235 lines
6.5 KiB
C
235 lines
6.5 KiB
C
/**
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* @author Rémi Heredero
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* @version 1.0.0
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* @date August 2023
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* @file can_message.c
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*/
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#include "can_message.h"
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#include "car.h"
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#include "../app/factory/factory.h"
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#include "../middleware/can_interface.h"
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typedef union {
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struct {
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uint8_t byte0;
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uint8_t byte1;
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uint8_t byte2;
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uint8_t byte3;
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} separate;
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struct {
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uint32_t bytes;
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} full;
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} BYTES_4;
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void CM_processIncome(uint8_t idSender, uint8_t idMsg, uint32_t data){
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switch(idSender){
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/*********************
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* BROADCAST / DEBUG *
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*********************/
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case 0:
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if(idMsg == 0x0) { // CONTROL_SETUP
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// steeringMode - - controlAliveTime
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BYTES_4 tmpData;
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tmpData.full.bytes = data;
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CAR_CST.CONTROL_STEERING_MODE = tmpData.separate.byte0;
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CAR_CST.CONTROL_ALIVE_TIME = tmpData.separate.byte3;
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MEM_write_1_byte(MEMADD_CONTROL_STEERING_MODE, CAR_CST.CONTROL_STEERING_MODE);
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MEM_write_1_byte(MEMADD_CONTROL_ALIVE_TIME, CAR_CST.CONTROL_ALIVE_TIME);
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ALIVE_setAliveTime(ALcontroller(), CAR_CST.CONTROL_ALIVE_TIME);
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}
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if(idMsg == 0x1) { // CONTROL_SPEED_FACTOR
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// valHH valH valL valLL
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}
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if(idMsg == 0x2) { // CONTROL_POWER_FACTOR
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// valHH valH valL valLL
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}
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if(idMsg == 0x3) { // CONTROL_STEERING_FACTOR
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// valHH valH valL valLL
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}
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if(idMsg == 0x4) { // CONTROL_SECURITY_PARAM
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// maxSpeedFw maxSpeedBw - -
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}
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if(idMsg == 0x5) { // CONTROL_SETUP_PARAM
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// displayAliveTime steeringAliveTime - -
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}
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if(idMsg == 0x6) { // CONTROL_SETUP_PARAM_JOY
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// joystickMode joystickParam1 joystickParam2 joystickAliveTime
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BYTES_4 tmpData;
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tmpData.full.bytes = data;
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CAR_CST.JOYSTICK_MODE = tmpData.separate.byte0;
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CAR_CST.JOYSTICK_PARAM1 = tmpData.separate.byte1;
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CAR_CST.JOYSTICK_PARAM2 = tmpData.separate.byte2;
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CAR_CST.JOYSTICK_ALIVE_TIME = tmpData.separate.byte3;
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MEM_write_1_byte(MEMADD_JOYSTICK_MODE, CAR_CST.JOYSTICK_MODE);
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MEM_write_1_byte(MEMADD_JOYSTICK_PARAM1, CAR_CST.JOYSTICK_PARAM1);
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MEM_write_1_byte(MEMADD_JOYSTICK_PARAM2, CAR_CST.JOYSTICK_PARAM2);
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MEM_write_1_byte(MEMADD_JOYSTICK_ALIVE_TIME, CAR_CST.JOYSTICK_ALIVE_TIME);
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ALIVE_setAliveTime(ALjoy(), CAR_CST.JOYSTICK_ALIVE_TIME);
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CM_JOY_SETUP(NULL);
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}
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if(idMsg == 0x7) { // CONTROL_SETUP_PARAM_DRIVE
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// driveAliveTime driveSpeedTime driveStopTime -
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}
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if(idMsg == 0x8) { // CONTROL_SETUP_PARAM_BATTERY
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// batteryVoltTime batteryCurrentTime batteryEnergyTime batteryAliveTime
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}
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break;
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/************
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* JOYSTICK *
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************/
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case 2:
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if(idMsg == 0x1) { // JOY_MESURE
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// posX posY button -
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}
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if(idMsg == 0xF) { // JOY_ALIVE
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// - - - -
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ALIVE_ISALIVE(ALjoy());
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if(ALjoy()->state == STAL_DEAD){
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CAR_CST.JOYSTICK_MODE = MEM_read_1_byte(MEMADD_JOYSTICK_MODE);
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CAR_CST.JOYSTICK_PARAM1 = MEM_read_1_byte(MEMADD_JOYSTICK_PARAM1);
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CAR_CST.JOYSTICK_PARAM2 = MEM_read_1_byte(MEMADD_JOYSTICK_PARAM2);
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CAR_CST.JOYSTICK_ALIVE_TIME = MEM_read_1_byte(MEMADD_JOYSTICK_ALIVE_TIME);
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ALIVE_setAliveTime(ALjoy(), CAR_CST.JOYSTICK_ALIVE_TIME);
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ALIVE_emitBorn(ALjoy(), 0, 0);
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ALIVE_emitReady(ALjoy(), 100, 0);
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}
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}
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break;
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/***********
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* DISPLAY *
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***********/
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case 3:
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if(idMsg == 0xF) { // DISPLAY_ALIVE
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// powerMode - - -
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}
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break;
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/*********
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* DRIVE *
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*********/
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case 4:
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if(idMsg == 0x0) { // DRIVE_SPEED
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// speedHH speedH speedL speedLL
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}
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if(idMsg == 0xF) { // DRIVE_ALIVE
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// statusH statusL - -
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}
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break;
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/************
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* STEERING *
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************/
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case 5:
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if(idMsg == 0x1) { // STEERING_GET_CENTER
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// valHH valH valL valLL
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}
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if(idMsg == 0x2) { // STEERING_GET_POSITION
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// valHH valH valL valLL
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}
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if(idMsg == 0xF) { // STEERING_ALIVE
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// statusH statusL - -
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}
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break;
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/**********
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* SUPPLY *
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**********/
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case 6:
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if(idMsg == 0xF) { // BATTERY_ALIVE
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// - - - -
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}
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break;
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/*************
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* UNDEFINED *
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*************/
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case 7:
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break;
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}
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}
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void CM_CONTROLLER_ALIVE(void* p) {
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CAN_Send(0x0, 0xF, 0);
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}
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void CM_JOY_SETUP(void* p) {
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BYTES_4 joy;
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joy.separate.byte0 = CAR_CST.JOYSTICK_MODE;
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joy.separate.byte1 = CAR_CST.JOYSTICK_PARAM1;
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joy.separate.byte2 = CAR_CST.JOYSTICK_PARAM2;
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joy.separate.byte3 = CAR_CST.JOYSTICK_ALIVE_TIME;
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CAN_Send(2, 0, joy.full.bytes);
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}
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void CM_DISPLAY_SETUP(void* p) {
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}
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void CM_DISPLAY_SPEED(void* p) {
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}
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void CM_DISPLAY_DIRECTION(void* p) {
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}
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void CM_DRIVE_SETUP(void* p) {
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}
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void CM_DRIVE_POWER(void* p) {
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}
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void CM_STEERING_SETUP(void* p) {
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}
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void CM_STEERING_SET(void* p) {
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}
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void CM_SETUP_CONTROL(void* p) {
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}
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