2km_SendOnly , N2km_ListenAndSend }
	System mode defines how the device will behave on the NMEA2000 bus. More...

Public Member Functions
	tNMEA2000 ()
	Construct a new NMEA2000 object. More...

void	AddGroupFunctionHandler (tN2kGroupFunctionHandler *pGroupFunctionHandler)
	Add a message handler for incoming Group Function messages. More...

void	AttachMsgHandler (tMsgHandler *_MsgHandler)
	Attach a message handler for incoming N2kMessages. More...

void	DetachMsgHandler (tMsgHandler *_MsgHandler)
	Detach a message handler for incoming N2kMessages. More...

void	EnableForward (bool v=true)
	Enable message forwarding to stream. More...

void	ExtendFastPacketMessages (const unsigned long *_FastPacketMessages)
	Set the list of known Extended Fast Packet Messages. More...

void	ExtendReceiveMessages (const unsigned long *_ReceiveMessages, int iDev=0)
	Extend the list of Received Messages. More...

void	ExtendSingleFrameMessages (const unsigned long *_SingleFrameMessages)
	Set the list of known Extended Single Frame Messages. More...

void	ExtendTransmitMessages (const unsigned long *_TransmitMessages, int iDev=0)
	Extend the list of Transmitted Messages. More...

int	FindSourceDeviceIndex (unsigned char Source) const
	Finds a device on Devices by its source address. More...

unsigned char	GetCertificationLevel (int iDev=0) const
	Get the Certification Level of the device. More...

const tDeviceInformation	GetDeviceInformation (int iDev=0)
	Get the Device Information. More...

N2kStream *	GetForwardStream () const
	Read current Forward Stream object. More...

uint32_t	GetHeartbeatInterval (int iDev=0)
	Get the Heartbeat Interval of a device. More...

uint32_t	GetHeartbeatOffset (int iDev=0)
	Get the Heartbeat Offset of a device. More...

void	GetInstallationDescription1 (char *buf, size_t max_len)
	Get the Install Description 1 of this device. More...

void	GetInstallationDescription2 (char *buf, size_t max_len)
	Get the Install Description 2 of this device. More...

unsigned char	GetLoadEquivalency (int iDev=0) const
	Get the Load Equivalency of this device. More...

void	GetManufacturerInformation (char *buf, size_t max_len)
	Get the Manufacturer Information of this device. More...

void	GetModelID (char *buf, size_t max_len, int iDev=0) const
	Get the ModelID of the device. More...

void	GetModelSerialCode (char *buf, size_t max_len, int iDev=0) const
	Get the Model Serial of the device. More...

void	GetModelVersion (char *buf, size_t max_len, int iDev=0) const
	Get the Model Version of the device. More...

unsigned char	GetN2kSource (int DeviceIndex=0) const
	Read address for current device. More...

unsigned short	GetN2kVersion (int iDev=0) const
	Get the N2k standard version of the device. More...

unsigned short	GetProductCode (int iDev=0) const
	Get the Product Code of the device. More...

const tNMEA2000::tProductInformation *	GetProductInformation (int iDev, bool &IsProgMem) const
	Get the Product Information of the device. More...

void	GetSwCode (char *buf, size_t max_len, int iDev=0) const
	Get the Sw Code of the device. More...

bool	IsOpen () const
	Test is NMEA2000 open and running. More...

bool	IsTxPGN (unsigned long PGN, int iDev=0)
	Check if this message is a Transmit message of this device. More...

bool	Open ()
	Open the CAN device. More...

void	ParseMessages ()
	Parse all incoming Messages. More...

bool	ReadResetAddressChanged ()
	Check if this device has changed its address. More...

bool	ReadResetDeviceInformationChanged ()
	Check if this device has changed its DeviceInstances or SystemInstance. More...

bool	ReadResetInstallationDescriptionChanged ()
	Check if this device has changed its Install Description. More...

void	RemoveGroupFunctionHandler (tN2kGroupFunctionHandler *pGroupFunctionHandler)
	Remove a message handler for incoming Group Function messages. More...

void	Restart ()
	Restart the device. More...

bool	SendConfigurationInformation (int DeviceIndex=0)
	Send a Config Information message. More...

bool	SendConfigurationInformation (unsigned char Destination, int DeviceIndex, bool UseTP)
	Send a Config Information message. More...

void	SendHeartbeat (bool force=false)
	Send Heartbeat for all devices. More...

void	SendHeartbeat (int iDev)
	Send heartbeat for specific device. More...

void	SendIsoAddressClaim (unsigned char Destination=0xff, int DeviceIndex=0, unsigned long FromNow=0)
	Send an IsoAddressClaim message. More...

bool	SendMsg (const tN2kMsg &N2kMsg, int DeviceIndex=0)
	Send message to the NMEA2000 bus. More...

bool	SendProductInformation (int DeviceIndex=0)
	Send a Product Information message. More...

bool	SendProductInformation (unsigned char Destination, int DeviceIndex, bool UseTP)
	Send a Product Information message. More...

void	SendRxPGNList (unsigned char Destination, int DeviceIndex, bool UseTP=false)
	Send a list with all supported Receive messages. More...

void	SendTxPGNList (unsigned char Destination, int DeviceIndex, bool UseTP=false)
	Send a list with all supported Transmit messages. More...

void	SetConfigurationInformation (const char ManufacturerInformation, const char InstallationDescription1=0, const char *InstallationDescription2=0)
	Set the Configuration Information of this device. More...

void	SetDebugMode (tDebugMode _dbMode)
	Set the Debug Mode of the system. More...

void	SetDeviceCount (const uint8_t _DeviceCount)
	Set the count of devices library shows on bus. More...

void	SetDeviceInformation (unsigned long _UniqueNumber, unsigned char _DeviceFunction=0xff, unsigned char _DeviceClass=0xff, uint16_t _ManufacturerCode=0xffff, unsigned char _IndustryGroup=4, int iDev=0)
	Set the Device Information. See also NAME. More...

void	SetDeviceInformationInstances (uint8_t _DeviceInstanceLower=0xff, uint8_t _DeviceInstanceUpper=0xff, uint8_t _SystemInstance=0xff, int iDev=0)
	Set the Device Information Instances. More...

void	SetFastPacketMessages (const unsigned long *_FastPacketMessages)
	Set the list of known Fast Packet Messages. More...

void	SetForwardOnlyKnownMessages (bool v=true)
	Enable Only Known Messages for forwarding. More...

void	SetForwardOwnMessages (bool v=true)
	Enable Own Messages for forwarding. More...

void	SetForwardStream (N2kStream *_stream)
	Set the Forward Stream object. More...

void	SetForwardSystemMessages (bool v=true)
	Enable System Messages for forwarding. More...

void	SetForwardType (tForwardType fwdType)
	Set the Forward Streaming Type. More...

void	SetHandleOnlyKnownMessages (bool v=true)
	Set the Handle Only Known Messages. More...

void	SetHeartbeatInterval (unsigned long interval, bool SetAsDefault=true, int iDev=-1) __attribute__((deprecated))
	Deprecated. Use function SetHeartbeatIntervalAndOffset. More...

void	SetHeartbeatIntervalAndOffset (uint32_t interval, uint32_t offset=0, int iDev=-1)
	Set the Heartbeat Interval and Offset for a device. More...

void	SetInstallationDescription1 (const char *InstallationDescription1)
	Set the Installation Description 1 of this device. More...

void	SetInstallationDescription2 (const char *InstallationDescription2)
	Set the Installation Description 2 of this device. More...

void	SetISORqstHandler (bool(*ISORequestHandler)(unsigned long RequestedPGN, unsigned char Requester, int DeviceIndex))
	Set the message handler for incoming ISO Requests. More...

void	SetMode (tN2kMode _N2kMode, uint8_t _N2kSource=15)
	Set the library mode and start source address. More...

void	SetMsgHandler (void(*_MsgHandler)(const tN2kMsg &N2kMsg))
	Set the message handler for incoming NMEA2000 messages. More...

void	SetN2kCANMsgBufSize (const uint8_t _MaxN2kCANMsgs)
	Set incoming CAN message (tNMEA2000::N2kCANMsgBuf) buffer size. More...

virtual void	SetN2kCANReceiveFrameBufSize (const uint16_t _MaxCANReceiveFrames)
	Set CAN receive frame buffer size. More...

virtual void	SetN2kCANSendFrameBufSize (const uint16_t _MaxCANSendFrames)
	Set CAN send frame buffer size. More...

void	SetN2kSource (unsigned char _iAddr, int _iDev=0)
	Set source for the given device. More...

void	SetOnOpen (void(*_OnOpen)())
	Set OnOpen callback function. More...

void	SetProductInformation (const char _ModelSerialCode, unsigned short _ProductCode=0xffff, const char _ModelID=0, const char _SwCode=0, const char _ModelVersion=0, unsigned char _LoadEquivalency=0xff, unsigned short _N2kVersion=0xffff, unsigned char _CertificationLevel=0xff, int iDev=0)
	Set the Product Information of this device. More...

void	SetProductInformation (const tProductInformation *_ProductInformation, int iDev=0)
	Set the Product Information of this device. More...

void	SetProgmemConfigurationInformation (const char ManufacturerInformation, const char InstallationDescription1=0, const char *InstallationDescription2=0)
	Set the Configuration Information located on PROGMEM. More...

void	SetSingleFrameMessages (const unsigned long *_SingleFrameMessages)
	Set the list of known Single Frame Messages. More...

Static Public Member Functions
static void	ClearCharBuf (size_t MaxLen, char *buf)
	Clears a char array buffer with 0s. More...

static void	ClearSetCharBuf (const char str, size_t MaxLen, char buf)
	Setting up a clean Char Buffer. More...

static bool	IsBroadcast (unsigned char Source)
	Checks if the given Address is a broadcast address. More...

static bool	IsProprietaryMessage (unsigned long PGN)
	Check if the given PGN is proprietary. More...

template<typename T >
static T	N2kMax (T a, T b)
	Delivers Max out of A an B. More...

template<typename T >
static T	N2kMin (T a, T b)
	Delivers Min out of A an B. More...

static void	SetCharBuf (const char str, size_t MaxLen, char buf)
	Setting up a Char Buffer. More...

Protected Types
enum	tOpenState { os_None , os_OpenCAN , os_WaitOpen , os_Open }
	Library open state. More...

Protected Member Functions
virtual bool	CANGetFrame (unsigned long &id, unsigned char &len, unsigned char *buf)=0
	Abstract class for reading frame from driver class. More...

virtual bool	CANOpen ()=0
	Abstract class for initializing and opening CAN interface. More...

virtual bool	CANSendFrame (unsigned long id, unsigned char len, const unsigned char *buf, bool wait_sent=true)=0
	Abstract class for sending a CAN Frame. More...

bool	CheckKnownMessage (unsigned long PGN, bool &SystemMessage, bool &FastPacket)
	Check if this Message is known to the system. More...

void	CopyProgmemConfigurationInformationToLocal ()
	Copy Configuration Information to local memory. More...

void	EndSendTPMessage (int iDev)
	Ends sending of ISO-TP message. More...

void	FindFreeCANMsgIndex (unsigned long PGN, unsigned char Source, unsigned char Destination, bool TPMsg, uint8_t &MsgIndex)
	Find index for free space for a message on N2kCANMsgBuf. More...

bool	ForwardEnabled () const
	Is message forwarding enabled. More...

void	ForwardMessage (const tN2kCANMsg &N2kCanMsg)
	Forwards a N2k message. More...

void	ForwardMessage (const tN2kMsg &N2kMsg)
	Forwards a N2k message. More...

bool	ForwardOnlyKnownMessages () const
	Is forwarding enabled for known messages only. More...

bool	ForwardOwnMessages () const
	Is forwarding enabled for own messages. More...

bool	ForwardSystemMessages () const
	Is forwarding enabled for system messages. More...

size_t	GetFastPacketTxPGNCount (int iDev)
	Get the Fast Packet Tx PGN Count. More...

void	GetNextAddress (int DeviceIndex, bool RestartAtEnd=false)
	Get the next free address for the device. More...

tCANSendFrame *	GetNextFreeCANSendFrame ()
	Get the Next Free CAN Frame from CANSendFrameBuf. More...

int	GetSequenceCounter (unsigned long PGN, int iDev)
	Get the Sequence Counter for the PGN. More...

void	HandleCommandedAddress (const tN2kMsg &N2kMsg)
	Handles if we get commanded to set a new address. More...

void	HandleCommandedAddress (uint64_t CommandedName, unsigned char NewAddress, int iDev)
	Handles if we get commanded to set a new address. More...

void	HandleGroupFunction (const tN2kMsg &N2kMsg)
	Handles a Group Function. More...

void	HandleISOAddressClaim (const tN2kMsg &N2kMsg)
	Handles an IsoAddressClaim. More...

void	HandleISORequest (const tN2kMsg &N2kMsg)
	Handles an ISO Request. More...

bool	HandleOnlyKnownMessages () const
	Is handle only known messages enabled. More...

bool	HandleReceivedMessage (unsigned char Destination)
	Should received message be handled depending on the destination of the received message. More...

bool	HandleReceivedSystemMessage (int MsgIndex)
	Handles a received system message. More...

bool	HasAllTPDTSent (int iDev)
	Check if all data bytes of the multi packet message has been send successful. More...

virtual void	InitCANFrameBuffers ()
	Initialize CAN Frame buffers. More...

void	InitDevices ()
	Initialize all devices. More...

bool	IsActiveNode ()
	Returns if this node is active on the bus. More...

bool	IsAddressClaimStarted (int iDev)
	Checks if the IsoAddressClaim is already started. More...

bool	IsFastPacket (const tN2kMsg &N2kMsg)
	Check if this PNG is a fast packet message. More...

bool	IsFastPacketPGN (unsigned long PGN)
	Check if this PNG is a fast packet message. More...

bool	IsInitialized ()
	Determines if the CAN BUS is already initialized. More...

bool	IsMySource (unsigned char Source)
	Checks if the source belongs to a device on Devices. More...

bool	IsReadyToSend () const
	Checks if the device is ready to start address claiming. More...

bool	IsValidDevice (int iDev) const
	Checks if the device index on Devices is valid. More...

void	RespondGroupFunction (const tN2kMsg &N2kMsg, tN2kGroupFunctionCode GroupFunctionCode, unsigned long PGNForGroupFunction, int iDev)
	Respond to an Group Function. More...

void	RespondISORequest (const tN2kMsg &N2kMsg, unsigned long RequestedPGN, int iDev)
	Respond to an ISO request. More...

void	RunMessageHandlers (const tN2kMsg &N2kMsg)
	Run all message handlers. More...

bool	SendFrame (unsigned long id, unsigned char len, const unsigned char *buf, bool wait_sent=true)
	Sends a single CAN frame. More...

bool	SendFrames ()
	Sends pending all frames. More...

void	SendPendingInformation ()
	Send ISO AddressClaim, Product Information and Config Information. More...

void	SendPendingTPMessage (int iDev)
	Send pending ISO-TP Messages. More...

void	SendTPCM_Abort (unsigned long PGN, unsigned char Destination, int iDev, unsigned char AbortCode)
	Send ISO Transport Protocol message Abort. More...

bool	SendTPCM_BAM (int iDev)
	Send ISO Transport Protocol message BAM. More...

void	SendTPCM_CTS (unsigned long PGN, unsigned char Destination, int iDev, unsigned char nPackets, unsigned char NextPacketNumber)
	Send ISO Transport Protocol message CTS. More...

void	SendTPCM_EndAck (unsigned long PGN, unsigned char Destination, int iDev, uint16_t nBytes, unsigned char nPackets)
	Send ISO Transport Protocol message End Acknowledge. More...

bool	SendTPCM_RTS (int iDev)
	Send ISO Transport Protocol message RTS. More...

bool	SendTPDT (int iDev)
	Send ISO Transport Protocol data packet. More...

uint8_t	SetN2kCANBufMsg (unsigned long canId, unsigned char len, unsigned char *buf)
	Function handles received CAN frame and adds it to tN2kCANMsg. More...

void	StartAddressClaim ()
	Starting the ISO Address Claim for all devices. More...

void	StartAddressClaim (int iDev)
	Starting the ISO Address Claim for a device. More...

bool	StartSendTPMessage (const tN2kMsg &msg, int iDev)
	Start sending an ISO-TP message. More...

bool	TestHandleTPMessage (unsigned long PGN, unsigned char Source, unsigned char Destination, unsigned char len, unsigned char *buf, uint8_t &MsgIndex)
	ISO Transport Protocol handlers for multi packet support. More...

Protected Attributes
bool	AddressChanged
	Flag that the address has changed. More...

tCANSendFrame *	CANSendFrameBuf
	Buffer for library send out CAN frames. More...

uint16_t	CANSendFrameBufferRead
	Next write index for the library CAN send frame buffer. More...

uint16_t	CANSendFrameBufferWrite
	Next read index for the library CAN send frame buffer. More...

tConfigurationInformation	ConfigurationInformation
	Configuration Information of the device. More...

tDebugMode	dbMode
	Attribute that holds the actual Debug Mode (default = md_none) More...

int	DeviceCount
	Number of devices. More...

bool	DeviceInformationChanged
	Flag that the device information has changed. More...

tInternalDevice *	Devices
	Pointer to a buffer for all internal devices. More...

const unsigned long *	FastPacketMessages [N2kMessageGroups]

unsigned int	ForwardMode
	Actual message forward operation mode (default = all messages - also system and own) More...

N2kStream *	ForwardStream
	Actual stream to be used for forward messaging. More...

tForwardType	ForwardType
	Actual message forward type (default = fwdt_Actisense) More...

bool	InstallationDescriptionChanged
	Flag the Installation description has changed. More...

bool(*	ISORqstHandler )(unsigned long RequestedPGN, unsigned char Requester, int DeviceIndex)
	Handler callbacks for 'ISORequest' messages. More...

char *	LocalConfigurationInformationData
	Pointer to a buffer for local Configuration Information. More...

uint16_t	MaxCANReceiveFrames
	Max number received CAN messages that can go to the buffer. More...

uint16_t	MaxCANSendFrames
	Size of CANSendFrameBuf or before initialization requested total frame buffering size. More...

uint8_t	MaxN2kCANMsgs
	Size of N2kCANMsgBuf receiving message buffer. More...

void(*	MsgHandler )(const tN2kMsg &N2kMsg)
	Handler callbacks for normal messages. More...

tMsgHandler *	MsgHandlers
	Pointer to a buffer for Message Handlers. More...

tN2kCANMsg *	N2kCANMsgBuf
	Buffer for receiving messages. More...

tN2kMode	N2kMode
	Actual operation mode of this device (default = N2km_ListenOnly) More...

void(*	OnOpen )()
	Callback function, which will be called when library start bus communication. More...

tN2kScheduler	OpenScheduler

tOpenState	OpenState

tN2kGroupFunctionHandler *	pGroupFunctionHandlers
	Pointer to Buffer for GRoup Function Handlers. More...

const unsigned long *	SingleFrameMessages [N2kMessageGroups]

Static Protected Attributes
static const int	FwdModeBit_EnableForward = BIT(0)
	Forward mode bit: -> If set, forward is enabled. More...

static const int	FwdModeBit_OnlyKnownMessages = BIT(2)
	Forward mode bit: -> Only known messages will be forwarded. System messages will be forwarded according its own bit. More...

static const int	FwdModeBit_OwnMessages = BIT(3)
	Forward mode bit: -> Forward also all messages, what this device will send. More...

static const int	FwdModeBit_SystemMessages = BIT(1)
	Forward mode bit: -> System messages will be forwarded. More...

static const int	HandleModeBit_OnlyKnownMessages = BIT(4)
	Forward mode bit: -> Only known messages will be handled. More...

Detailed Description

tNMEA2000 device class definition.

With tNMEA2000 class you can easily communicate with NMEA2000 bus. Library can be used for any kind of NMEA2000 bus device needs from bus traffic listener to complex MFD system.

As default library simply reads all messages from bus and forwards them to defined forward stream (e.g., Serial) in Actisense format. Using N2km_ListenAndNode mode, one can make NMEA2000 compatible devices and even NMEA2000 certified devices by implementing all NMEA2000 certification requirements. Simple example is bus device, which provides some sensor like temperature, battery or engine information to the bus to be shown or MFD.

Class can be used just for reading bus data. More common is to use it as bus device (also called node). For bus device mode you provide required basic information about device to class, which then takes care of informing other devices on the bus in standard way. For other message handling class provides callback methods and method to send messages.

Each device on NMEA2000 bus will have own source address on range 0-251. Class takes care of address claiming (also called dynamic addressing) without any developer interaction. Class also provides multi device support, if that is necessary.

Definition at line 137 of file NMEA2000.h.

Member Enumeration Documentation

◆ tDebugMode

enum tNMEA2000::tDebugMode

For debugging we have some cases for SendMsg.

Enumerator
dm_None	Directs data to CAN bus
dm_ClearText	Directs sent data to serial in clear text format
dm_Actisense	Directs sent data to serial as Actisense format.

Definition at line 718 of file NMEA2000.h.

◆ tForwardType

enum tNMEA2000::tForwardType

Type how to forward messages in listen mode.

Enumerator
fwdt_Actisense	Forwards messages to output port in Actisense format. Note that some Navigation sw uses this.
fwdt_Text	Forwards messages to output port in clear text. This is e.g. for debugging.

Definition at line 664 of file NMEA2000.h.

◆ tN2kMode

enum tNMEA2000::tN2kMode

System mode defines how the device will behave on the NMEA2000 bus.

See also

Enumerator
N2km_ListenOnly	Default mode. Listen bus and if message forwarding has been enabled forwards messages to defined stream in Actisense format. You can not send any data to the bus. See example DataDisplay.ino.
N2km_NodeOnly	In this mode device acts as active bus device like display, RPM or temperature monitor. Remember to set right device information first. Messages will not be forwarded. Look example TemperatureMonitor.ino.
N2km_ListenAndNode	Mode is as N2km_NodeOnly plus you can control message forwarding.
N2km_SendOnly	Only for message sending. Device will not inform itself to the bus. Messages will not be forwarded to the stream. By setting message handler, you can still read messages and handle them by yourself.
N2km_ListenAndSend	Listen bus and forwards messages to given forward stream in Actisense format. Messages can be send. Device will not inform itself to the bus. This is mode is usable e.g., with NMEA Simulator http://www.kave.fi/Apps/.

Definition at line 683 of file NMEA2000.h.

◆ tOpenState

enum tNMEA2000::tOpenState

protected

Library open state.

Open state is internal library open state used to avoid any blocking call.

Enumerator
os_None	State none. Open has not yet been called. Buffers are still uninitialized. Trying to open CAN driver.
os_OpenCAN	State Open CAN. CAN driver open succeed. Wait CAN driver stabilize.
os_WaitOpen	State Wait Open. Open and running.
os_Open	State Open.

Definition at line 751 of file NMEA2000.h.

Constructor & Destructor Documentation

◆ tNMEA2000()

tNMEA2000::tNMEA2000 ( )

Construct a new NMEA2000 object.

Initialize all the attributes of the class

Definition at line 660 of file NMEA2000.cpp.

Member Function Documentation

◆ AddGroupFunctionHandler()

void tNMEA2000::AddGroupFunctionHandler ( tN2kGroupFunctionHandler * pGroupFunctionHandler )

Add a message handler for incoming Group Function messages.

Parameters

pGroupFunctionHandler Message handler for group functions, see tN2kGroupFunctionHandler

Definition at line 2708 of file NMEA2000.cpp.

◆ AttachMsgHandler()

void tNMEA2000::AttachMsgHandler ( tMsgHandler * _MsgHandler )

Attach a message handler for incoming N2kMessages.

tNMEA2000::SetMsgHandler allows you to define only one handler to your system. If you like to do it by using classes, I prefer to use AttachMsgHandler. In this way you can e.g. define own class for each PGN and attach/detach them within your program.

Example NMEA2000ToNMEA0183 uses AttachMsgHandler. Due to logic it still has single class and so handles all PGNs.

See also

tNMEA2000::DetachMsgHandler

Parameters

_MsgHandler Message handler

Definition at line 2643 of file NMEA2000.cpp.

◆ CANGetFrame()

virtual bool tNMEA2000::CANGetFrame	(	unsigned long &	id,
		unsigned char &	len,
		unsigned char *	buf
	)

protectedpure virtual

Abstract class for reading frame from driver class.

Driver writer must override this function for specific CAN interface. Currently there are driver classes like NMEA2000_Teensyx, NMEA2000_teensy, NMEA2000_esp32, NMEA2000_due, NMEA2000_mcp, NMEA2000_avr, NMEA2000_mbed and NMEA2000_socketCAN.

See also: Hardware depended libraries

Return values

true	New frame read from buffer.
false	Nothing read.

◆ CANOpen()

virtual bool tNMEA2000::CANOpen ( )

protectedpure virtual

Abstract class for initializing and opening CAN interface.

Driver writer must override this function for specific CAN interface. Currently there are driver classes like NMEA2000_Teensyx, NMEA2000_teensy, NMEA2000_esp32, NMEA2000_due, NMEA2000_mcp, NMEA2000_avr, NMEA2000_mbed and NMEA2000_socketCAN.

See also: Hardware depended libraries

Return values

true	Initialize and open success
false	Initialize or open failed.

◆ CANSendFrame()

virtual bool tNMEA2000::CANSendFrame	(	unsigned long	id,
		unsigned char	len,
		const unsigned char *	buf,
		bool	wait_sent = `true`
	)

protectedpure virtual

Abstract class for sending a CAN Frame.

Driver writer must override this function for specific CAN interface. Currently there are driver classes like NMEA2000_Teensyx, NMEA2000_teensy, NMEA2000_esp32, NMEA2000_due, NMEA2000_mcp, NMEA2000_avr, NMEA2000_mbed and NMEA2000_socketCAN.

See also: Hardware depended libraries

Parameters

id	ID of the CAN frame
len	length of payload for the message
buf	buffer with the payload
wait_sent	Has the message to wait before sending

Return values

true	Success
false	there is no space in the queue

◆ CheckKnownMessage()

bool tNMEA2000::CheckKnownMessage	(	unsigned long	PGN,
		bool &	SystemMessage,
		bool &	FastPacket
	)

protected

Check if this Message is known to the system.

Determines whether this message is known to the system, either by being a default, mandatory or system message or this specific message which is listed in SingleFrameMessages \ FastPacketMessages.

See also: IsDefaultSingleFrameMessage, IsMandatoryFastPacketMessage, IsDefaultFastPacketMessage, IsSingleFrameSystemMessage, IsFastPacketSystemMessage,

Parameters

PGN	PGN to be checked
SystemMessage	Flag system message
FastPacket	Flag fast packet

Return values

true
false

Definition at line 1579 of file NMEA2000.cpp.

◆ ClearCharBuf()

void tNMEA2000::ClearCharBuf	(	size_t	MaxLen,
		char *	buf
	)

static

Clears a char array buffer with 0s.

Parameters

MaxLen	Max length of the buffer
buf	Pointer to the buffer

Definition at line 637 of file NMEA2000.cpp.

◆ ClearSetCharBuf()

void tNMEA2000::ClearSetCharBuf	(	const char *	str,
		size_t	MaxLen,
		char *	buf
	)

static

Setting up a clean Char Buffer.

This functions clears an existing buffer using ClearCharBuf, copies the a string to the char buffer and terminates it with 0.

Parameters

str	String
MaxLen	Max length of the buffer
buf	Pointer to the buffer

Definition at line 654 of file NMEA2000.cpp.

◆ CopyProgmemConfigurationInformationToLocal()

void tNMEA2000::CopyProgmemConfigurationInformationToLocal ( )

protected

Copy Configuration Information to local memory.

See also

Definition at line 1022 of file NMEA2000.cpp.

◆ DetachMsgHandler()

void tNMEA2000::DetachMsgHandler ( tMsgHandler * _MsgHandler )

Detach a message handler for incoming N2kMessages.

With DetachMsgHandler you can remove your handler from the handler stack. This is useful, if you do not want to handle some messages anymore.

See also

tNMEA2000::AttachMsgHandler

Parameters

_MsgHandler Message handler

Definition at line 2668 of file NMEA2000.cpp.

◆ EnableForward()

void tNMEA2000::EnableForward ( bool v = true )

inline

Enable message forwarding to stream.

Set true as default. With this you can control if bus messages will be forwarded to forward stream.

See also: Message forwarding.

Parameters

v	Enable, default = true

Definition at line 2900 of file NMEA2000.h.

◆ EndSendTPMessage()

void tNMEA2000::EndSendTPMessage ( int iDev )

protected

Ends sending of ISO-TP message.

Parameters

iDev	index of the device on Devices

Definition at line 1949 of file NMEA2000.cpp.

◆ ExtendFastPacketMessages()

void tNMEA2000::ExtendFastPacketMessages ( const unsigned long * _FastPacketMessages )

Set the list of known Extended Fast Packet Messages.

Call these if you wish to extent list of fast packet messages. Pointers must be in PROGMEM

As a default library has a list of known messages. With this function user can extent default list of fast packet messages.

Note: If an incoming fast packet message is not known, it will be treated as single frame message. So if you want to handle unknown fast packet message, you need to duplicate frame collection logic from library to your code. So it is easier to have fast packet messages listed on library, if you want to handle them.; Currently subsequent calls will override previously set list.

See also

tNMEA2000::SetFastPacketMessages.

Parameters

_FastPacketMessages Buffer holding extended fast packet messages

Definition at line 1158 of file NMEA2000.cpp.

◆ ExtendReceiveMessages()

void tNMEA2000::ExtendReceiveMessages	(	const unsigned long *	_ReceiveMessages,
		int	iDev = `0`
	)

Extend the list of Received Messages.

Define list of extra PGNs, what your system will handle. System messages will be automatically included.
Pointers must be in PROGMEM.

const unsigned ReceivedMessages[] PROGMEM={130310L,130311L,130312L,0};
 
NMEA2000.ExtendReceiveMessages(ReceivedMessages);

Library responds automatically to PGN 126464 request about transmit or receive messages. With this function you extend library list of messages your device own logic listens.

Note: Extending receive messages is required for NMEA2000 certification.

This has only effect for device modes tNMEA2000::N2km_NodeOnly and tNMEA2000::N2km_ListenAndNode.

Parameters

_ReceiveMessages	Buffer holding list of extra PGNs device will handle.
iDev	index of the device on Devices

Definition at line 1170 of file NMEA2000.cpp.

◆ ExtendSingleFrameMessages()

void tNMEA2000::ExtendSingleFrameMessages ( const unsigned long * _SingleFrameMessages )

Set the list of known Extended Single Frame Messages.

Call these if you wish to add own list of supported message packets. Pointers must be in PROGMEM

As a default library has a list of known messages. With this function user can add own list of known single frame messages.

Known single frame message lists has only effect if you limit handling with tNMEA2000::HandleOnlyKnownMessages or use message forwarding and limit it with tNMEA2000::SetForwardOnlyKnownMessages

Note: Currently subsequent calls will override previously set list.

See also

SetSingleFrameMessages

Parameters

_SingleFrameMessages Buffer holding single frame messages

Definition at line 1153 of file NMEA2000.cpp.

◆ ExtendTransmitMessages()

void tNMEA2000::ExtendTransmitMessages	(	const unsigned long *	_TransmitMessages,
		int	iDev = `0`
	)

Extend the list of Transmitted Messages.

Define list of extra PGNs, what your system will transmit. System messages will be automatically included. Pointers must be in PROGMEM

const unsigned TransmitMessages[] PROGMEM={130310L,130311L,130312L,0};
 
NMEA2000.ExtendTransmitMessages(TransmitMessages);

Library responds automatically to PGN 126464 request about transmit or receive messages. With this function you extend library list of messages your device own logic sends.

Note: Extending transmit messages is required for NMEA2000 certification, may be also critical since some devices refuses to handle PGNs from devices, which does not list them on transmit messages.

This has only effect for device modes tNMEA2000::N2km_NodeOnly and tNMEA2000::N2km_ListenAndNode.

Parameters

_TransmitMessages	Buffer holding list of extra PGNs device will transmit.
iDev	index of the device on Devices

Definition at line 1163 of file NMEA2000.cpp.

◆ FindFreeCANMsgIndex()

void tNMEA2000::FindFreeCANMsgIndex	(	unsigned long	PGN,
		unsigned char	Source,
		unsigned char	Destination,
		bool	TPMsg,
		uint8_t &	MsgIndex
	)

protected

Find index for free space for a message on N2kCANMsgBuf.

This functions searches for free space at N2kCANMsgBuf. If there is free space in buffer or there is a message with the same, source, PGN and destination at the buffer the corresponding Index is returned. If this is not the case, the Index of the oldest message inside the buffer is returned.

Parameters

PGN	PNG for the message
Source	Source address of the message
Destination	Destination of the message
TPMsg	Message is Multi Packet message
MsgIndex	Index

Definition at line 1634 of file NMEA2000.cpp.

◆ FindSourceDeviceIndex()

int tNMEA2000::FindSourceDeviceIndex ( unsigned char Source ) const

Finds a device on Devices by its source address.

Parameters

Source Source address of the device

Returns: int DeviceIndex, not found = -1

Definition at line 2062 of file NMEA2000.cpp.

◆ ForwardEnabled()

bool tNMEA2000::ForwardEnabled ( ) const

inlineprotected

Is message forwarding enabled.

See also

Checks if forwarding i enabled and the node is not N2km_SendOnly

Return values

true
false

Definition at line 1520 of file NMEA2000.h.

◆ ForwardMessage() [1/2]

void tNMEA2000::ForwardMessage ( const tN2kCANMsg & N2kCanMsg )

protected

Forwards a N2k message.

This function forwards a n2k message according to the forward type ForwardType( tForwardType) to the correct ForwardStream.

Parameters

N2kCanMsg N2k CAN message object, see tN2kCANMsg

Definition at line 2092 of file NMEA2000.cpp.

◆ ForwardMessage() [2/2]

void tNMEA2000::ForwardMessage ( const tN2kMsg & N2kMsg )

protected

Forwards a N2k message.

This function forwards a n2k message according to the forward type ForwardType( tForwardType) to the correct ForwardStream.

Parameters

N2kMsg N2k message object

Definition at line 2078 of file NMEA2000.cpp.

◆ ForwardOnlyKnownMessages()

bool tNMEA2000::ForwardOnlyKnownMessages ( ) const

inlineprotected

Is forwarding enabled for known messages only.

See also: ForwardMode

Return values

true
false

Definition at line 1536 of file NMEA2000.h.

◆ ForwardOwnMessages()

bool tNMEA2000::ForwardOwnMessages ( ) const

inlineprotected

Is forwarding enabled for own messages.

See also: ForwardMode

Return values

true
false

Definition at line 1544 of file NMEA2000.h.

◆ ForwardSystemMessages()

bool tNMEA2000::ForwardSystemMessages ( ) const

inlineprotected

Is forwarding enabled for system messages.

See also: ForwardMode

Return values

true
false

Definition at line 1528 of file NMEA2000.h.

◆ GetCertificationLevel()

unsigned char tNMEA2000::GetCertificationLevel ( int iDev = 0 ) const

Get the Certification Level of the device.

Parameters

iDev	index of the device on Devices

Returns: unsigned char

Definition at line 994 of file NMEA2000.cpp.

◆ GetDeviceInformation()

const tDeviceInformation tNMEA2000::GetDeviceInformation ( int iDev = 0 )

inline

Get the Device Information.

With this function you can read current device information. Normally device information contains what you have set during initializing with tNMEA2000::SetDeviceInformation and tNMEA2000::SetDeviceInformationInstances functions.

Note: Device information instances can be changed by the NMEA 2000 group function by e.g. using system configuration device. So you should time to time check if they have changed and save changed data to e.g. EEPROM for use on startup.

See also

tNMEA2000::ReadResetDeviceInformationChanged

Parameters

iDev	index of the device on Devices

Returns: const tDeviceInformation

Definition at line 2386 of file NMEA2000.h.

◆ GetFastPacketTxPGNCount()

size_t tNMEA2000::GetFastPacketTxPGNCount ( int iDev )

protected

Get the Fast Packet Tx PGN Count.

Parameters

iDev	index of the device on Devices

Returns: size_t

Definition at line 813 of file NMEA2000.cpp.

◆ GetForwardStream()

N2kStream * tNMEA2000::GetForwardStream ( ) const

inline

Read current Forward Stream object.

Returns: current Forward Stream object or 0 if not set.

Definition at line 2610 of file NMEA2000.h.

◆ GetHeartbeatInterval()

uint32_t tNMEA2000::GetHeartbeatInterval ( int iDev = 0 )

inline

Get the Heartbeat Interval of a device.

Heartbeat interval may be changed by e.g. MFD by group function. I have not yet found should changed value be saved for next startup or not.

Parameters

iDev	index of the device on Devices

Return values

uint_32 Device heartbeat interval in ms

Definition at line 2513 of file NMEA2000.h.

◆ GetHeartbeatOffset()

uint32_t tNMEA2000::GetHeartbeatOffset ( int iDev = 0 )

inline

Get the Heartbeat Offset of a device.

Heartbeat Offset may be changed by e.g. MFD by group function. I have not yet found should changed value be saved for next startup or not.

Parameters

iDev	index of the device on Devices

Return values

uint_32 Device heartbeat Offset in ms

Definition at line 2524 of file NMEA2000.h.

◆ GetInstallationDescription1()

void tNMEA2000::GetInstallationDescription1	(	char *	buf,
		size_t	max_len
	)

Get the Install Description 1 of this device.

Parameters

buf	Buffer in memory for the description
max_len	Max size of the buffer

Definition at line 1056 of file NMEA2000.cpp.

◆ GetInstallationDescription2()

void tNMEA2000::GetInstallationDescription2	(	char *	buf,
		size_t	max_len
	)

Get the Install Description 2 of this device.

Parameters

buf	Buffer in memory for the description
max_len	Max size of the buffer

Definition at line 1065 of file NMEA2000.cpp.

◆ GetLoadEquivalency()

unsigned char tNMEA2000::GetLoadEquivalency ( int iDev = 0 ) const

Get the Load Equivalency of this device.

A Load Equivalence Number express the amount of current that is drawn from an NMEA 2000 network. 1 equals to 50mA. If a device draws 151mA of current from the network, then its LEN is 4

Parameters

iDev	index of the device on Devices

Returns: unsigned char

Definition at line 1008 of file NMEA2000.cpp.

◆ GetManufacturerInformation()

void tNMEA2000::GetManufacturerInformation	(	char *	buf,
		size_t	max_len
	)

Get the Manufacturer Information of this device.

Parameters

buf	Buffer in memory for the description
max_len	Max size of the buffer

Definition at line 1074 of file NMEA2000.cpp.

◆ GetModelID()

void tNMEA2000::GetModelID	(	char *	buf,
		size_t	max_len,
		int	iDev = `0`
	)		const

Get the ModelID of the device.

Parameters

buf	Buffer to hold the information
max_len	Maximum size of the buffer
iDev	index of the device on Devices

Definition at line 930 of file NMEA2000.cpp.

◆ GetModelSerialCode()

void tNMEA2000::GetModelSerialCode	(	char *	buf,
		size_t	max_len,
		int	iDev = `0`
	)		const

Get the Model Serial of the device.

Parameters

buf	Buffer to hold the information
max_len	Maximum size of the buffer
iDev	index of the device on Devices

Definition at line 978 of file NMEA2000.cpp.

◆ GetModelVersion()

void tNMEA2000::GetModelVersion	(	char *	buf,
		size_t	max_len,
		int	iDev = `0`
	)		const

Get the Model Version of the device.

Parameters

buf	Buffer to hold the information
max_len	Maximum size of the buffer
iDev	index of the device on Devices

Definition at line 962 of file NMEA2000.cpp.

◆ GetN2kSource()

unsigned char tNMEA2000::GetN2kSource ( int DeviceIndex = 0 ) const

inline

Read address for current device.

With this function you can get you device current source address on the N2k bus.

See also

Parameters

DeviceIndex index of the device on Devices

Returns: unsigned char -> Address of the device

Definition at line 2827 of file NMEA2000.h.

◆ GetN2kVersion()

unsigned short tNMEA2000::GetN2kVersion ( int iDev = 0 ) const

Get the N2k standard version of the device.

Parameters

iDev	index of the device on Devices

Returns: unsigned short

Definition at line 902 of file NMEA2000.cpp.

◆ GetNextAddress()

void tNMEA2000::GetNextAddress	(	int	DeviceIndex,
		bool	RestartAtEnd = `false`
	)

protected

Get the next free address for the device.

Parameters

DeviceIndex	index of the device on Devices
RestartAtEnd	Restart the search from the beginning if the search for the free source has reached N2kNullCanBusAddress

Definition at line 2512 of file NMEA2000.cpp.

◆ GetNextFreeCANSendFrame()

tNMEA2000::tCANSendFrame * tNMEA2000::GetNextFreeCANSendFrame ( )

protected

Get the Next Free CAN Frame from CANSendFrameBuf.

Returns: tCANSendFrame*

Definition at line 1417 of file NMEA2000.cpp.

◆ GetProductCode()

unsigned short tNMEA2000::GetProductCode ( int iDev = 0 ) const

Get the Product Code of the device.

Parameters

iDev	index of the device on Devices

Returns: unsigned short

Definition at line 916 of file NMEA2000.cpp.

◆ GetProductInformation()

const tNMEA2000::tProductInformation * tNMEA2000::GetProductInformation	(	int	iDev,
		bool &	IsProgMem
	)		const

Get the Product Information of the device.

Parameters

iDev	index of the device on Devices
IsProgMem	Program memory has been used for the data

Returns: const tNMEA2000::tProductInformation*

Definition at line 891 of file NMEA2000.cpp.

◆ GetSequenceCounter()

int tNMEA2000::GetSequenceCounter	(	unsigned long	PGN,
		int	iDev
	)

protected

Get the Sequence Counter for the PGN.

Parameters

PGN	PGN
iDev	index of the device on Devices

Returns: int Sequence Counter, non valid iDEV = 0

Definition at line 831 of file NMEA2000.cpp.

◆ GetSwCode()

void tNMEA2000::GetSwCode	(	char *	buf,
		size_t	max_len,
		int	iDev = `0`
	)		const

Get the Sw Code of the device.

Parameters

buf	Buffer to hold the information
max_len	Maximum size of the buffer
iDev	index of the device on Devices

Definition at line 946 of file NMEA2000.cpp.

◆ HandleCommandedAddress() [1/2]

void tNMEA2000::HandleCommandedAddress ( const tN2kMsg & N2kMsg )

protected

Handles if we get commanded to set a new address.

Parameters

N2kMsg Reference to a N2kMsg Object

Definition at line 2467 of file NMEA2000.cpp.

◆ HandleCommandedAddress() [2/2]

void tNMEA2000::HandleCommandedAddress	(	uint64_t	CommandedName,
		unsigned char	NewAddress,
		int	iDev
	)

protected

Handles if we get commanded to set a new address.

Parameters

CommandedName	Device name that have been commanded to set new address
NewAddress	new address for the device
iDev	index of the device on Devices

Definition at line 2455 of file NMEA2000.cpp.

◆ HandleGroupFunction()

void tNMEA2000::HandleGroupFunction ( const tN2kMsg & N2kMsg )

protected

Handles a Group Function.

Document https://web.archive.org/web/20170609033039/http://www.nmea.org/Assets/20140109%20nmea-2000-corrigendum-tc201401031%20pgn%20126208.pdf defines that systems should respond to NMEA Request/Command/Acknowledge group function PGN 126208. On the document it is not clear can request be send as broadcast, so we handle it, if we can.

Parameters

N2kMsg Reference to a N2kMsg Object

Definition at line 2375 of file NMEA2000.cpp.

◆ HandleISOAddressClaim()

void tNMEA2000::HandleISOAddressClaim ( const tN2kMsg & N2kMsg )

protected

Handles an IsoAddressClaim.

Parameters

N2kMsg Reference to a N2kMsg Object

Definition at line 2430 of file NMEA2000.cpp.

◆ HandleISORequest()

void tNMEA2000::HandleISORequest ( const tN2kMsg & N2kMsg )

protected

Handles an ISO Request.

The function determines if the request is for us (Broadcast message or device in our list) and responds to the request.

Parameters

N2kMsg Reference to a N2kMsg Object

Definition at line 2333 of file NMEA2000.cpp.

◆ HandleOnlyKnownMessages()

bool tNMEA2000::HandleOnlyKnownMessages ( ) const

inlineprotected

Is handle only known messages enabled.

Return values

true
false

Definition at line 1552 of file NMEA2000.h.

◆ HandleReceivedMessage()

bool tNMEA2000::HandleReceivedMessage ( unsigned char Destination )

inlineprotected

Should received message be handled depending on the destination of the received message.

Note: By default this message always returns true, because we handle messages to any destination.

Parameters

Destination Destination of the received message

Return values

true
false

Definition at line 1572 of file NMEA2000.h.

◆ HandleReceivedSystemMessage()

bool tNMEA2000::HandleReceivedSystemMessage ( int MsgIndex )

protected

Handles a received system message.

If the node is not N2km_SendOnly or N2km_ListenAndSend this function chooses the correct handler for the given system message.

See also

Parameters

MsgIndex Message Index on N2kCANMsgBuf

Return values

true	message was handled
false

Definition at line 2543 of file NMEA2000.cpp.

◆ HasAllTPDTSent()

bool tNMEA2000::HasAllTPDTSent ( int iDev )

protected

Check if all data bytes of the multi packet message has been send successful.

Parameters

iDev	index of the device on Devices

Return values

true
false

Definition at line 1781 of file NMEA2000.cpp.

◆ InitCANFrameBuffers()

void tNMEA2000::InitCANFrameBuffers ( )

protectedvirtual

Initialize CAN Frame buffers.

This will be called on tNMEA2000::Open() before any other initialization.

Driver writer must inherit this for low level driver class and create driver internal send and receive buffers according requested MaxCANSendFrames and MaxCANReceiveFrames sizes. Driver class can handle completely send and receive buffers or after buffers has been initialized set MaxCANSendFrames for size of library buffer and call tNMEA2000::InitCANFrameBuffers();

Inherited function can also override requested MaxCANSendFrames and MaxCANReceiveFrames in case they are set e.g., too small or too large.

See e.g., tNMEA2000_Teensyx::InitCANFrameBuffers() on NMEA2000_teensyx.cpp.

See also

Definition at line 1188 of file NMEA2000.cpp.

◆ InitDevices()

void tNMEA2000::InitDevices ( )

protected

Initialize all devices.

This function initializes the array Devices with the size of DeviceCount and sets default device information.

Default Device Info is:

Unique ID = Device Index +1 ==> 21 bit resolution, max 2097151. Each device from same manufacturer should have unique number.
Device Function = 130 ==> PC Gateway
Device Class = 25 ==> Inter/Intranetwork Device.
Manufacturer Code = 2046 ==> Maximum 2046
Industry Group Code = 4 ==> Marine

See also

Definition at line 710 of file NMEA2000.cpp.

◆ IsActiveNode()

bool tNMEA2000::IsActiveNode ( )

inlineprotected

Returns if this node is active on the bus.

Return values

true	if ( N2km_NodeOnly or N2km_ListenAndNode)
false

Definition at line 1584 of file NMEA2000.h.

◆ IsAddressClaimStarted()

bool tNMEA2000::IsAddressClaimStarted ( int iDev )

protected

Checks if the IsoAddressClaim is already started.

Parameters

iDev	index of the device on Devices

Return values

true
false

Definition at line 2414 of file NMEA2000.cpp.

◆ IsBroadcast()

static bool tNMEA2000::IsBroadcast ( unsigned char Source )

inlinestatic

Checks if the given Address is a broadcast address.

Parameters

Source Source address

Return values

true	Source is broadcast address
false	Source is not broadcast address

Definition at line 2990 of file NMEA2000.h.

◆ IsFastPacket()

bool tNMEA2000::IsFastPacket ( const tN2kMsg & N2kMsg )

protected

Check if this PNG is a fast packet message.

Determines if this given PGN belongs to a fast packet message by checking if a corresponding message is listed on FastPacketMessages[]

Parameters

N2kMsg Reference to a N2kMsg Object

Return values

true
false

Definition at line 1572 of file NMEA2000.cpp.

◆ IsFastPacketPGN()

bool tNMEA2000::IsFastPacketPGN ( unsigned long PGN )

protected

Check if this PNG is a fast packet message.

Determines if this given PGN belongs to a fast packet message by checking if a corresponding message is listed on FastPacketMessages[]

Parameters

PGN	PGN to be checked

Return values

true
false

Definition at line 1552 of file NMEA2000.cpp.

◆ IsInitialized()

bool tNMEA2000::IsInitialized ( )

inlineprotected

Determines if the CAN BUS is already initialized.

Return values

true
false

Definition at line 1234 of file NMEA2000.h.

◆ IsMySource()

bool tNMEA2000::IsMySource ( unsigned char Source )

protected

Checks if the source belongs to a device on Devices.

Parameters

Source Source address

Return values

true
false

Definition at line 2073 of file NMEA2000.cpp.

◆ IsOpen()

bool tNMEA2000::IsOpen ( ) const

inline

Test is NMEA2000 open and running.

Return values

true
false

Definition at line 2634 of file NMEA2000.h.

◆ IsProprietaryMessage()

bool tNMEA2000::IsProprietaryMessage ( unsigned long PGN )

static

Check if the given PGN is proprietary.

PGNs that are proprietary by definition: 61184, 65280 - 65535, 126720, 130816 - 131071

Parameters

PGN	PGN to be checked

Return values

true	-> for PGNs: 126720L 130816L ... 131071L 65280L ... 65535L
false

Definition at line 583 of file NMEA2000.cpp.

◆ IsReadyToSend()

bool tNMEA2000::IsReadyToSend ( ) const

inlineprotected

Checks if the device is ready to start address claiming.

Return values

true
false

Definition at line 1601 of file NMEA2000.h.

◆ IsTxPGN()

bool tNMEA2000::IsTxPGN	(	unsigned long	PGN,
		int	iDev = `0`
	)

Check if this message is a Transmit message of this device.

Parameters

PGN	PGN to be checked
iDev	index of the device on Devices

Return values

true
false

Definition at line 875 of file NMEA2000.cpp.

◆ IsValidDevice()

bool tNMEA2000::IsValidDevice ( int iDev ) const

inlineprotected

Checks if the device index on Devices is valid.

Parameters

iDev	index of the device on Devices

Return values

true
false

Definition at line 1593 of file NMEA2000.h.

◆ N2kMax()

template<typename T >

static T tNMEA2000::N2kMax	(	T	a,
		T	b
	)

inlinestatic

Delivers Max out of A an B.

As max and min are not available on all systems, so use own definition.

Template Parameters

T Datatype

Parameters

a	Value A
b	Value B

Returns: T

Definition at line 193 of file NMEA2000.h.

◆ N2kMin()

template<typename T >

static T tNMEA2000::N2kMin	(	T	a,
		T	b
	)

inlinestatic

Delivers Min out of A an B.

As max and min are not available on all systems, so use own definition.

Template Parameters

T Datatype

Parameters

a	Value A
b	Value B

Returns: T

Definition at line 205 of file NMEA2000.h.

◆ Open()

bool tNMEA2000::Open ( )

Open the CAN device.

You can call this on Setup(). It will be called anyway automatically by first call of tNMEA2000::ParseMessages(). When system is finally opened, OnOpen callback will be executed. See tNMEA2000::SetOnOpen

Note: After tNMEA2000::Open() you should start loop tNMEA2000::ParseMessages() without delays. If you e.g., call first tNMEA2000::Open() and then start to read configuration from slow flash, address claiming will not work properly.

Return values

true
false

Definition at line 1200 of file NMEA2000.cpp.

◆ ParseMessages()

void tNMEA2000::ParseMessages ( )

Parse all incoming Messages.

You have to call this periodically on loop() to handle N2k messages, otherwise tNMEA2000 object will not work at all.

Note: Do not use delay() on your loop(). Also take care that any library you use does not use delay() or any blocking function internally.

With NMEA2000 library you should use only nonblocking calls/libraries in your loop. Any library you use, should work asynchronously and not cause long delays on loop. Randomly caused 10-40 ms delays are acceptable. E.g., simple ADC conversion may block loop for 300 ms, which you will then see by other device dropping your device from the list.

See also

Note: Even if you only send e.g. temperature to the bus, you should call this so the node will automatically inform about itself to others.

See example TemperatureMonitor.ino.

Definition at line 2577 of file NMEA2000.cpp.

◆ ReadResetAddressChanged()

bool tNMEA2000::ReadResetAddressChanged ( )

Check if this device has changed its address.

With this function you can check has your device address you initiated with SetMode been changed after last call.

Note: For certified NMEA 2000 devices it is mandatory save changed address to e.g. EEPROM, for use in next startup.

When you call this, tNMEA2000::AddressChanged will be reset. Anyway, if system for some reason needs to change its address again, tNMEA2000::AddressChanged will be set. So you can e.g. in every 10 min check has address changed and if it has, save it.

See also

Return values

true	Some device source address changed. Read new values and save them.
false	Nothing changed, no further actions required.

Definition at line 2496 of file NMEA2000.cpp.

◆ ReadResetDeviceInformationChanged()

bool tNMEA2000::ReadResetDeviceInformationChanged ( )

Check if this device has changed its DeviceInstances or SystemInstance.

With this function you can check has your device device instances or system instances changed.

Note: For certified NMEA 2000 devices it is mandatory save changed info to e.g. EEPROM, for initialize them in next startup.

See also

Return values

true	Some device information changed. Read new values and save them.
false	Nothing changed, no further actions required.

Definition at line 2504 of file NMEA2000.cpp.

◆ ReadResetInstallationDescriptionChanged()

bool tNMEA2000::ReadResetInstallationDescriptionChanged ( )

Check if this device has changed its Install Description.

See also

Return values

true	Installation description changed. Read new values and save them.
false	Nothing changed, no further actions required.

Definition at line 1083 of file NMEA2000.cpp.

◆ RemoveGroupFunctionHandler()

void tNMEA2000::RemoveGroupFunctionHandler ( tN2kGroupFunctionHandler * pGroupFunctionHandler )

Remove a message handler for incoming Group Function messages.

Parameters

pGroupFunctionHandler Message handler for group functions, see tN2kGroupFunctionHandler

Definition at line 2690 of file NMEA2000.cpp.

◆ RespondGroupFunction()

void tNMEA2000::RespondGroupFunction	(	const tN2kMsg &	N2kMsg,
		tN2kGroupFunctionCode	GroupFunctionCode,
		unsigned long	PGNForGroupFunction,
		int	iDev
	)

protected

Respond to an Group Function.

Document https://web.archive.org/web/20170609033039/http://www.nmea.org/Assets/20140109%20nmea-2000-corrigendum-tc201401031%20pgn%20126208.pdf defines that systems should respond to NMEA Request/Command/Acknowledge group function PGN 126208. Here we first call callback and if that will not handle function, we use default handler.

Parameters

N2kMsg	Reference to a N2kMsg Object
GroupFunctionCode
PGNForGroupFunction
iDev	index of the device on Devices

Definition at line 2353 of file NMEA2000.cpp.

◆ RespondISORequest()

void tNMEA2000::RespondISORequest	(	const tN2kMsg &	N2kMsg,
		unsigned long	RequestedPGN,
		int	iDev
	)

protected

Respond to an ISO request.

If there is now IsoAdressClaim procedure started for this device, we respond for the requested PGN with sending IsoAddressClaim, Tx/Rx PGN lists, Product- / Config information or an user defined ISORqstHandler.

If non of this fits the RequestedPGN, we directly respond to the requester NAK. ( SetN2kPGNISOAcknowledgement)

Parameters

N2kMsg	Reference to a N2kMsg Object
RequestedPGN	Requested PGN
iDev	index of the device on Devices

Definition at line 2297 of file NMEA2000.cpp.

◆ Restart()

void tNMEA2000::Restart ( )

Restart the device.

This is preliminary function for e.g. battery powered or devices, which may go to sleep or of the bus in any way. Function is under development.

Note: At the moment this functions just restarts the IsoAddressClaim

Definition at line 1264 of file NMEA2000.cpp.

◆ RunMessageHandlers()

void tNMEA2000::RunMessageHandlers ( const tN2kMsg & N2kMsg )

protected

Run all message handlers.

Parameters

N2kMsg Reference to a N2kMsg Object

Definition at line 2620 of file NMEA2000.cpp.

◆ SendConfigurationInformation() [1/2]

bool tNMEA2000::SendConfigurationInformation ( int DeviceIndex = 0 )

Send a Config Information message.

This is automatically used by class. You only need to use this, if you want to write your own behavior for providing config information.

Parameters

DeviceIndex index of the device on Devices

Return values

true	Success
false

Definition at line 2260 of file NMEA2000.cpp.

◆ SendConfigurationInformation() [2/2]

bool tNMEA2000::SendConfigurationInformation	(	unsigned char	Destination,
		int	DeviceIndex,
		bool	UseTP
	)

Send a Config Information message.

This is automatically used by class. You only need to use this, if you want to write your own behavior for providing config information.

Parameters

Destination	Destination address
DeviceIndex	index of the device on Devices
UseTP	use multi packet message

Return values

true	Success
false

Definition at line 2264 of file NMEA2000.cpp.

◆ SendFrame()

bool tNMEA2000::SendFrame	(	unsigned long	id,
		unsigned char	len,
		const unsigned char *	buf,
		bool	wait_sent = `true`
	)

protected

Sends a single CAN frame.

This function sends a CAN Message to the buffer, if we can not sent frame immediately via CANSendFrame()

Parameters

id	{type}
len	{type}
buf	{type}
wait_sent	{type}

Return values

true	success
false	failed

Definition at line 1335 of file NMEA2000.cpp.

◆ SendFrames()

bool tNMEA2000::SendFrames ( )

protected

Sends pending all frames.

Return values

true	Success
false	Message could not be sent.

Definition at line 1318 of file NMEA2000.cpp.

◆ SendHeartbeat() [1/2]

void tNMEA2000::SendHeartbeat ( bool force = false )

Send Heartbeat for all devices.

Library will automatically send heartbeat, if interval is >0. You can also manually send it any time or force sent, if interval=0;

Parameters

force True will send Heartbeat immediately, default = false

Definition at line 1396 of file NMEA2000.cpp.

◆ SendHeartbeat() [2/2]

void tNMEA2000::SendHeartbeat ( int iDev )

Send heartbeat for specific device.

Library will automatically send heartbeat, if interval is >0. You can also manually send it any time or force sent, if interval=0;

Parameters

iDev	index of the device on Devices

Definition at line 1388 of file NMEA2000.cpp.

◆ SendIsoAddressClaim()

void tNMEA2000::SendIsoAddressClaim	(	unsigned char	Destination = `0xff`,
		int	DeviceIndex = `0`,
		unsigned long	FromNow = `0`
	)

Send an IsoAddressClaim message.

This is automatically used by class. You only need to use this, if you want to write your own behavior for address claiming.

Parameters

Destination	Destination address for the message
DeviceIndex	index of the device on Devices
FromNow	optional time delay from now in ms

Definition at line 2097 of file NMEA2000.cpp.

◆ SendMsg()

bool tNMEA2000::SendMsg	(	const tN2kMsg &	N2kMsg,
		int	DeviceIndex = `0`
	)

Send message to the NMEA2000 bus.

Call this to send message to NMEA2000 bus. Before calling SendMsg() you have to prepare tN2kMsg type of message e.g. by using PGN specific function in N2kMessages.h.

Note: tNMEA2000 object is as default in tNMEA2000::N2km_ListenOnly mode. So if you want to send messages, you have to set right mode in setup with tNMEA2000::SetMode().

The function returns true, if the message was sent or buffered successfully, otherwise it return false. SendMsg may fail, if there is not room for message frames on sending buffer, device is not yet open or not ready to send.

If you sent single frame message time to time, it will normally go directly to CAN controller sent "mailbox", where controller sends it as soon as it gets time from bus. Sending fastpacket message will always buffer at least other than first frame. Internally sent buffer is devided to driver buffer and library buffer. Driver buffer will empty by interrupt and library buffer on call to SendMsg or ParseMessages, which moves frames to driver buffer. To have reliable sending, you need a sending buffer, which is large enough for your device needs. See tNMEA2000::SetN2kCANSendFrameBufSize.

See example TemperatureMonitor.ino.

See also: Most common hardware errors

Parameters

N2kMsg	Reference to a N2kMsg Object
DeviceIndex	index of the device on Devices Setting DeviceIndex to -1 forces library to use source address of N2kMsg instead of device source address. This is useful with e.g., passthrough gateway devices.

Return values

true	Message sent or buffered successfully.
false	Open has not finished. Address claiming has not finished. There is no more room on send buffer, which may be caused by too small send buffer or CAN controller can not sent messages bus.

Definition at line 1450 of file NMEA2000.cpp.

◆ SendPendingInformation()

void tNMEA2000::SendPendingInformation ( )

protected

Send ISO AddressClaim, Product Information and Config Information.

Currently Product Information and Configuration Information will we pended on ISO request. This is because specially for broadcasted response it may take a while, when higher priority devices sends their response.

See also

Definition at line 1431 of file NMEA2000.cpp.

◆ SendPendingTPMessage()

void tNMEA2000::SendPendingTPMessage ( int iDev )

protected

Send pending ISO-TP Messages.

Parameters

iDev	index of the device on Devices

Definition at line 1956 of file NMEA2000.cpp.

◆ SendProductInformation() [1/2]

bool tNMEA2000::SendProductInformation ( int DeviceIndex = 0 )

Send a Product Information message.

This is automatically used by class. You only need to use this, if you want to write your own behavior for providing product information.

Parameters

DeviceIndex index of the device on Devices

Return values

true	Success
false

Definition at line 2218 of file NMEA2000.cpp.

◆ SendProductInformation() [2/2]

bool tNMEA2000::SendProductInformation	(	unsigned char	Destination,
		int	DeviceIndex,
		bool	UseTP
	)

Send a Product Information message.

This is automatically used by class. You only need to use this, if you want to write your own behavior for providing product information.

Parameters

Destination	Destination address
DeviceIndex	index of the device on Devices
UseTP	use multi packet message

Return values

true	Success
false

Definition at line 2222 of file NMEA2000.cpp.

◆ SendRxPGNList()

void tNMEA2000::SendRxPGNList	(	unsigned char	Destination,
		int	DeviceIndex,
		bool	UseTP = `false`
	)

Send a list with all supported Receive messages.

This function sends a PGN 126464 message consisting of all messages supported by this device for reception.

Parameters

Destination	Destination address
DeviceIndex	index of the device on Devices
UseTP	use multi packet message, default = false

Definition at line 2161 of file NMEA2000.cpp.

◆ SendTPCM_Abort()

void tNMEA2000::SendTPCM_Abort	(	unsigned long	PGN,
		unsigned char	Destination,
		int	iDev,
		unsigned char	AbortCode
	)

protected

Send ISO Transport Protocol message Abort.

Parameters

PGN	PGN
Destination	Destination address
iDev	index of the device on Devices
AbortCode	Abort Code

Definition at line 1742 of file NMEA2000.cpp.

◆ SendTPCM_BAM()

bool tNMEA2000::SendTPCM_BAM ( int iDev )

protected

Send ISO Transport Protocol message BAM.

This is used for Broadcast messages

Parameters

iDev	index of the device on Devices

Return values

true
false

Definition at line 1668 of file NMEA2000.cpp.

◆ SendTPCM_CTS()

void tNMEA2000::SendTPCM_CTS	(	unsigned long	PGN,
		unsigned char	Destination,
		int	iDev,
		unsigned char	nPackets,
		unsigned char	NextPacketNumber
	)

protected

Send ISO Transport Protocol message CTS.

Parameters

PGN	PGN
Destination	Destination address
iDev	index of the device on Devices
nPackets	Number of packets
NextPacketNumber	Number of the next packet

Definition at line 1707 of file NMEA2000.cpp.

◆ SendTPCM_EndAck()

void tNMEA2000::SendTPCM_EndAck	(	unsigned long	PGN,
		unsigned char	Destination,
		int	iDev,
		uint16_t	nBytes,
		unsigned char	nPackets
	)

protected

Send ISO Transport Protocol message End Acknowledge.

Parameters

PGN	PGN
Destination	Destination address
iDev	index of the device on Devices
nBytes	Number of bytes
nPackets	Number of packets

Definition at line 1725 of file NMEA2000.cpp.

◆ SendTPCM_RTS()

bool tNMEA2000::SendTPCM_RTS ( int iDev )

protected

Send ISO Transport Protocol message RTS.

Parameters

iDev	index of the device on Devices

Return values

true
false

Definition at line 1687 of file NMEA2000.cpp.

◆ SendTPDT()

bool tNMEA2000::SendTPDT ( int iDev )

protected

Send ISO Transport Protocol data packet.

Note: Caller should take care of not calling this after all has been done. Use HasAllTPDTSent for checking.

Parameters

iDev	index of the device on Devices

Return values

true	Message was send successful
false

Definition at line 1762 of file NMEA2000.cpp.

◆ SendTxPGNList()

void tNMEA2000::SendTxPGNList	(	unsigned char	Destination,
		int	DeviceIndex,
		bool	UseTP = `false`
	)

Send a list with all supported Transmit messages.

This function sends a PGN 126464 message consisting of all messages supported by this device for transmission.

Parameters

Destination	Destination address
DeviceIndex	index of the device on Devices
UseTP	use multi packet message, default = false

Definition at line 2128 of file NMEA2000.cpp.

◆ SetCharBuf()

void tNMEA2000::SetCharBuf	(	const char *	str,
		size_t	MaxLen,
		char *	buf
	)

static

Setting up a Char Buffer.

This functions copies the a to the char buffer and terminates it with 0.

Parameters

str	String
MaxLen	Max length of the buffer
buf	Pointer to the buffer

Definition at line 644 of file NMEA2000.cpp.

◆ SetConfigurationInformation()

void tNMEA2000::SetConfigurationInformation	(	const char *	ManufacturerInformation,
		const char *	InstallationDescription1 = `0`,
		const char *	InstallationDescription2 = `0`
	)

Set the Configuration Information of this device.

With this function you can set configuration information for your device.

Configuration information contains some extra information about device installation and manufacturer. Some MFD shows it, some does not. NMEA Reader can show configuration information. InstallationDescription1 and InstallationDescription2 can be changed as default during runtime by NMEA 2000 group function commands. That can be done e.g. with NMEA Reader.

Note: You can disable configuration information by calling SetProgmemConfigurationInformation(0);

See also

Parameters

ManufacturerInformation	Buffer for Manufacturer information. Use e.g., company name and web address.
InstallationDescription1	Buffer for Installation Description 1. Installation Description 1 and 2 may be used by device installer e.g., for location of physical device to help to find it. To handle externally updated Installation Description you should listen changes of them. See tNMEA2000::ReadResetInstallationDescriptionChanged
InstallationDescription2	Buffer for Installation Description 2.

Definition at line 764 of file NMEA2000.cpp.

◆ SetDebugMode()

void tNMEA2000::SetDebugMode ( tDebugMode _dbMode )

Set the Debug Mode of the system.

If you do not have physical N2k bus connection and you like to test your board without even CAN controller, you can use this function.

See also

Debug mode

Parameters

_dbMode Debug mode, see tNMEA2000::tDebugMode

Definition at line 1547 of file NMEA2000.cpp.

◆ SetDeviceCount()

void tNMEA2000::SetDeviceCount ( const uint8_t _DeviceCount )

Set the count of devices library shows on bus.

With this function you can enable multi device support. As default there is only one device.

Note: To enable multi device support, you need to call this before any other tNMEA2000 class function.

See also: Multi device support

Parameters

_DeviceCount Maximum number of devices that can be hold in Devices

Definition at line 704 of file NMEA2000.cpp.

◆ SetDeviceInformation()

void tNMEA2000::SetDeviceInformation	(	unsigned long	_UniqueNumber,
		unsigned char	_DeviceFunction = `0xff`,
		unsigned char	_DeviceClass = `0xff`,
		uint16_t	_ManufacturerCode = `0xffff`,
		unsigned char	_IndustryGroup = `4`,
		int	iDev = `0`
	)

Set the Device Information. See also NAME.

If you use device modes tNMEA2000::N2km_NodeOnly or tNMEA2000::N2km_ListenAndNode, it is critical that you set this information.

Device information will be used to choose right address for your device (also called node) on the bus. Each device must have an own address. Library will do this automatically, so it is enough that you call this function on setup to define your device.

For keeping defaults use 0xffff/0xff for int/char values and null ptr for pointers.

Note: You should set information so that it is unique over the world! Well if you are making device only for your own yacht N2k bus, it is enough to be unique there. So e.g. if you have two temperature monitors made by this library, you have to set at least first parameter UniqueNumber different for both of them.

I just decided to use number one below maximum for ManufacturerCode as Open Source devices - this is not any number given by NMEA.

Parameters

_UniqueNumber	Default=1. 21 bit resolution, max 2097151. Each device from same manufacturer should have unique number.
_DeviceFunction	Default=130, PC Gateway. See codes on https://web.archive.org/web/20190531120557/https://www.nmea.org/Assets/20120726%20nmea%202000%20class%20&%20function%20codes%20v%202.00.pdf
_DeviceClass	Default=25, Inter/Intranetwork Device. See codes on https://web.archive.org/web/20190531120557/https://www.nmea.org/Assets/20120726%20nmea%202000%20class%20&%20function%20codes%20v%202.00.pdf
_ManufacturerCode	Default=2046. Maximum 2046. See the list of codes on https://web.archive.org/web/20190529161431/http://www.nmea.org/Assets/20121020%20nmea%202000%20registration%20list.pdf
_IndustryGroup	Default=4, Marine.
iDev	index of the device on Devices

Definition at line 1093 of file NMEA2000.cpp.

◆ SetDeviceInformationInstances()

void tNMEA2000::SetDeviceInformationInstances	(	uint8_t	_DeviceInstanceLower = `0xff`,
		uint8_t	_DeviceInstanceUpper = `0xff`,
		uint8_t	_SystemInstance = `0xff`,
		int	iDev = `0`
	)

Set the Device Information Instances.

With this function you can set device instance lower, device instance upper and system instance values.

For certified devices there is requirement that device instances can be externally changed. Library handles that as default, but developer has to take care that changed instances will be saved and restored on devices start.

See also

tNMEA2000::ReadResetDeviceInformationChanged

Parameters

_DeviceInstanceLower	0xff means no change
_DeviceInstanceUpper
_SystemInstance
iDev	index of the device on Devices

Definition at line 1110 of file NMEA2000.cpp.

◆ SetFastPacketMessages()

void tNMEA2000::SetFastPacketMessages ( const unsigned long * _FastPacketMessages )

Set the list of known Fast Packet Messages.

Call these if you wish to override the default message packets supported. Pointers must be in PROGMEM

As a default library has a list of known messages. With this function user can override default list of fast packet messages. Build in default list contains all fastpackets found from open information.

Note: If an incoming fast packet message is not known, it will be treated as single frame message. So if you want to handle unknown fast packet message, you need to duplicate frame collection logic from library to your code. So it is easier to have fast packet messages listed on library, if you want to handle them.

See also

tNMEA2000::ExtendFastPacketMessages.

Parameters

_FastPacketMessages Buffer holding fast packet messages

Definition at line 1148 of file NMEA2000.cpp.

◆ SetForwardOnlyKnownMessages()

void tNMEA2000::SetForwardOnlyKnownMessages ( bool v = true )

inline

Enable Only Known Messages for forwarding.

Set false as default. With this you can control if unknown messages will be forwarded to forward stream. If you set this true, all unknown message will not be forwarded to the stream.

Note: This does not effect for own messages. Known messages are listed on library.

See also

Parameters

v	Enable, default = false

Definition at line 2936 of file NMEA2000.h.

◆ SetForwardOwnMessages()

void tNMEA2000::SetForwardOwnMessages ( bool v = true )

inline

Enable Own Messages for forwarding.

Set true as default. With this you can control if messages your device sends to bus will be forwarded to forward stream.

Parameters

v	Enable, default = true

Definition at line 2948 of file NMEA2000.h.

◆ SetForwardStream()

void tNMEA2000::SetForwardStream ( N2kStream * _stream )

inline

Set the Forward Stream object.

As default, forward stream has been set to null. For e.g. Arduino Due you can set it to SerialUSB, so you can use Serial for other things. You can of coarse use any stream available on your device.
See example ActisenseListenerSender.ino.

Parameters

_stream Stream to be used for message forwarding

Definition at line 2603 of file NMEA2000.h.

◆ SetForwardSystemMessages()

void tNMEA2000::SetForwardSystemMessages ( bool v = true )

inline

Enable System Messages for forwarding.

Set true as default. With this you can control if system messages like address claiming, device information will be forwarded to forward stream. If you set this false, system messages will not be forwarded to the stream.

Parameters

v	Enable, default = true

Definition at line 2914 of file NMEA2000.h.

◆ SetForwardType()

void tNMEA2000::SetForwardType ( tForwardType fwdType )

inline

Set the Forward Streaming Type.

With this function user can set how messages will be forwarded to the stream. Possible values are:

tNMEA2000::fwdt_Actisense (default) forwards messages is Actisense format. Some navigation softwares can read this format.
tNMEA2000::fwdt_Text forwards messages to output port in clear text. I see this useful only for testing with normal serial monitors.

Parameters

fwdType Format type see tNMEA2000::tForwardType, default = fwdt_Actisense

Definition at line 2591 of file NMEA2000.h.

◆ SetHandleOnlyKnownMessages()

void tNMEA2000::SetHandleOnlyKnownMessages ( bool v = true )

inline

Set the Handle Only Known Messages.

Set false as default. With this you can control if unknown messages will be handled at all. Known messages are listed on library.

See also

Parameters

v	Enable, default = false

Definition at line 2966 of file NMEA2000.h.

◆ SetHeartbeatInterval()

void tNMEA2000::SetHeartbeatInterval	(	unsigned long	interval,
		bool	SetAsDefault = `true`,
		int	iDev = `-1`
	)

Deprecated. Use function SetHeartbeatIntervalAndOffset.

Definition at line 1383 of file NMEA2000.cpp.

◆ SetHeartbeatIntervalAndOffset()

void tNMEA2000::SetHeartbeatIntervalAndOffset	(	uint32_t	interval,
		uint32_t	offset = `0`,
		int	iDev = `-1`
	)

Set the Heartbeat Interval and Offset for a device.

Library will automatically start heartbeat with default interval 60 s and offset 10 s.

According to document NMEA Heartbeat Corrigendum all NMEA devices shall transmit heartbeat PGN 126993. With this function you can set transmission interval in ms (range 1000-655320ms , default 60000). Set interval 0 to disable heartbeat

Function allows to set interval over 60 s or 0 to disable sending for test purposes.

Parameters

interval	Heartbeat Interval in ms. 0xffffffff=keep current, 0xfffffffe=restore default
offset	Heartbeat Offset in ms. 0xffffffff=keep current, 0xfffffffe=restore default
iDev	Index of the device on Devices or -1 to set for all.

Definition at line 1356 of file NMEA2000.cpp.

◆ SetInstallationDescription1()

void tNMEA2000::SetInstallationDescription1 ( const char * InstallationDescription1 )

Set the Installation Description 1 of this device.

This is automatically used by class. You only need to use this, if you want to write your own behavior.

Parameters

InstallationDescription1 Description

Definition at line 1037 of file NMEA2000.cpp.

◆ SetInstallationDescription2()

void tNMEA2000::SetInstallationDescription2 ( const char * InstallationDescription2 )

Set the Installation Description 2 of this device.

This is automatically used by class. You only need to use this, if you want to write your own behavior.

Parameters

InstallationDescription2 Description

Definition at line 1047 of file NMEA2000.cpp.

◆ SetISORqstHandler()

void tNMEA2000::SetISORqstHandler ( bool(*)(unsigned long RequestedPGN, unsigned char Requester, int DeviceIndex) ISORequestHandler )

Set the message handler for incoming ISO Requests.

Devices on N2k bus may request PGN from your device. Certified devices should respond to requests to any transmit PGN listed. Write your own request handler and set it with this function.

The handler will be called by tNMEA2000::ParseMessages, if there is ISO request.

Note: When you send request message with tNMEA2000::SendMsg and it fails, it is your responsibility to take care of sending response again later. If your sending buffer is large enough, it is very uncommon that tNMEA2000::SendMsg fails.

Parameters

ISORequestHandler Message handler

Definition at line 2684 of file NMEA2000.cpp.

◆ SetMode()

void tNMEA2000::SetMode	(	tN2kMode	_N2kMode,
		uint8_t	_N2kSource = `15`
	)

Set the library mode and start source address.

With SetMode you can define how your node acts on N2k bus and set start source address. Source address setting has effect only on modes N2km_NodeOnly and N2km_ListenAndNode.

NMEA2000 standard requires that once your device has been connected to the bus, it uses last used address on next start. Due to address claiming, your device may change its source address, when you add new devices to the bus. So you should save last used address to e.g. EEPROM and on setup use it as parameter for SetMode. You can check if your address you set originally by SetMode has changed by using function tNMEA2000::ReadResetAddressChanged() and you can read current address by function tNMEA2000::GetN2kSource().

See also

Parameters

_N2kMode	Mode for this node, see tN2kMode
_N2kSource	Source address for this node

Definition at line 1177 of file NMEA2000.cpp.

◆ SetMsgHandler()

void tNMEA2000::SetMsgHandler ( void(*)(const tN2kMsg &N2kMsg) _MsgHandler )

Set the message handler for incoming NMEA2000 messages.

If you want to do something with messages read from N2k bus, easiest is to set message handler, which will be then called by ParseMessages for each new message.

If you have LCD display on your device and you want to show e.g., fluid level on it, create message handler, parse fluid level messages and draw value to display.

See example DataDisplay.ino or DataDisplay2.ino

Parameters

_MsgHandler Old style - callback function pointer

Definition at line 2638 of file NMEA2000.cpp.

◆ SetN2kCANBufMsg()

uint8_t tNMEA2000::SetN2kCANBufMsg	(	unsigned long	canId,
		unsigned char	len,
		unsigned char *	buf
	)

protected

Function handles received CAN frame and adds it to tN2kCANMsg.

This function returns Index to a ready tN2kCANMsg on buffer N2kCANMsgBuf (max MaxN2kCANMsgs), if we skipped the frame or message is not ready (fast packet or ISO Multi-Packet)

Parameters

canId	ID of CAN message
len	length of payload
buf	buffer for payload of message

Returns: uint8_t -> Index of the CAN message on N2kCANMsgBuf

Definition at line 1977 of file NMEA2000.cpp.

◆ SetN2kCANMsgBufSize()

void tNMEA2000::SetN2kCANMsgBufSize ( const uint8_t _MaxN2kCANMsgs )

inline

Set incoming CAN message (tNMEA2000::N2kCANMsgBuf) buffer size.

With this function you can set size of buffer, where system builds incoming messages. The default size is 5 messages. Some messages are just single frame messages and they will be read in and handled immediately on call to ParseMessages. NMEA2000 fast packet message contains several frames sent sequentially. Anyway there can be other message frames between fast packet message frames, so these messages will be buffered and saved until all frames has been received. NMEA2000 requires that device should be able to read 2 concurrent fast packet and 2 ISO TP message. Since also single frame message requires one buffer slot buffer default size has been set to 5.

If buffer size is too small, there is risk that all fast packet messages will not be handled. Even your own logic does not listen any fast packet messages, internal logic listens group functions PGN 126208, which may contain important requests library should respond. If library does not respond to all required requests, there is risk that other devices drops your device information.

Since ISO TP messages are rarely used, with buffer size 5 library can handle 4 concurrent fast packet messages. Due to priorities this is enough in most cases. If bus has lot of devices sending fast packets and you have enough memory on MCU, you can increase buffer size. Buffer size 10 should be enough even on heavy traffic.

Function has to be called before communication opens. See tNMEA2000::Open().

Do not mix this with tNMEA2000::SetN2kCANReceiveFrameBufSize(), which has different meaning.

Parameters

_MaxN2kCANMsgs Number of CAN messages that can be stored in tNMEA2000::N2kCANMsgBuf

Definition at line 1816 of file NMEA2000.h.

◆ SetN2kCANReceiveFrameBufSize()

virtual void tNMEA2000::SetN2kCANReceiveFrameBufSize ( const uint16_t _MaxCANReceiveFrames )

inlinevirtual

Set CAN receive frame buffer size.

Some CAN drivers allows interrupted receive frame buffering. You can set receive buffer size with this function. If you use this function, call it once before tNMEA2000::Open();

Driver may override your setting, if you set too small or too large buffer size. This is driver dependent behaviour.

See also

tNMEA2000::ParseMessages

Parameters

_MaxCANReceiveFrames {type}

Definition at line 1870 of file NMEA2000.h.

◆ SetN2kCANSendFrameBufSize()

virtual void tNMEA2000::SetN2kCANSendFrameBufSize ( const uint16_t _MaxCANSendFrames )

inlinevirtual

Set CAN send frame buffer size.

With this function you can set size of buffer, where system saves frames of messages to be sent. Given buffer size will be devided to driver buffer and library buffer. Driver buffer will empty by driver interrupt and library buffer by call to SendMsg or ParseMessages, which moves frames to driver buffer. If driver can handle large buffer, library buffer will be set to minimum.

When sending long messages like ProductInformation or GNSS data, there may not be enough buffers for successfully send data. This depends of your hw and device source. Device source has effect due to priority of getting sending time. If your data is critical, use buffer size, which is large enough (default 40 frames).

E.g. Product information takes totally 134 bytes. This needs 20 frames. If you also send GNSS 47 bytes=7 frames. If you want to be sure that both will be sent on any situation, you need at least 27 frame buffer size.

If you use this function, call it once before tNMEA2000::Open() and before any device related function like tNMEA2000::SetProductInformation. If you call it later, function has no effect.

Driver may override your setting, if you set too small or too large buffer size. This is driver dependent behaviour.

See also

Parameters

_MaxCANSendFrames Maximum number of CAN frames that can be buffered in tNMEA2000::CANSendFrameBuf

Definition at line 1853 of file NMEA2000.h.

◆ SetN2kSource()

void tNMEA2000::SetN2kSource	(	unsigned char	_iAddr,
		int	_iDev = `0`
	)

Set source for the given device.

With this function you can set you device source address on the N2k bus. This is meant to be use for multi device on basic configuration to restore source address changed by address claiming.

This function has to be called after tNMEA2000::SetMode() and before tNMEA2000::Open()

See also

Parameters

_iAddr	Address of the device
_iDev	index of the device on Devices

Definition at line 2488 of file NMEA2000.cpp.

◆ SetOnOpen()

void tNMEA2000::SetOnOpen ( void(*)() _OnOpen )

Set OnOpen callback function.

OnOpen will be called, when communication really opens and starts initial address claiming. You can use this to init your message sending to synchronize them with e.g., heartbeat.

Note: In future OnOpen may be called several times, if communication will be reopened by Restart or driver error. Developer must take care that possible memory initializations will be handled properly in case OnOpen is called several times.

Definition at line 2633 of file NMEA2000.cpp.

◆ SetProductInformation() [1/2]

void tNMEA2000::SetProductInformation	(	const char *	_ModelSerialCode,
		unsigned short	_ProductCode = `0xffff`,
		const char *	_ModelID = `0`,
		const char *	_SwCode = `0`,
		const char *	_ModelVersion = `0`,
		unsigned char	_LoadEquivalency = `0xff`,
		unsigned short	_N2kVersion = `0xffff`,
		unsigned char	_CertificationLevel = `0xff`,
		int	iDev = `0`
	)

Set the Product Information of this device.

With this function you define how your device will show up for other devices on NMEA2000 bus.

Define your product information. Defaults will be set on initialization. For keeping defaults use 0xffff/0xff for int/char values and null ptr for pointers. LoadEquivalency is multiplication of 50 mA, what your device will take power from NMEA2000 bus. E.g. for Arduino only it can be 1 (=50mA). If your device does not take power from bus, set this to 0.

If you use device modes tNMEA2000::N2km_ListenOnly, tNMEA2000::N2km_ListenAndSend or N2km_SendOnly, function does not have effect.

Note: Serial code has length of 32 so just long enough to carry GUID.

Parameters

_ModelSerialCode	Default="00000001". Max 32 chars. Manufacturer's Model serial code
_ProductCode	Default=666. Manufacturer's product code. For certified devices this number will be given by NMEA organization.
_ModelID	Default="Arduino N2k->PC". Max 33 chars. Manufacturer's Model ID
_SwCode	Default="1.0.0.0". Max 40 chars. Manufacturer's software version code
_ModelVersion	Default="1.0.0". Max 24 chars. Manufacturer's Model version
_LoadEquivalency	Default=1. x * 50 mA
_N2kVersion	Default=2101
_CertificationLevel	Default=1
iDev	index of the device on Devices

Definition at line 745 of file NMEA2000.cpp.

◆ SetProductInformation() [2/2]

void tNMEA2000::SetProductInformation	(	const tProductInformation *	_ProductInformation,
		int	iDev = `0`
	)

Set the Product Information of this device.

Call this if you want to save RAM and you have defined tProductInformation to PROGMEM as in example BatteryMonitor.ino

Note: I have not yet found a way to test is pointer in PROGMEM or not, so this does not work, if you define tProductInformation to RAM.

Parameters

_ProductInformation	Product information, see tProductInformation
iDev	index of the device on Devices

Definition at line 736 of file NMEA2000.cpp.

◆ SetProgmemConfigurationInformation()

void tNMEA2000::SetProgmemConfigurationInformation	(	const char *	ManufacturerInformation,
		const char *	InstallationDescription1 = `0`,
		const char *	InstallationDescription2 = `0`
	)

Set the Configuration Information located on PROGMEM.

With this function you can set configuration information, which will be saved on device program memory. See example BatteryMonitor.ino.

This function is useful only on MCUs with very small RAM. By using PROGMEM, installation description can not be changed by group function.

As default system has build in configuration information on progmem. If you do not want to have configuration information at all, you can disable it by calling SetConfigurationInformation(0);

Parameters

ManufacturerInformation	Buffer for Manufacturer information
InstallationDescription1	Buffer for Installation Description 1
InstallationDescription2	Buffer for Installation Description 2

Definition at line 802 of file NMEA2000.cpp.

◆ SetSingleFrameMessages()

void tNMEA2000::SetSingleFrameMessages ( const unsigned long * _SingleFrameMessages )

Set the list of known Single Frame Messages.

Call these if you wish to override the default message packets supported. Pointers must be in PROGMEM

const unsigned SingleFrameMessages[] PROGMEM={......L,0};

tNMEA2000::SingleFrameMessages

const unsigned long * SingleFrameMessages[N2kMessageGroups]

Definition: NMEA2000.h:985

As a default library has a list of known messages. With this function user can override default list of single frame messages.

Known single frame message lists has only effect if you limit handling with tNMEA2000::HandleOnlyKnownMessages or use message forwarding and limit it with tNMEA2000::SetForwardOnlyKnownMessages

See also

tNMEA2000::ExtendSingleFrameMessages.

Parameters

_SingleFrameMessages Buffer holding single frame messages

Definition at line 1143 of file NMEA2000.cpp.

◆ StartAddressClaim() [1/2]

void tNMEA2000::StartAddressClaim ( )

protected

Starting the ISO Address Claim for all devices.

Definition at line 2406 of file NMEA2000.cpp.

◆ StartAddressClaim() [2/2]

void tNMEA2000::StartAddressClaim ( int iDev )

protected

Starting the ISO Address Claim for a device.

Parameters

iDev	index of the device on Devices

Definition at line 2393 of file NMEA2000.cpp.

◆ StartSendTPMessage()

bool tNMEA2000::StartSendTPMessage	(	const tN2kMsg &	msg,
		int	iDev
	)

protected

Start sending an ISO-TP message.

Parameters

msg	Reference to a N2kMsg Object
iDev	index of the device on Devices

Return values

true
false

Definition at line 1926 of file NMEA2000.cpp.

◆ TestHandleTPMessage()

bool tNMEA2000::TestHandleTPMessage	(	unsigned long	PGN,
		unsigned char	Source,
		unsigned char	Destination,
		unsigned char	len,
		unsigned char *	buf,
		uint8_t &	MsgIndex
	)

protected

ISO Transport Protocol handlers for multi packet support.

Parameters

PGN	PGN
Source	Source address
Destination	Destination address
len	length of the data payload
buf	pointer to a byte buffer for the
MsgIndex	MsgIndex for N2kCANMsgBuf

Return values

true
false

Definition at line 1786 of file NMEA2000.cpp.

Member Data Documentation

◆ AddressChanged

bool tNMEA2000::AddressChanged

protected

Flag that the address has changed.

Definition at line 970 of file NMEA2000.h.

◆ CANSendFrameBuf

tCANSendFrame* tNMEA2000::CANSendFrameBuf

protected

Buffer for library send out CAN frames.

CANSendFrameBuf is library internal buffer for frames waiting for sending. If CanSendFrame() can not send or buffer frame to driver buffer, frame will be stored to this buffer and its sending will be tried again on next SendMsg() or ParseMessages() call.

Inherited driver class can split size of MaxCANSendFrames to driver buffer and library buffer. Inherited class can even disable library buffer.

InitCANFrameBuffers().

Definition at line 1035 of file NMEA2000.h.

◆ CANSendFrameBufferRead

uint16_t tNMEA2000::CANSendFrameBufferRead

protected

Next write index for the library CAN send frame buffer.

Definition at line 1055 of file NMEA2000.h.

◆ CANSendFrameBufferWrite

uint16_t tNMEA2000::CANSendFrameBufferWrite

protected

Next read index for the library CAN send frame buffer.

Definition at line 1052 of file NMEA2000.h.

◆ ConfigurationInformation

tConfigurationInformation tNMEA2000::ConfigurationInformation

protected

Configuration Information of the device.

Definition at line 983 of file NMEA2000.h.

◆ dbMode

tDebugMode tNMEA2000::dbMode

protected

Attribute that holds the actual Debug Mode (default = md_none)

Definition at line 950 of file NMEA2000.h.

◆ DeviceCount

int tNMEA2000::DeviceCount

protected

Number of devices.

Definition at line 977 of file NMEA2000.h.

◆ DeviceInformationChanged

bool tNMEA2000::DeviceInformationChanged

protected

Flag that the device information has changed.

Definition at line 972 of file NMEA2000.h.

◆ Devices

tInternalDevice* tNMEA2000::Devices

protected

Pointer to a buffer for all internal devices.

Definition at line 975 of file NMEA2000.h.

◆ FastPacketMessages

const unsigned long* tNMEA2000::FastPacketMessages[N2kMessageGroups]

protected

Definition at line 986 of file NMEA2000.h.

◆ ForwardMode

unsigned int tNMEA2000::ForwardMode

protected

Actual message forward operation mode (default = all messages - also system and own)

Definition at line 959 of file NMEA2000.h.

◆ ForwardStream

N2kStream* tNMEA2000::ForwardStream

protected

Actual stream to be used for forward messaging.

Definition at line 961 of file NMEA2000.h.

◆ ForwardType

tForwardType tNMEA2000::ForwardType

protected

Actual message forward type (default = fwdt_Actisense)

Definition at line 956 of file NMEA2000.h.

◆ FwdModeBit_EnableForward

const int tNMEA2000::FwdModeBit_EnableForward = BIT(0)

staticprotected

Forward mode bit: -> If set, forward is enabled.

Definition at line 936 of file NMEA2000.h.

◆ FwdModeBit_OnlyKnownMessages

const int tNMEA2000::FwdModeBit_OnlyKnownMessages = BIT(2)

staticprotected

Forward mode bit: -> Only known messages will be forwarded. System messages will be forwarded according its own bit.

Definition at line 941 of file NMEA2000.h.

◆ FwdModeBit_OwnMessages

const int tNMEA2000::FwdModeBit_OwnMessages = BIT(3)

staticprotected

Forward mode bit: -> Forward also all messages, what this device will send.

Definition at line 944 of file NMEA2000.h.

◆ FwdModeBit_SystemMessages

const int tNMEA2000::FwdModeBit_SystemMessages = BIT(1)

staticprotected

Forward mode bit: -> System messages will be forwarded.

Definition at line 938 of file NMEA2000.h.

◆ HandleModeBit_OnlyKnownMessages

const int tNMEA2000::HandleModeBit_OnlyKnownMessages = BIT(4)

staticprotected

Forward mode bit: -> Only known messages will be handled.

Definition at line 946 of file NMEA2000.h.

◆ InstallationDescriptionChanged

bool tNMEA2000::InstallationDescriptionChanged

protected

Flag the Installation description has changed.

Definition at line 1746 of file NMEA2000.h.

◆ ISORqstHandler

bool(* tNMEA2000::ISORqstHandler) (unsigned long RequestedPGN, unsigned char Requester, int DeviceIndex)

protected

Handler callbacks for 'ISORequest' messages.

Definition at line 1079 of file NMEA2000.h.

◆ LocalConfigurationInformationData

char* tNMEA2000::LocalConfigurationInformationData

protected

Pointer to a buffer for local Configuration Information.

Definition at line 981 of file NMEA2000.h.

◆ MaxCANReceiveFrames

uint16_t tNMEA2000::MaxCANReceiveFrames

protected

Max number received CAN messages that can go to the buffer.

See also

Definition at line 1061 of file NMEA2000.h.

◆ MaxCANSendFrames

uint16_t tNMEA2000::MaxCANSendFrames

protected

Size of CANSendFrameBuf or before initialization requested total frame buffering size.

Member has two function. On setup program can request tNMEA2000::SetN2kCANSendFrameBufSize, which will be saved to this member. Inherited tNMEA2000::InitCANFrameBuffers can split size to driver buffer and library buffer.

See also

Definition at line 1049 of file NMEA2000.h.

◆ MaxN2kCANMsgs

uint8_t tNMEA2000::MaxN2kCANMsgs

protected

Size of N2kCANMsgBuf receiving message buffer.

See also

Definition at line 1021 of file NMEA2000.h.

◆ MsgHandler

void(* tNMEA2000::MsgHandler) (const tN2kMsg &N2kMsg)

protected

Handler callbacks for normal messages.

Definition at line 1077 of file NMEA2000.h.

◆ MsgHandlers

tMsgHandler* tNMEA2000::MsgHandlers

protected

Pointer to a buffer for Message Handlers.

Definition at line 963 of file NMEA2000.h.

◆ N2kCANMsgBuf

tN2kCANMsg* tNMEA2000::N2kCANMsgBuf

protected

Buffer for receiving messages.

See also

Definition at line 1015 of file NMEA2000.h.

◆ N2kMode

tN2kMode tNMEA2000::N2kMode

protected

Actual operation mode of this device (default = N2km_ListenOnly)

Definition at line 954 of file NMEA2000.h.

◆ OnOpen

void(* tNMEA2000::OnOpen) ()

protected

Callback function, which will be called when library start bus communication.

OnOpen Will be called when library starts bus communication. At open library first starts address claiming and after it has been accepted, other communication can start. OnOpen can be used e.g., for message timing synchronization so that every time device starts messages will have same sent offset. See also SetOnOpen().

Note: In future OnOpen may be called several times, if communication will be reopened by Restart or driver error. Developer must take care that possible memory initializations will be handled properly in case OnOpen is called several times.

Definition at line 1074 of file NMEA2000.h.

◆ OpenScheduler

tN2kScheduler tNMEA2000::OpenScheduler

protected

Open the Scheduler

Definition at line 966 of file NMEA2000.h.

◆ OpenState

tOpenState tNMEA2000::OpenState

protected

State of the ....

Definition at line 968 of file NMEA2000.h.

◆ pGroupFunctionHandlers

tN2kGroupFunctionHandler* tNMEA2000::pGroupFunctionHandlers

protected

Pointer to Buffer for GRoup Function Handlers.

Definition at line 1083 of file NMEA2000.h.

◆ SingleFrameMessages

const unsigned long* tNMEA2000::SingleFrameMessages[N2kMessageGroups]

protected

Definition at line 985 of file NMEA2000.h.

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

Classes

Public Types

Public Member Functions

Static Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Static Protected Attributes

Detailed Description

Member Enumeration Documentation

◆ tDebugMode

◆ tForwardType

◆ tN2kMode

◆ tOpenState

Constructor & Destructor Documentation

◆ tNMEA2000()

Member Function Documentation

◆ AddGroupFunctionHandler()

◆ AttachMsgHandler()

◆ CANGetFrame()

◆ CANOpen()

◆ CANSendFrame()

◆ CheckKnownMessage()

◆ ClearCharBuf()

◆ ClearSetCharBuf()

◆ CopyProgmemConfigurationInformationToLocal()

◆ DetachMsgHandler()

◆ EnableForward()

◆ EndSendTPMessage()

◆ ExtendFastPacketMessages()

◆ ExtendReceiveMessages()

◆ ExtendSingleFrameMessages()

◆ ExtendTransmitMessages()

◆ FindFreeCANMsgIndex()

◆ FindSourceDeviceIndex()

◆ ForwardEnabled()

◆ ForwardMessage() [1/2]

◆ ForwardMessage() [2/2]

◆ ForwardOnlyKnownMessages()

◆ ForwardOwnMessages()

◆ ForwardSystemMessages()

◆ GetCertificationLevel()

◆ GetDeviceInformation()

◆ GetFastPacketTxPGNCount()

◆ GetForwardStream()

◆ GetHeartbeatInterval()

◆ GetHeartbeatOffset()

◆ GetInstallationDescription1()

◆ GetInstallationDescription2()

◆ GetLoadEquivalency()

◆ GetManufacturerInformation()

◆ GetModelID()

◆ GetModelSerialCode()

◆ GetModelVersion()

◆ GetN2kSource()

◆ GetN2kVersion()

◆ GetNextAddress()

◆ GetNextFreeCANSendFrame()

◆ GetProductCode()

◆ GetProductInformation()

◆ GetSequenceCounter()

◆ GetSwCode()

◆ HandleCommandedAddress() [1/2]

◆ HandleCommandedAddress() [2/2]

◆ HandleGroupFunction()

◆ HandleISOAddressClaim()

◆ HandleISORequest()

◆ HandleOnlyKnownMessages()

◆ HandleReceivedMessage()

◆ HandleReceivedSystemMessage()

◆ HasAllTPDTSent()

◆ InitCANFrameBuffers()

◆ InitDevices()

◆ IsActiveNode()

◆ IsAddressClaimStarted()

◆ IsBroadcast()

◆ IsFastPacket()

◆ IsFastPacketPGN()

◆ IsInitialized()

◆ IsMySource()