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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67
306-controller_interface.X/middleware/can/can_sender.h
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@@ -4,8 +4,8 @@
* @date August 2023
* @file can_sender.h
*/
#ifndef CAN_SENDER_H
#define CAN_SENDER_H
#ifndef CANSENDER_H
#define CANSENDER_H
#include "../../xf/xf.h"
@@ -13,65 +13,65 @@ typedef enum {
STCS_INIT,
STCS_WAIT,
STCS_SEND
} CAN_SENDER_STATES;
} CANSENDER_STATES;
typedef enum {
evCSinit = 15, // TODO change this number (< 256)
evCSsend,
evCSdone
} CAN_SENDER_EVENTS;
} CANSENDER_EVENTS;
typedef void (*CAN_SENDER_CALLBACK_FUNCTION)(void*);
typedef void (*CANSENDER_CALLBACK_FUNCTION)(void*);
typedef struct {
CAN_SENDER_CALLBACK_FUNCTION f; // function
CANSENDER_CALLBACK_FUNCTION f; // function
void* p; // param(s)
} CAN_SENDER_CALLBACK;
} CANSENDER_CALLBACK;
typedef struct {
CAN_SENDER_STATES state;
CANSENDER_STATES state;
uint8_t sendingTime;
CAN_SENDER_CALLBACK wait;
CAN_SENDER_CALLBACK send;
} CAN_SENDER;
CANSENDER_CALLBACK wait;
CANSENDER_CALLBACK send;
} CANSENDER;
/**
* Initialize the CAN_SENDER
* @param me the CAN_SENDER itself
* Initialize the CANSENDER
* @param me the CANSENDER itself
*/
void CAN_SENDER_init(CAN_SENDER* me);
void CANSENDER_init(CANSENDER* me);
/**
* Start the CAN_SENDER state machine
* @param me the CAN_SENDER itself
* Start the CANSENDER state machine
* @param me the CANSENDER itself
*/
void CAN_SENDER_startBehaviour(CAN_SENDER* me);
void CANSENDER_startBehaviour(CANSENDER* me);
/**
* Process the event
* @param ev the event to process
* @return true if the event is processed
*/
bool CAN_SENDER_processEvent(Event* ev);
bool CANSENDER_processEvent(Event* ev);
/*************
* Callbacks *
*************/
/**
* Set the callback function to call when the CAN_SENDER is entering state wait
* @param me the CAN_SENDER itself
* Set the callback function to call when the CANSENDER is entering state wait
* @param me the CANSENDER itself
* @param f the function to call
* @param p the param(s) to pass to the function
*/
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);
/**
* Set the callback function to call when the CAN_SENDER is entering state send
* @param me the CAN_SENDER itself
* Set the callback function to call when the CANSENDER is entering state send
* @param me the CANSENDER itself
* @param f the function to call
* @param p the param(s) to pass to the function
*/
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);
/************
* EMITTERS *
@@ -79,18 +79,22 @@ void CAN_SENDER_onSend(CAN_SENDER* me, CAN_SENDER_CALLBACK_FUNCTION f, void* p);
/**
* Emit the send event
* @param me the CAN_SENDER itself
* @param me the CANSENDER itself
* @param t time to wait in ms before triggering event
*/
void CAN_SENDER_emitSend(CAN_SENDER* me, uint16_t t);
void CANSENDER_emitSend(CANSENDER* me, uint16_t t);
/**
* Emit the done event
* @param me the CAN_SENDER itself
* @param me the CANSENDER itself
* @param t time to wait in ms before triggering event
*/
void CAN_SENDER_emitDone(CAN_SENDER* me, uint16_t t);
void CANSENDER_emitDone(CANSENDER* me, uint16_t t);
void CANSENDER_sendCanMsg(CANSENDER* me, uint8_t id, uint32_t data);
void sendCanMsg(uint32_t id, uint32_t data);
/***********
* SETTERS *
***********/
@@ -100,6 +104,9 @@ void CAN_SENDER_emitSend(CAN_SENDER* me, uint16_t t);
* @param me
* @param v
*/
void CAN_SENDER_setSendingTime(CAN_SENDER* me, uint8_t v);
void CANSENDER_setSendingTime(CANSENDER* me, uint8_t v);
void CANSENDER_seSender(CANSENDER* me, uint8_t s);
void CANSENDER_setRecipient(CANSENDER* me, uint8_t r);
#endif