Klagarge/SummerSchool2-Controller
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implement memory init for EEPROM

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This commit is contained in:
Rémi Heredero
2023-08-28 12:57:16 +02:00
parent 9bd3e9b4da
commit f60b9166ca
6 changed files with 232 additions and 66 deletions
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130
306-controller_interface.X/app/can_message.c
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@@ -6,9 +6,9 @@
*/
#include "can_message.h"
#include "../middleware/can_interface.h"
#include "car.h"
#include "../app/factory/factory.h"
#include "../middleware/can_interface.h"
typedef union {
struct {
@@ -24,40 +24,44 @@ typedef union {
void CM_processIncome(uint8_t idSender, uint8_t idMsg, uint32_t data){
switch(idSender){
case 0: // Broadcast / Debug
/*
S R M
0 1 0 CONTROL_SETUP steeringMode - - controlAliveTime
0 1 1 CONTROL_SPEED_FACTOR valHH valH valL valLL
0 1 2 CONTROL_POWER_FACTOR valHH valH valL valLL
0 1 3 CONTROL_STEERING_FACTOR valHH valH valL valLL
0 1 4 CONTROL_SECURITY_PARAM maxSpeedFw maxSpeedBw - -
0 1 5 CONTROL_SETUP_PARAM displayAliveTime steeringAliveTime
0 1 6 CONTROL_SETUP_PARAM_JOY joystickMode joystickParam1 joystickParam2 joystickAliveTime
0 1 7 CONTROL_SETUP_PARAM_DRIVE driveAliveTime driveSpeedTime driveStopTime
0 1 8 CONTROL_SETUP_PARAM_BATTERY batteryVoltTime batteryCurrentTime batteryEnergyTime batteryAliveTime
*/
/*********************
* BROADCAST / DEBUG *
*********************/
case 0:
if(idMsg == 0x0) { // CONTROL_SETUP
// steeringMode - - controlAliveTime
BYTES_4 tmpData;
tmpData.full.bytes = data;
CAR_CST.CONTROL_STEERING_MODE = tmpData.separate.byte0;
CAR_CST.CONTROL_ALIVE_TIME = tmpData.separate.byte3;
MEM_write_1_byte(MEMADD_CONTROL_STEERING_MODE, CAR_CST.CONTROL_STEERING_MODE);
MEM_write_1_byte(MEMADD_CONTROL_ALIVE_TIME, CAR_CST.CONTROL_ALIVE_TIME);
WATCHDOG_setTime(WDcontroller(), CAR_CST.CONTROL_ALIVE_TIME);
}
if(idMsg == 0x1) { // CONTROL_SPEED_FACTOR
// valHH valH valL valLL
}
if(idMsg == 0x2) { // CONTROL_POWER_FACTOR
// valHH valH valL valLL
}
if(idMsg == 0x3) { // CONTROL_STEERING_FACTOR
// valHH valH valL valLL
}
if(idMsg == 0x4) { // CONTROL_SECURITY_PARAM
// maxSpeedFw maxSpeedBw - -
}
if(idMsg == 0x5) { // CONTROL_SETUP_PARAM
// displayAliveTime steeringAliveTime - -
}
@@ -65,41 +69,50 @@ void CM_processIncome(uint8_t idSender, uint8_t idMsg, uint32_t data){
// joystickMode joystickParam1 joystickParam2 joystickAliveTime
BYTES_4 tmpData;
tmpData.full.bytes = data;
MEM_write_one_byte(MEMADD_JOYSTICK_MODE, tmpData.separate.byte0);
MEM_write_one_byte(MEMADD_JOYSTICK_PARAM1, tmpData.separate.byte1);
MEM_write_one_byte(MEMADD_JOYSTICK_PARAM2, tmpData.separate.byte2);
MEM_write_one_byte(MEMADD_JOYSTICK_ALIVE_TIME, tmpData.separate.byte3);
CAR_CST.JOYSTICK_MODE = MEM_read_one_byte(MEMADD_JOYSTICK_MODE);
CAR_CST.JOYSTICK_PARAM1 = MEM_read_one_byte(MEMADD_JOYSTICK_PARAM1);
CAR_CST.JOYSTICK_PARAM2 = MEM_read_one_byte(MEMADD_JOYSTICK_PARAM2);
CAR_CST.JOYSTICK_ALIVE_TIME = MEM_read_one_byte(MEMADD_JOYSTICK_ALIVE_TIME);
CAR_CST.JOYSTICK_MODE = tmpData.separate.byte0;
CAR_CST.JOYSTICK_PARAM1 = tmpData.separate.byte1;
CAR_CST.JOYSTICK_PARAM2 = tmpData.separate.byte2;
CAR_CST.JOYSTICK_ALIVE_TIME = tmpData.separate.byte3;
MEM_write_1_byte(MEMADD_JOYSTICK_MODE, CAR_CST.JOYSTICK_MODE);
MEM_write_1_byte(MEMADD_JOYSTICK_PARAM1, CAR_CST.JOYSTICK_PARAM1);
MEM_write_1_byte(MEMADD_JOYSTICK_PARAM2, CAR_CST.JOYSTICK_PARAM2);
MEM_write_1_byte(MEMADD_JOYSTICK_ALIVE_TIME, CAR_CST.JOYSTICK_ALIVE_TIME);
ALIVE_CHECKER_setAliveTime(ACjoy(), CAR_CST.JOYSTICK_ALIVE_TIME);
CM_JOY_SETUP(NULL);
}
if(idMsg == 0x7) { // CONTROL_SETUP_PARAM_DRIVE
// driveAliveTime driveSpeedTime driveStopTime -
}
if(idMsg == 0x8) { // CONTROL_SETUP_PARAM_BATTERY
// batteryVoltTime batteryCurrentTime batteryEnergyTime batteryAliveTime
}
break;
case 2: // Joystick
/************
* JOYSTICK *
************/
case 2:
if(idMsg == 0x1) { // JOY_MESURE
// posX posY button -
}
if(idMsg == 0xF) { // JOY_ALIVE
// - - - -
ALIVE_CHECKER_ISALIVE(ACjoy());
if(ACjoy()->state == STAC_DEAD){
CAR_CST.JOYSTICK_MODE = MEM_read_one_byte(MEMADD_JOYSTICK_MODE);
CAR_CST.JOYSTICK_PARAM1 = MEM_read_one_byte(MEMADD_JOYSTICK_PARAM1);
CAR_CST.JOYSTICK_PARAM2 = MEM_read_one_byte(MEMADD_JOYSTICK_PARAM2);
CAR_CST.JOYSTICK_ALIVE_TIME = MEM_read_one_byte(MEMADD_JOYSTICK_ALIVE_TIME);
CAR_CST.JOYSTICK_MODE = MEM_read_1_byte(MEMADD_JOYSTICK_MODE);
CAR_CST.JOYSTICK_PARAM1 = MEM_read_1_byte(MEMADD_JOYSTICK_PARAM1);
CAR_CST.JOYSTICK_PARAM2 = MEM_read_1_byte(MEMADD_JOYSTICK_PARAM2);
CAR_CST.JOYSTICK_ALIVE_TIME = MEM_read_1_byte(MEMADD_JOYSTICK_ALIVE_TIME);
ALIVE_CHECKER_setAliveTime(ACjoy(), CAR_CST.JOYSTICK_ALIVE_TIME);
ALIVE_CHECKER_emitBorn(ACjoy(), 0, 0);
ALIVE_CHECKER_emitReady(ACjoy(), 100, 0);
@@ -107,19 +120,70 @@ void CM_processIncome(uint8_t idSender, uint8_t idMsg, uint32_t data){
}
break;
case 3: // Display
/***********
* DISPLAY *
***********/
case 3:
if(idMsg == 0xF) { // DISPLAY_ALIVE
// powerMode - - -
}
break;
case 4: // Drive
/*********
* DRIVE *
*********/
case 4:
if(idMsg == 0x0) { // DRIVE_SPEED
// speedHH speedH speedL speedLL
}
if(idMsg == 0xF) { // DRIVE_ALIVE
// statusH statusL - -
}
break;
case 5: // Steering
/************
* STEERING *
************/
case 5:
if(idMsg == 0x1) { // STEERING_GET_CENTER
// valHH valH valL valLL
}
if(idMsg == 0x2) { // STEERING_GET_POSITION
// valHH valH valL valLL
}
if(idMsg == 0xF) { // STEERING_ALIVE
// statusH statusL - -
}
break;
case 6: // Supply
/**********
* SUPPLY *
**********/
case 6:
if(idMsg == 0xF) { // BATTERY_ALIVE
// - - - -
}
break;
case 7: // Undefined
/*************
* UNDEFINED *
*************/
case 7:
break;
}
}