Klagarge/SummerSchool2-Controller
Archived
1
0
Fork 0
Code Issues Pull Requests Projects 1 Releases 1 Activity

rework CAN

Browse Source
This commit is contained in:
Rémi Heredero
2023-09-04 08:43:14 +02:00
parent 24f63b261b 448b5e66ad
commit c846a12edb
4 changed files with 159 additions and 17 deletions
Download Patch File Download Diff File Expand all files Collapse all files

151
306-controller_interface.X/middleware/can_interface.c
View File

@@ -1,5 +1,5 @@
/**
* @author R<>mi Heredero
* @author R<>mi Heredero
* @version 1.0.0
* @date August 2023
* @file can_interface.c
@@ -54,6 +54,11 @@ bool CAN_processEvent(Event* 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
@@ -68,25 +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;
tmpData.full = data;
uint8_t idMsg = tmpData.separate.byte0;
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) {
uCAN_MSG canMsg;
if (ev->id == evCAsend4) {
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
@@ -101,6 +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;
}
@@ -151,7 +235,11 @@ void CAN_newMsg() {
data = data | canMsg.frame.data1;
data = data<<8;
data = data | canMsg.frame.data0;
POST(&CAN_myself, &CAN_processEvent, evCAnewMsg, 0, data);
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) {
@@ -159,7 +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);
}
/***********