Merge branch 'hotfix/CAN-union_dlc_rtr' into develop

306-controller_interface.X/app/can_message.c

@@ -29,7 +29,7 @@ typedef union {
     uint16_t full;
 } BYTES_2;
 
-void CM_processIncome(uint8_t idSender, uint8_t idMsg, uint32_t data){
+void CM_processIncome(uint8_t idSender, uint8_t idMsg, bool rtr, uint32_t data){
     BYTES_4 incomeData;
     incomeData.full = data;
     BYTES_4 revertData;
@@ -59,21 +59,21 @@ void CM_processIncome(uint8_t idSender, uint8_t idMsg, uint32_t data){
             
             if(idMsg == 0x1) { // CONTROL_SPEED_FACTOR
                 //  valHH   valH    valL    valLL
-                KART_CST.CONTROL_SPEED_FACTOR = data;
+                KART_CST.CONTROL_SPEED_FACTOR = revertData.full;
                 MEM_write_4_byte(MEMADD_CONTROL_SPEED_FACTOR, KART_CST.CONTROL_SPEED_FACTOR);
                 
             }
             
             if(idMsg == 0x2) { // CONTROL_POWER_FACTOR
                 //  valHH   valH    valL    valLL
-                KART_CST.CONTROL_POWER_FACTOR = data;
+                KART_CST.CONTROL_POWER_FACTOR = revertData.full;
                 MEM_write_4_byte(MEMADD_CONTROL_POWER_FACTOR, KART_CST.CONTROL_POWER_FACTOR);
                 CAN_Send(0, 5, KART_CST.CONTROL_POWER_FACTOR); 
             }
             
             if(idMsg == 0x3) { // CONTROL_STEERING_FACTOR
                 //  valHH   valH    valL    valLL
-                KART_CST.CONTROL_STEERING_FACTOR = data;
+                KART_CST.CONTROL_STEERING_FACTOR = revertData.full;
                 MEM_write_4_byte(MEMADD_CONTROL_STEERING_FACTOR, KART_CST.CONTROL_STEERING_FACTOR);
                 
             }

306-controller_interface.X/app/can_message.h

@@ -32,7 +32,7 @@ S   R   M
  * @param idMsg is of the message
  * @param data data of the message
  */
-void CM_processIncome(uint8_t idSender, uint8_t idMsg, uint32_t data);
+void CM_processIncome(uint8_t idSender, uint8_t idMsg, bool rtr, uint32_t data);
 
 /**
  * Send alive message from controller

306-controller_interface.X/middleware/can_interface.c

@@ -1,5 +1,5 @@
 /**
- * @author R<>mi Heredero
+ * @author R<>mi Heredero
  * @version 1.0.0
  * @date August 2023
  * @file can_interface.c
@@ -34,9 +34,7 @@ typedef union {
         uint8_t byte2;
         uint8_t byte3;
     } separate;
-    struct {
+    uint32_t full;
-        uint32_t bytes;
-    } full;
 } CAN_4_BYTES;
 
 void CAN_init(){
@@ -55,6 +53,12 @@ bool CAN_processEvent(Event* ev) {
     evIDT evid = Event_getId(ev);
     
     uint64_t data = Event_getData(ev);
+    CAN_4_BYTES tmpData;
+    uCAN_MSG canMsg;
+    uint32_t canData = (uint32_t) data;
+    uint8_t idMsg;
+    uint8_t idRecipient;
+    uint8_t idSender;
     
         
     switch (me->state) {        // onState
@@ -69,26 +73,40 @@ bool CAN_processEvent(Event* ev) {
             // New message arrive
             if (ev->id == evCAnewMsg) {
                 if (me->receiveCan != NULL) {
-                    uint32_t canData = (uint32_t) data;
                     data = data>>32;
 
-                    CAN_4_BYTES tmpData;
+                    tmpData.full = data;
-                    tmpData.full.bytes = data;
+                    idMsg = tmpData.separate.byte0;
-                    uint8_t idMsg = tmpData.separate.byte0;
                     idMsg = idMsg >> 4;
                     idMsg = idMsg & 0xF;
-                    uint8_t idRecipient = tmpData.separate.byte1;
+                    idRecipient = tmpData.separate.byte1;
                     idRecipient = idRecipient & 0xF;
-                    uint8_t idSender = tmpData.separate.byte1;
+                    idSender = tmpData.separate.byte1;
                     idSender = idSender >> 4;
 
-                    me->receiveCan(idSender, idMsg, canData);
+                    me->receiveCan(idSender, idMsg, false, canData);
+                }
+            }
+            
+            if (ev->id == evCAnewRTR) {
+                if (me->receiveCan != NULL) {
+                    data = data>>32;
+
+                    tmpData.full = data;
+                    idMsg = tmpData.separate.byte0;
+                    idMsg = idMsg >> 4;
+                    idMsg = idMsg & 0xF;
+                    idRecipient = tmpData.separate.byte1;
+                    idRecipient = idRecipient & 0xF;
+                    idSender = tmpData.separate.byte1;
+                    idSender = idSender >> 4;
+
+                    me->receiveCan(idSender, idMsg, true, canData);
                 }
             }
             
             // Send a message
-            if (ev->id == evCAsend) {
+            if (ev->id == evCAsend4) {
-                uCAN_MSG canMsg;
                 canMsg.frame.idType = dSTANDARD_CAN_MSG_ID_2_0B;    // standard
                 canMsg.frame.dlc = 4;                               // 4 bytes to send
                 canMsg.frame.rtr = 0;                               // no remote frame
@@ -103,6 +121,70 @@ bool CAN_processEvent(Event* ev) {
                 canMsg.frame.id = (uint32_t) data;
                 CAN_transmit(&canMsg);
             }
+            
+            if (ev->id == evCAsend2) {
+                canMsg.frame.idType = dSTANDARD_CAN_MSG_ID_2_0B;    // standard
+                canMsg.frame.dlc = 2;                               // 4 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);
+            }
+            
+            if (ev->id == evCAsend1) {
+                canMsg.frame.idType = dSTANDARD_CAN_MSG_ID_2_0B;    // standard
+                canMsg.frame.dlc = 1;                               // 4 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);
+            }
+            
+            if (ev->id == evCAsend0) {
+                canMsg.frame.idType = dSTANDARD_CAN_MSG_ID_2_0B;    // standard
+                canMsg.frame.dlc = 0;                               // 4 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);
+            }
+            
+            if (ev->id == evCAsendRTR) {
+                canMsg.frame.idType = dSTANDARD_CAN_MSG_ID_2_0B;    // standard
+                canMsg.frame.dlc = 0;                               // 4 bytes to send
+                canMsg.frame.rtr = 1;                               // 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;
     }
 
@@ -153,7 +235,11 @@ void CAN_newMsg() {
     data = data | canMsg.frame.data1;
     data = data<<8;
     data = data | canMsg.frame.data0;
+    if(canMsg.frame.rtr) {
+        POST(&CAN_myself, &CAN_processEvent, evCAnewRTR, 0, data);
+    } else {
         POST(&CAN_myself, &CAN_processEvent, evCAnewMsg, 0, data);
+    }
 }
 
 void CAN_Send(uint8_t idRecipient, uint8_t idMsg, uint32_t data) {
@@ -161,7 +247,50 @@ void CAN_Send(uint8_t idRecipient, uint8_t idMsg, uint32_t data) {
     tmpData = (tmpData<<4) | idRecipient;
     tmpData = (tmpData<<4) | idMsg;
     tmpData = (tmpData<<32) | data;
-    POST(&CAN_myself, &CAN_processEvent, evCAsend, 0, tmpData);
+    POST(&CAN_myself, &CAN_processEvent, evCAsend4, 0, tmpData);
+}
+
+void CAN_send_4_bytes(uint8_t idRecipient, uint8_t idMsg, uint8_t byte0, uint8_t byte1, uint8_t byte2, uint8_t byte3) {
+    uint64_t tmpData = CAN_myself.sender;
+    tmpData = (tmpData<<4) | idRecipient;
+    tmpData = (tmpData<<4) | idMsg;
+    tmpData = (tmpData<<8) | byte3;
+    tmpData = (tmpData<<8) | byte2;
+    tmpData = (tmpData<<8) | byte1;
+    tmpData = (tmpData<<8) | byte0;
+    POST(&CAN_myself, &CAN_processEvent, evCAsend4, 0, tmpData);
+}
+
+void CAN_send_2_bytes(uint8_t idRecipient, uint8_t idMsg, uint16_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, evCAsend2, 0, tmpData);
+}
+
+void CAN_send_1_byte(uint8_t idRecipient, uint8_t idMsg, uint8_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, evCAsend1, 0, tmpData);
+}
+
+void CAN_send_0_byte(uint8_t idRecipient, uint8_t idMsg) {
+    uint64_t tmpData = CAN_myself.sender;
+    tmpData = (tmpData<<4) | idRecipient;
+    tmpData = (tmpData<<4) | idMsg;
+    tmpData = tmpData<<32;
+    POST(&CAN_myself, &CAN_processEvent, evCAsend0, 0, tmpData);
+}
+
+void CAN_send_rtr(uint8_t idRecipient, uint8_t idMsg) {
+    uint64_t tmpData = CAN_myself.sender;
+    tmpData = (tmpData<<4) | idRecipient;
+    tmpData = (tmpData<<4) | idMsg;
+    tmpData = tmpData<<32;
+    POST(&CAN_myself, &CAN_processEvent, evCAsendRTR, 0, tmpData);
 }
 
 /***********

306-controller_interface.X/middleware/can_interface.h

@@ -17,10 +17,15 @@ typedef enum {
 typedef enum {
     evCAinit = 10,
     evCAnewMsg,
-    evCAsend
+    evCAnewRTR,
+    evCAsend4,
+    evCAsend2,
+    evCAsend1,
+    evCAsend0,
+    evCAsendRTR
 } CAN_EVENTS;
 
-typedef void (*CAN_CALLBACK)(uint8_t, uint8_t, uint32_t);
+typedef void (*CAN_CALLBACK)(uint8_t, uint8_t, bool, uint32_t);
 
 typedef struct {
     CAN_STATES state;
@@ -78,6 +83,12 @@ void CAN_newMsg();
  */
 void CAN_Send(uint8_t idRecipient, uint8_t idMsg, uint32_t data);
 
+void CAN_send_4_bytes(uint8_t idRecipient, uint8_t idMsg, uint8_t byte0, uint8_t byte1, uint8_t byte2, uint8_t byte3);
+void CAN_send_2_bytes(uint8_t idRecipient, uint8_t idMsg, uint16_t data);
+void CAN_send_1_byte(uint8_t idRecipient, uint8_t idMsg, uint8_t data);
+void CAN_send_0_byte(uint8_t idRecipient, uint8_t idMsg);
+void CAN_send_rtr(uint8_t idRecipient, uint8_t idMsg);
+
 /***********
  * SETTERS *
  ***********/