Klagarge/SummerSchool2-Controller
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WIP can sender - template done

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This commit is contained in:
Rémi Heredero
2023-08-23 07:29:12 +02:00
parent d5c30dfea4
commit ff9137a026
4 changed files with 85 additions and 65 deletions
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52
306-controller_interface.X/middleware/can/can_sender.c
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@@ -7,34 +7,56 @@
#include "can_sender.h"
void CAN_SENDER_init(CAN_SENDER* me){
void CANSENDER_init(CANSENDER* me){
me->state = STCS_INIT;
me->sendingTime = 1;
me->wait.f = NULL;
me->send.f = NULL;
}
void CAN_SENDER_startBehaviour(CAN_SENDER* me){
POST(me, &CAN_SENDER_processEvent, evCSinit, 0, 0);
void CANSENDER_startBehaviour(CANSENDER* me){
POST(me, &CANSENDER_processEvent, evCSinit, 0, 0);
}
bool CAN_SENDER_processEvent(Event* ev) {
bool CANSENDER_processEvent(Event* ev) {
bool processed = false;
CAN_SENDER* me = (CAN_SENDER*)Event_getTarget(ev);
CAN_SENDER_STATES oldState = me->state;
CANSENDER* me = (CANSENDER*)Event_getTarget(ev);
CANSENDER_STATES oldState = me->state;
evIDT evid = Event_getId(ev);
uint64_t data = Event_getData(ev);
switch (me->state) { // onState
case STCS_INIT:
if (ev->id == evCSinit) {
CANSENDER.state = STCS_WAIT;
}
break;
case STCS_WAIT:
if (ev->id == evCSsend) {
CANSENDER.state = STCS_SEND;
}
break;
case STCS_SEND:
if (ev->id == evCSdone) {
CANSENDER.state = STCS_WAIT;
}
uCAN_MSG canMsg;
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);
CANSENDER_emitDone(me, 0);
break;
}
@@ -76,12 +98,12 @@ bool CAN_SENDER_processEvent(Event* ev) {
* Callbacks *
*************/
void CAN_SENDER_onWait(CAN_SENDER* me, CAN_SENDER_CALLBACK_FUNCTION f, void* p) {
void CANSENDER_onWait(CANSENDER* me, CANSENDER_CALLBACK_FUNCTION f, void* p) {
me->wait.f = f;
me->wait.p = p;
}
void CAN_SENDER_onSend(CAN_SENDER* me, CAN_SENDER_CALLBACK_FUNCTION f, void* p) {
void CANSENDER_onSend(CANSENDER* me, CANSENDER_CALLBACK_FUNCTION f, void* p) {
me->send.f = f;
me->send.p = p;
}
@@ -90,18 +112,20 @@ void CAN_SENDER_onSend(CAN_SENDER* me, CAN_SENDER_CALLBACK_FUNCTION f, void* p)
* EMITTERS *
************/
void CAN_SENDER_emitSend(CAN_SENDER* me, uint16_t t) {
POST(me, &CAN_SENDER_processEvent, evCSsend, t, 0);
void CANSENDER_emitSend(CANSENDER* me, uint16_t t) {
POST(me, &CANSENDER_processEvent, evCSsend, t, 0);
}
void CAN_SENDER_emitDone(CAN_SENDER* me, uint16_t t) {
POST(me, &CAN_SENDER_processEvent, evCSdone, t, 0);
void CANSENDER_emitDone(CANSENDER* me, uint16_t t) {
POST(me, &CANSENDER_processEvent, evCSdone, t, 0);
}
CANSENDER_sendCanMsg(CANSENDER* me, uint8_t id, uint32_t data)
/***********
* SETTERS *
***********/
void CAN_SENDER_setSendingTime(CAN_SENDER* me, uint8_t v) {
void CANSENDER_setSendingTime(CANSENDER* me, uint8_t v) {
me->sendingTime = v;
}