Classes
struct	modm::sab::Action
	Possible Action More...

struct	modm::sab::Callable
	Base-class for every object which should be used inside a callback More...

class	modm::sab::Interface< Device >
	SAB interface More...

class	modm::sab::Master< Interface >

class	modm::sab::Response
	Response object for an action call More...

class	modm::sab::Slave< Interface >
	SAB Slave More...

Macros
#define	SAB_ACTION(command, object, function, length)
	Define a sab::Action. More...

Enums
enum	modm::sab::Error { modm::sab::ERROR_GENERAL_ERROR = 0x00, modm::sab::ERROR_NO_ACTION = 0x01, modm::sab::ERROR_WRONG_PAYLOAD_LENGTH = 0x02, modm::sab::ERROR_NO_RESPONSE = 0x03 }
	Error code. More...

enum	modm::sab::Flags { REQUEST = 0x00, ACK = 0xc0, NACK = 0x80 }
	Flags.

Variables
const uint8_t	modm::sab::maxPayloadLength = 32
	Maximum length for the payload.

Detailed Description

lbuild module: modm:communication:sab

The SAB (**S**ensor **A**ctuator **B**us) is a simple master-slave bus system. It is primarily used to query simple sensors and control actuators inside our robots.

One master can communicate with up to 32 slaves. The slaves are only allowed to transmit after a direct request by the master. They may signal an event by an extra IO line, but this depends on the slave.

Protocol

Features:

Baudrate is 115200 Baud.
Maximum payload length is 32 byte.
CRC8 (1-Wire)

Structure

+------+--------+--------+---------+--------------+-----+
| SYNC | LENGTH | HEADER | COMMAND | ... DATA ... | CRC |
+------+--------+--------+---------+--------------+-----+

SYNC - Synchronization byte (always 0x54)
LENGTH - Length of the payload (without header, command and CRC byte)
HEADER - Address of the slave and two flag bits
COMMAND - Command code
DATA - Up to 32 byte of payload
CRC - CRC-8 checksum (iButton)

Header

  7   6   5   4   3   2   1   0
+---+---+---+---+---+---+---+---+
| Flags |      ADDRESS          |
+---+---+---+---+---+---+---+---+
 
  Flags | Meaning
--------+---------
  0   0 | request by the master
  0   1 | reserved
  1   0 | negative response from the slave (NACK)
  1   1 | positive response from the slave (ACK)

The second bit is always false when the master is transmitting. In the other direction, when the slaves are responding, the second bit has to following meaning:

true - Message is an positive response and may contain a payload
false - Message signals an error condition and carries only one byte of payload. This byte is an error code.

Electrical characteristics

Between different boards CAN transceivers are used. Compared to RS485 the CAN transceivers have the advantage to work without a separate direction input. You can just connected the transceiver directly to the UART of your microcontroller.

Within a single PCB, standard digital levels are used (either 0-3,3V or 0-5V) in a multi-drop configuration. Meaning it does not allow multiple drivers but multiple receivers. The idle state of a UART transmission line is high, so standard TTL-AND gates have to be used for bundling transmission lines from multiple slaves.

Both approaches can be combined to reduce the number of needed CAN transceivers on a single board. Between two boards you should always use transceivers and therefore differential signaling to improve noise immunity.

The signal lines to indicate events by the slave are strict optional, you may or may not use them (if the slave provides them).

Macro Definition Documentation

#define SAB_ACTION

Define a sab::Action.

Example:

class Sensor : public modm::sab::Callable
{
public:
    void
    sendValue(modm::sab::Response& response)
    {
        response.send(this->value);
    }
 
    void
    doSomething(modm::sab::Response& response, const uint32_t* parameter)
    {
        // ... do something useful ...
 
        response.send();
    }
 
    // ...
 
private:
    int8_t value;
};
 
Sensor sensor;
 
FLASH_STORAGE(modm::sab::Action actionList[]) =
{
    SAB_ACTION(0x57, sensor, Sensor::sendValue,   0),
    SAB_ACTION(0x03, sensor, Sensor::doSomething, sizeof(uint32_t)),
};

A complete example is available in the example/sab folder.

Parameters

command	Command byte
object
function	Member function of object
length	Parameter size in bytes

See also: modm::sab::Action

Enumeration Type Documentation

enum modm::sab::Error

Error code.

Error codes below 0x20 are reserved for the system. Every other code may be used by user.

Enum Values	Documentation
ERROR_GENERAL_ERROR	Universal error code. Use this code if you're not sure what error to signal. If the user should react to the error code, create a specific one for the given problem.
ERROR_NO_ACTION	No corresponding action found for this command.
ERROR_WRONG_PAYLOAD_LENGTH	Unexpected payload length. The payload length of the received message differs from the expected length for the given command.
ERROR_NO_RESPONSE	No response given by the user. This error code is generated when no response method is called by the user during an action callback.

Classes

Macros

Enums