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/app/eeprom.c

@@ -7,6 +7,7 @@
 
 #include "eeprom.h"
 #include "../app/car.h"
+#include "../middleware/can_interface.h"
 
 typedef union {
     struct {
@@ -21,12 +22,12 @@ typedef union {
 
 void MEM_init(){
     uint8_t check = MEM_read_1_byte(0x0);
-    if(check != 0x2A){
+    if(check != 0x42){
         KART_CST.CONTROL_STEERING_MODE   =   0;
         KART_CST.CONTROL_ALIVE_TIME      =   50;
-        KART_CST.CONTROL_SPEED_FACTOR    =   111111;
+        KART_CST.CONTROL_SPEED_FACTOR    =   111111;    //     111'111
-        KART_CST.CONTROL_POWER_FACTOR    =   10000;
+        KART_CST.CONTROL_POWER_FACTOR    =   10000;     //      10'000
-        KART_CST.CONTROL_STEERING_FACTOR =   400000000;
+        KART_CST.CONTROL_STEERING_FACTOR =   400000000; // 400'000'000
         KART_CST.CONTROL_MAX_SPEED_FW    =   50;
         KART_CST.CONTROL_MAX_SPEED_BW    =   25;
         
@@ -74,13 +75,13 @@ void MEM_init(){
         MEM_write_1_byte(MEMADD_BATTERY_ENERGY_TIME, KART_CST.BATTERY_ENERGY_TIME);
         MEM_write_1_byte(MEMADD_BATTERY_ALIVE_TIME, KART_CST.BATTERY_ALIVE_TIME);
         
-        MEM_write_1_byte(0x0, 0x2A);
+        MEM_write_1_byte(0x0, 0x42);
     } else {
         KART_CST.CONTROL_STEERING_MODE = MEM_read_1_byte(MEMADD_CONTROL_STEERING_MODE);
         KART_CST.CONTROL_ALIVE_TIME = MEM_read_1_byte(MEMADD_CONTROL_ALIVE_TIME);
-        KART_CST.CONTROL_SPEED_FACTOR = MEM_read_1_byte(MEMADD_CONTROL_SPEED_FACTOR);
+        KART_CST.CONTROL_SPEED_FACTOR = MEM_read_4_byte(MEMADD_CONTROL_SPEED_FACTOR);
-        KART_CST.CONTROL_POWER_FACTOR = MEM_read_1_byte(MEMADD_CONTROL_POWER_FACTOR);
+        KART_CST.CONTROL_POWER_FACTOR = MEM_read_4_byte(MEMADD_CONTROL_POWER_FACTOR);
-        KART_CST.CONTROL_STEERING_FACTOR = MEM_read_1_byte(MEMADD_CONTROL_STEERING_FACTOR);
+        KART_CST.CONTROL_STEERING_FACTOR = MEM_read_4_byte(MEMADD_CONTROL_STEERING_FACTOR);
         KART_CST.CONTROL_MAX_SPEED_FW = MEM_read_1_byte(MEMADD_CONTROL_MAX_SPEED_FW);
         KART_CST.CONTROL_MAX_SPEED_BW = MEM_read_1_byte(MEMADD_CONTROL_MAX_SPEED_BW);
         
@@ -103,6 +104,7 @@ void MEM_init(){
         KART_CST.BATTERY_ALIVE_TIME = MEM_read_1_byte(MEMADD_BATTERY_ALIVE_TIME);
         
     }
+    CAN_Send(0, 5, KART_CST.CONTROL_POWER_FACTOR); 
 }
 
 void MEM_reset() {

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;
     }
 
@@ -153,15 +235,62 @@ 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) {
     uint64_t tmpData = CAN_myself.sender;
     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 *
  ***********/

306-controller_interface.X/nbproject/configurations.xml

@@ -245,7 +245,7 @@
         <property key="programoptions.preservedataflash" value="false"/>
         <property key="programoptions.preservedataflash.ranges"
                   value="${programoptions.preservedataflash.ranges}"/>
-        <property key="programoptions.preserveeeprom" value="true"/>
+        <property key="programoptions.preserveeeprom" value="false"/>
         <property key="programoptions.preserveeeprom.ranges" value="310000-3103ff"/>
         <property key="programoptions.preserveprogram.ranges" value=""/>
         <property key="programoptions.preserveprogramrange" value="false"/>
@@ -292,7 +292,7 @@
         <property key="programoptions.preservedataflash" value="false"/>
         <property key="programoptions.preservedataflash.ranges"
                   value="${programoptions.preservedataflash.ranges}"/>
-        <property key="programoptions.preserveeeprom" value="true"/>
+        <property key="programoptions.preserveeeprom" value="false"/>
         <property key="programoptions.preserveeeprom.ranges" value="310000-3103ff"/>
         <property key="programoptions.preserveprogram.ranges" value=""/>
         <property key="programoptions.preserveprogramrange" value="false"/>

busmaster_config.cfx

@@ -366,9 +366,9 @@
         <Bottom>452</Bottom>
       </Window_Position>
       <COLUMN_WIDTH>
-        <MESSAGE_COLUMN>147</MESSAGE_COLUMN>
+        <MESSAGE_COLUMN>94</MESSAGE_COLUMN>
         <Raw_Val_Column>94</Raw_Val_Column>
-        <Physical_Val_Column>139</Physical_Val_Column>
+        <Physical_Val_Column>189</Physical_Val_Column>
         <Signal_Column>94</Signal_Column>
       </COLUMN_WIDTH>
     </CAN_Signal_Watch>
@@ -436,7 +436,7 @@
       </GRAPH_ELEMENT>
       <Window_Position>
         <Visibility>SHOWNORMAL</Visibility>
-        <Window_Position>SHOWNORMAL</Window_Position>
+        <Window_Position>HIDE</Window_Position>
         <Top>291</Top>
         <Left>205</Left>
         <Bottom>957</Bottom>
@@ -567,9 +567,9 @@
       <Interpretation_Window_Position>
         <Visibility>SHOWNORMAL</Visibility>
         <WindowPlacement>RESTORETOMAXIMIZED</WindowPlacement>
-        <Top>173</Top>
+        <Top>179</Top>
         <Left>10</Left>
-        <Bottom>451</Bottom>
+        <Bottom>457</Bottom>
         <Right>359</Right>
       </Interpretation_Window_Position>
     </CAN_Message_Window>
@@ -577,8 +577,8 @@
       <COLUMN>
         <ID/>
         <Order>1</Order>
-        <IsVisible>0</IsVisible>
+        <IsVisible>1</IsVisible>
-        <Width>0</Width>
+        <Width>19</Width>
       </COLUMN>
       <COLUMN>
         <ID>Time</ID>
@@ -650,11 +650,11 @@
         <ID>Data Byte(s)</ID>
         <Order>13</Order>
         <IsVisible>1</IsVisible>
-        <Width>720</Width>
+        <Width>701</Width>
       </COLUMN>
       <IsHex>1</IsHex>
-      <IsAppend>1</IsAppend>
+      <IsAppend>0</IsAppend>
-      <IsInterpret>0</IsInterpret>
+      <IsInterpret>1</IsInterpret>
       <Time_Mode>SYSTEM</Time_Mode>
       <Window_Position>
         <Visibility>SHOWNORMAL</Visibility>
@@ -667,9 +667,9 @@
       <Interpretation_Window_Position>
         <Visibility>SHOWNORMAL</Visibility>
         <WindowPlacement>RESTORETOMAXIMIZED</WindowPlacement>
-        <Top>173</Top>
+        <Top>179</Top>
         <Left>10</Left>
-        <Bottom>451</Bottom>
+        <Bottom>457</Bottom>
         <Right>359</Right>
       </Interpretation_Window_Position>
     </J1939_Message_Window>
@@ -680,8 +680,8 @@
       <COLUMN>
         <ID/>
         <Order>1</Order>
-        <IsVisible>0</IsVisible>
+        <IsVisible>1</IsVisible>
-        <Width>0</Width>
+        <Width>19</Width>
       </COLUMN>
       <COLUMN>
         <ID>Time</ID>
@@ -735,11 +735,11 @@
         <ID>Checksum</ID>
         <Order>10</Order>
         <IsVisible>1</IsVisible>
-        <Width>734</Width>
+        <Width>715</Width>
       </COLUMN>
       <IsHex>1</IsHex>
-      <IsAppend>1</IsAppend>
+      <IsAppend>0</IsAppend>
-      <IsInterpret>0</IsInterpret>
+      <IsInterpret>1</IsInterpret>
       <Time_Mode>SYSTEM</Time_Mode>
       <Window_Position>
         <Visibility>SHOWNORMAL</Visibility>
@@ -752,9 +752,9 @@
       <Interpretation_Window_Position>
         <Visibility>SHOWNORMAL</Visibility>
         <WindowPlacement>RESTORETOMAXIMIZED</WindowPlacement>
-        <Top>173</Top>
+        <Top>179</Top>
         <Left>10</Left>
-        <Bottom>451</Bottom>
+        <Bottom>457</Bottom>
         <Right>359</Right>
       </Interpretation_Window_Position>
     </LIN_Message_Window>
@@ -798,7 +798,7 @@
           <IsExtended>FALSE</IsExtended>
           <IsRtr>FALSE</IsRtr>
           <DLC>4</DLC>
-          <DataBytes>0,0,0,0</DataBytes>
+          <DataBytes>0,0,39,16</DataBytes>
           <Repetion>10</Repetion>
           <Repetition_Enabled>FALSE</Repetition_Enabled>
           <Key_Value>a</Key_Value>