Klagarge/SummerSchool2-Controller
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fix can receive part for SM

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This commit is contained in:
Rémi Heredero
2023-08-22 16:56:01 +02:00
parent 102d4e1992
commit 146fc9011e
3 changed files with 23 additions and 9 deletions
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15
306-controller_interface.X/middleware/can_interface.c → 306-controller_interface.X/middleware/can/can_interface.c
View File

@@ -30,7 +30,7 @@ void CANINTERFACE_newMsg() {
data = canMsg.frame.data2;
data = data<<8;
data = canMsg.frame.data3;
POST(&CANINTERFACE_myself, &CANINTERFACE_processEvent, evCAinit, 0, data);
POST(&CANINTERFACE_myself, &CANINTERFACE_processEvent, evCAnewMsg, 0, data);
}
bool CANINTERFACE_processEvent(Event* ev) {
@@ -47,14 +47,21 @@ bool CANINTERFACE_processEvent(Event* ev) {
switch (me->state) { // onState
case STCA_INIT:
if (ev->id == evCAinit) {
me->state = STCA_WAIT;
}
break;
case STCA_WAIT:
if (ev->id == evCAnewMsg) {
me->state = STCA_READ;
CANINTERFACE_emitDone(0);
}
break;
case STCA_READ:
if (ev->id == evCAdone) {
me->state = STCA_WAIT;
}
break;
}
@@ -121,3 +128,7 @@ void CANINTERFACE_onProcessCan(CANINTERFACE_CALLBACK_CAN f) {
void CANINTERFACE_emitNewMsg(uint16_t t) {
POST(&CANINTERFACE_myself, &CANINTERFACE_processEvent, evCAnewMsg, t, 0);
}
void CANINTERFACE_emitDone(uint16_t t) {
POST(&CANINTERFACE_myself, &CANINTERFACE_processEvent, evCAdone, t, 0);
}

15
306-controller_interface.X/middleware/can_interface.h → 306-controller_interface.X/middleware/can/can_interface.h
View File

@@ -7,7 +7,7 @@
#ifndef CANINTERFACE_H
#define CANINTERFACE_H
#include "../xf/xf.h"
#include "../../xf/xf.h"
typedef enum {
STCA_INIT,
@@ -45,7 +45,6 @@ void CANINTERFACE_init();
/**
* Start the CANINTERFACE state machine
* @param me the CANINTERFACE itself
*/
void CANINTERFACE_startBehaviour();
@@ -68,7 +67,6 @@ bool CANINTERFACE_processEvent(Event* ev);
/**
* Set the callback function to call when the CANINTERFACE is entering state wait
* @param me the CANINTERFACE itself
* @param f the function to call
* @param p the param(s) to pass to the function
*/
@@ -76,7 +74,6 @@ void CANINTERFACE_onWait(CANINTERFACE_CALLBACK_FUNCTION f, void* p);
/**
* Set the callback function to call when the CANINTERFACE is entering state read
* @param me the CANINTERFACE itself
* @param f the function to call
* @param p the param(s) to pass to the function
*/
@@ -94,8 +91,14 @@ void CANINTERFACE_onProcessCan(CANINTERFACE_CALLBACK_CAN f);
/**
* Emit the NewMsg event
* @param me the CANINTERFACE itself
* @param t time to wait in ms before triggering event
*/void CANINTERFACE_emitNewMsg(uint16_t t);
*/
void CANINTERFACE_emitNewMsg(uint16_t t);
/**
* Emit the Done event
* @param t time to wait in ms before triggering event
*/
void CANINTERFACE_emitDone(uint16_t t);
#endif