finish devleop can interface not yet tested

2023-08-23 13:45:34 +02:00
parent ff9137a026
commit 21f9cb7f62
23 changed files with 927 additions and 1144 deletions
--- a/306-controller_interface.X/middleware/can_interface.c
+++ b/306-controller_interface.X/middleware/can_interface.c
@@ -0,0 +1,127 @@
+/**
+ * @author R<>mi Heredero
+ * @version 1.0.0
+ * @date August 2023
+ * @file can_interface.c
+ */
+
+#include "can_interface.h"
+
+void CAN_init(){
+    CAN_myself.receiveCan = NULL;
+    CAN_myself.sender = 0;
+}
+
+void CAN_startBehaviour(){
+    POST(&CAN_myself, &CAN_processEvent, evCAinit, 0, 0);
+}
+
+bool CAN_processEvent(Event* ev) {
+    bool processed = false;
+    CAN* me = (CAN*)Event_getTarget(ev);
+    CAN_STATES oldState = me->state;
+    evIDT evid = Event_getId(ev);
+    
+    uint64_t data = Event_getData(ev);
+    
+        
+    switch (me->state) {        // onState
+        case STCA_INIT:
+            if (ev->id == evCAinit) {
+                me->state = STCA_PROCESS;
+            }
+            break;
+        
+        case STCA_PROCESS:
+            
+            // New message arrive
+            if (ev->id == evCAnewMsg) {
+                if (me->receiveCan != NULL) {
+                    uint32_t canData = (uint32_t) data;
+                    data = data>>32;
+                    uint8_t idMsg = (uint8_t) data;
+                    data = data>>4;
+                    uint8_t idRecipient = (uint8_t) data;
+                    data = data>>4;
+                    uint8_t idSender = (uint8_t) data;
+                    me->receiveCan(idSender, idMsg, canData);
+                }
+            }
+            
+            // Send a message
+            if (ev->id == evCAsend) {
+                uCAN_MSG canMsg;
+                canMsg.frame.idType = 0;    // I don't understand what is it
+                canMsg.frame.dlc = 8;       // 8 bytes to send
+                canMsg.frame.rtr = 0;       // no remote frame
+                canMsg.frame.data0 = (uint8_t) data;
+                data = data >> 8;
+                canMsg.frame.data1 = (uint8_t) data;
+                data = data >> 8;
+                canMsg.frame.data2 = (uint8_t) data;
+                data = data >> 8;
+                canMsg.frame.data3 = (uint8_t) data;
+                data = data >> 8;
+                canMsg.frame.id = (uint32_t) data;
+                CAN_transmit(&canMsg);
+            }
+            break;
+    }
+
+    if(oldState != me->state){
+        switch (oldState) {     // onExit
+            case STCA_INIT:
+                break;
+            
+            case STCA_PROCESS:
+                break;
+        }
+
+        switch (me->state) {    // onEntry
+            case STCA_INIT:
+                break;
+            
+            case STCA_PROCESS:
+                break;
+        }
+
+        processed = true;
+    }
+    return processed;
+}
+
+/*************
+ * Callbacks *
+ *************/
+
+void CAN_onReceiveCan(CAN_CALLBACK f) {
+    CAN_myself.receiveCan = f;
+}
+
+/************
+ * EMITTERS *
+ ************/
+
+void CAN_newMsg() {
+    uint64_t data;
+    uCAN_MSG canMsg;
+    CAN_receive(&canMsg);
+    data = canMsg.frame.id;
+    data = data<<32;
+    data = canMsg.frame.data0;
+    data = data<<8;
+    data = canMsg.frame.data1;
+    data = data<<8;
+    data = canMsg.frame.data2;
+    data = data<<8;
+    data = canMsg.frame.data3;
+    POST(&CAN_myself, &CAN_processEvent, evCAnewMsg, 0, data);
+}
+
+void CAN_Send(uint8_t idRecipient, uint8_t idMsg, uint32_t data) {
+    uint64_t tmpData = CAN_myself.sender;
+    tmpData = (tmpData<<4) | idRecipient;
+    tmpData = (tmpData<<4) | idMsg;
+    tmpData = (tmpData<<32) | data;
+    POST(&CAN_myself, &CAN_processEvent, evCAsend, 0, tmpData);
+}