diff --git a/306-controller_interface.X/factory/factory.c b/306-controller_interface.X/factory/factory.c index 600f8bb..d1c1920 100644 --- a/306-controller_interface.X/factory/factory.c +++ b/306-controller_interface.X/factory/factory.c @@ -36,14 +36,23 @@ void Factory_init() Button_initHW(b()); ButtonSM_init(bsm(),b()); BLControl_init(blc()); + + CANINTERFACE_init(); + ; } +void foo(uint32_t a, uint32_t b){ + +} + //connect objects if required -void Factory_build() -{ - ButtonSM_setObserver(bsm(), blc(), &BLControl_onButton); +void Factory_build() { + ButtonSM_setObserver(bsm(), blc(), &BLControl_onButton); + + ECAN_SetRXBnInterruptHandler(CANINTERFACE_newMsg); + CANINTERFACE_onProcessCan(foo); } //start all state machines diff --git a/306-controller_interface.X/factory/factory.h b/306-controller_interface.X/factory/factory.h index 4d630a9..ff0752d 100644 --- a/306-controller_interface.X/factory/factory.h +++ b/306-controller_interface.X/factory/factory.h @@ -11,6 +11,7 @@ #include "../board/button/button.h" #include "../board/button/buttonsm.h" #include "../app/blcontrol.h" +#include "../middleware/can_interface.h" #define BID 1 diff --git a/306-controller_interface.X/mcc_generated_files/ecan.h b/306-controller_interface.X/mcc_generated_files/ecan.h index f619bfa..407ce8b 100644 --- a/306-controller_interface.X/mcc_generated_files/ecan.h +++ b/306-controller_interface.X/mcc_generated_files/ecan.h @@ -70,10 +70,10 @@ typedef union { uint8_t data1; uint8_t data2; uint8_t data3; - uint8_t data4; - uint8_t data5; - uint8_t data6; - uint8_t data7; + uint8_t data4; // uselesss + uint8_t data5; // uselesss + uint8_t data6; // uselesss + uint8_t data7; // uselesss uint8_t rtr; } frame; uint8_t array[15]; diff --git a/306-controller_interface.X/middleware/can_interface.c b/306-controller_interface.X/middleware/can_interface.c new file mode 100644 index 0000000..65fa2d1 --- /dev/null +++ b/306-controller_interface.X/middleware/can_interface.c @@ -0,0 +1,123 @@ +/** + * @author Rémi Heredero + * @version 1.0.0 + * @date August 2023 + * @file can_interface.c + */ + +#include "can_interface.h" + +void CANINTERFACE_init(){ + CANINTERFACE_myself.wait.f = NULL; + CANINTERFACE_myself.read.f = NULL; + CANINTERFACE_myself.processCan = NULL; +} + +void CANINTERFACE_startBehaviour(){ + POST(&CANINTERFACE_myself, &CANINTERFACE_processEvent, evCAinit, 0, 0); +} + +void CANINTERFACE_newMsg() { + uint64_t data; + uCAN_MSG canMsg; + CAN_receive(&canMsg); + data = canMsg.frame.id; + data = data<<32; + data = canMsg.frame.data0; + data = data<<8; + data = canMsg.frame.data1; + data = data<<8; + data = canMsg.frame.data2; + data = data<<8; + data = canMsg.frame.data3; + POST(&CANINTERFACE_myself, &CANINTERFACE_processEvent, evCAinit, 0, data); +} + +bool CANINTERFACE_processEvent(Event* ev) { + bool processed = false; + CANINTERFACE* me = (CANINTERFACE*)Event_getTarget(ev); + CANINTERFACE_STATES oldState = me->state; + evIDT evid = Event_getId(ev); + + uint64_t data = Event_getData(ev); + uint32_t canData = (uint32_t) data; + data = data>>8; + uint32_t canId = (uint32_t) data; + + switch (me->state) { // onState + case STCA_INIT: + if (ev->id == evCAinit) { + + } + break; + + case STCA_WAIT: + break; + + case STCA_READ: + break; + } + + if(oldState != me->state){ + switch (oldState) { // onExit + case STCA_INIT: + break; + + case STCA_WAIT: + break; + + case STCA_READ: + break; + } + + switch (me->state) { // onEntry + case STCA_INIT: + break; + + case STCA_WAIT: + if (me->wait.f != NULL) { + me->wait.f(me->wait.p); + } + break; + + case STCA_READ: + if (me->read.f != NULL) { + me->read.f(me->read.p); + } + + if (me->processCan != NULL) { + me->processCan(canId, canData); + } + break; + } + + processed = true; + } + return processed; +} + +/************* + * Callbacks * + *************/ + +void CANINTERFACE_onWait(CANINTERFACE_CALLBACK_FUNCTION f, void* p) { + CANINTERFACE_myself.wait.f = f; + CANINTERFACE_myself.wait.p = p; +} + +void CANINTERFACE_onRead(CANINTERFACE_CALLBACK_FUNCTION f, void* p) { + CANINTERFACE_myself.read.f = f; + CANINTERFACE_myself.read.p = p; +} + +void CANINTERFACE_onProcessCan(CANINTERFACE_CALLBACK_CAN f) { + CANINTERFACE_myself.processCan = f; +} + +/************ + * EMITTERS * + ************/ + +void CANINTERFACE_emitNewMsg(uint16_t t) { + POST(&CANINTERFACE_myself, &CANINTERFACE_processEvent, evCAnewMsg, t, 0); +} diff --git a/306-controller_interface.X/middleware/can_interface.h b/306-controller_interface.X/middleware/can_interface.h new file mode 100644 index 0000000..fe5281f --- /dev/null +++ b/306-controller_interface.X/middleware/can_interface.h @@ -0,0 +1,101 @@ +/** + * @author Rémi Heredero + * @version 1.0.0 + * @date August 2023 + * @file can_interface.h + */ +#ifndef CANINTERFACE_H +#define CANINTERFACE_H + +#include "../xf/xf.h" + +typedef enum { + STCA_INIT, + STCA_WAIT, + STCA_READ +} CANINTERFACE_STATES; + +typedef enum { + evCAinit = 10, // TODO change this number (< 256) + evCAnewMsg, + evCAdone +} CANINTERFACE_EVENTS; + +typedef void (*CANINTERFACE_CALLBACK_FUNCTION)(void*); +typedef void (*CANINTERFACE_CALLBACK_CAN)(uint32_t, uint32_t); +typedef struct { + CANINTERFACE_CALLBACK_FUNCTION f; // function + void* p; // param(s) +} CANINTERFACE_CALLBACK; + +typedef struct { + CANINTERFACE_STATES state; + CANINTERFACE_CALLBACK wait; + CANINTERFACE_CALLBACK read; + CANINTERFACE_CALLBACK_CAN processCan; +} CANINTERFACE; + +CANINTERFACE CANINTERFACE_myself; + +/** + * Initialize the CANINTERFACE + * @param me the CANINTERFACE itself + */ +void CANINTERFACE_init(); + +/** + * Start the CANINTERFACE state machine + * @param me the CANINTERFACE itself + */ +void CANINTERFACE_startBehaviour(); + +/** + * Handler for receiving new can message during. + * This function is done during interrupt + */ +void CANINTERFACE_newMsg(); + +/** + * Process the event + * @param ev the event to process + * @return true if the event is processed + */ +bool CANINTERFACE_processEvent(Event* ev); + +/************* + * Callbacks * + *************/ + +/** + * Set the callback function to call when the CANINTERFACE is entering state wait + * @param me the CANINTERFACE itself + * @param f the function to call + * @param p the param(s) to pass to the function + */ +void CANINTERFACE_onWait(CANINTERFACE_CALLBACK_FUNCTION f, void* p); + +/** + * Set the callback function to call when the CANINTERFACE is entering state read + * @param me the CANINTERFACE itself + * @param f the function to call + * @param p the param(s) to pass to the function + */ +void CANINTERFACE_onRead(CANINTERFACE_CALLBACK_FUNCTION f, void* p); + +/** + * Set the callback function to call when the CANINTERFACE is entering state read + * @param f the function to call + */ +void CANINTERFACE_onProcessCan(CANINTERFACE_CALLBACK_CAN f); + +/************ + * EMITTERS * + ************/ + +/** + * Emit the NewMsg event + * @param me the CANINTERFACE itself + * @param t time to wait in ms before triggering event + */void CANINTERFACE_emitNewMsg(uint16_t t); + +#endif diff --git a/306-controller_interface.X/nbproject/configurations.xml b/306-controller_interface.X/nbproject/configurations.xml index 4e1f9cf..f88848a 100644 --- a/306-controller_interface.X/nbproject/configurations.xml +++ b/306-controller_interface.X/nbproject/configurations.xml @@ -31,6 +31,7 @@ mcc_generated_files/memory.h + middleware/can_interface.h xf/event.h @@ -72,6 +73,7 @@ mcc_generated_files/memory.c + middleware/can_interface.c xf/event.c @@ -103,7 +105,7 @@ PIC18F26K83 - PICkit3PlatformTool + noID XC8 2.41 3 @@ -169,7 +171,7 @@ - + @@ -219,10 +221,93 @@ - + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/306-controller_interface.X/ss22ep.mc3 b/306-controller_interface.X/ss22ep.mc3 index 25fb154..9f4cf09 100644 --- a/306-controller_interface.X/ss22ep.mc3 +++ b/306-controller_interface.X/ss22ep.mc3 @@ -1948,7 +1948,7 @@ - {"dataArray":[{"DMA Channels":{"data":{"isDisable":"true","options":"--NONE--","text":"DMA CHANNEL1","value":"false"},"id":"DMA Channels_rowCount_0"},"Src Module":{"data":{"isDisable":"true","options":"--NONE--,TMR0,ECAN,MEMORY","text":"--NONE--","value":"--NONE--"},"id":"Src Module_rowCount_0"},"Src Region":{"data":{"isDisable":"true","options":"SFR#disabled,GPR#enabled,Program Flash#enabled,Data EEPROM#enabled","text":"GPR","value":"GPR"},"id":"Src Region_rowCount_0"},"Src SFR":{"Src SFR":{"isDisable":"true","options":"","text":"","value":""},"data":{"isDisable":"true","options":"","text":"","value":""},"id":"Src SFR_rowCount_0"},"Src VarName":{"data":{"isDisable":"true","options":"","text":"SrcVarName0","value":"SrcVarName0"},"Src VarName":{"isDisable":"true","options":"","text":"SrcVarName0","value":"SrcVarName0"},"id":"Src VarName_rowCount_0"},"Src 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Trigger":{"isDisable":"true","options":"AD,ADT,CAN_ERRIF,CAN_IRXIF,CAN_RXB0IF\/FIFOIF,CAN_RXB1IF\/RXBnIF,CAN_TXB0IF,CAN_TXB1IF,CAN_TXB2IF\/TXBnIF,CAN_WAKIF,CCP1,CCP2,CCP3,CCP4,CLC1,CLC2,CLC3,CLC4,CMP1,CMP2,CRC,CSW,CWG1,CWG2,CWG3,DMA1A,DMA1DCNT,DMA1OR,DMA1SCNT,DMA2A,DMA2DCNT,DMA2OR,DMA2SCNT,I2C1,I2C1E,I2C1RX,I2C1TX,I2C2,I2C2E,I2C2RX,I2C2TX,INT0,INT1,INT2,IOC,LVD,NCO,NVM,None,OSF,SCAN,SMT1,SMT1PRA,SMT1PWA,SMT2,SMT2PRA,SMT2PWA,SPI1,SPI1RX,SPI1TX,TMR0,TMR1,TMR1G,TMR2,TMR3,TMR3G,TMR4,TMR5,TMR5G,TMR6,U1,U1E,U1RX,U1TX,U2,U2E,U2RX,U2TX,ZCD","text":"None","value":"None"}}}],"type":"tableDynamicControls","key":"dmaTable"} @@ -11696,11 +11696,11 @@ - IO_RA5 + - IO_RA6 + @@ -11800,11 +11800,11 @@ - input + disabled - output + disabled @@ -14352,7 +14352,7 @@ - 223 + 255 @@ -14720,7 +14720,7 @@ - 191 + 255 @@ -14788,7 +14788,7 @@ - digital + analog @@ -15848,7 +15848,7 @@ - output + input diff --git a/UML/can.uxf b/UML/can.uxf new file mode 100644 index 0000000..3a06625 --- /dev/null +++ b/UML/can.uxf @@ -0,0 +1,134 @@ + + + 15 + + UMLSpecialState + + 465 + 165 + 30 + 30 + + type=initial + + + + UMLState + + 405 + 255 + 150 + 60 + + STCA_WAIT + + + + Relation + + 465 + 180 + 90 + 105 + + lt=-> +evInit + + 10.0;10.0;10.0;50.0 + + + Relation + + 465 + 300 + 180 + 105 + + lt=-> +evCaNewMsg + 10.0;10.0;10.0;50.0 + + + UMLState + + 330 + 375 + 285 + 105 + + STCA_READ +- +-. +/entry: processCan + + + + Relation + + 495 + 270 + 225 + 360 + + lt=-> +m1=[queue empty] + + 10.0;210.0;130.0;210.0;130.0;10.0;40.0;10.0 + + + UMLSpecialState + + 450 + 555 + 60 + 60 + + type=decision + + + + Relation + + 465 + 465 + 45 + 120 + + lt=-> + + 10.0;10.0;10.0;60.0 + + + Relation + + 225 + 390 + 255 + 240 + + lt=-> +m1=[else] + + 150.0;130.0;10.0;130.0;10.0;10.0;70.0;10.0 + + + UMLNote + + 750 + 300 + 615 + 270 + + _*How to use*_ + +*In Factory_build: * +ECAN_SetRXBnInterruptHandler(CANINTERFACE_newMsg); +CANINTERFACE_onProcessCan(&processCan); + +*Somewhere:* +void processCan(uint32_t canId, uint32_t canData) { + ..... +} + + +