can receive part done

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()
+void Factory_build() {
-{
+    ButtonSM_setObserver(bsm(), blc(), &BLControl_onButton);
-    ButtonSM_setObserver(bsm(), blc(), &BLControl_onButton); 
+    
+    ECAN_SetRXBnInterruptHandler(CANINTERFACE_newMsg);
+    CANINTERFACE_onProcessCan(foo);
 }
 
 //start all state machines

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

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 data4;  // uselesss
-        uint8_t data5;
+        uint8_t data5;  // uselesss
-        uint8_t data6;
+        uint8_t data6;  // uselesss
-        uint8_t data7;
+        uint8_t data7;  // uselesss
         uint8_t rtr;
     } frame;
     uint8_t array[15];

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);
+}

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

306-controller_interface.X/nbproject/configurations.xml

@@ -31,6 +31,7 @@
         <itemPath>mcc_generated_files/memory.h</itemPath>
       </logicalFolder>
       <logicalFolder name="middleware" displayName="middleware" projectFiles="true">
+        <itemPath>middleware/can_interface.h</itemPath>
       </logicalFolder>
       <logicalFolder name="xf" displayName="xf" projectFiles="true">
         <itemPath>xf/event.h</itemPath>
@@ -72,6 +73,7 @@
         <itemPath>mcc_generated_files/memory.c</itemPath>
       </logicalFolder>
       <logicalFolder name="middleware" displayName="middleware" projectFiles="true">
+        <itemPath>middleware/can_interface.c</itemPath>
       </logicalFolder>
       <logicalFolder name="xf" displayName="xf" projectFiles="true">
         <itemPath>xf/event.c</itemPath>
@@ -103,7 +105,7 @@
         <targetDevice>PIC18F26K83</targetDevice>
         <targetHeader></targetHeader>
         <targetPluginBoard></targetPluginBoard>
-        <platformTool>PICkit3PlatformTool</platformTool>
+        <platformTool>noID</platformTool>
         <languageToolchain>XC8</languageToolchain>
         <languageToolchainVersion>2.41</languageToolchainVersion>
         <platform>3</platform>
@@ -169,7 +171,7 @@
         <property key="use-cci" value="false"/>
         <property key="use-iar" value="false"/>
         <property key="verbose" value="false"/>
-        <property key="warning-level" value="-3"/>
+        <property key="warning-level" value="3"/>
         <property key="what-to-do" value="ignore"/>
       </HI-TECH-COMP>
       <HI-TECH-LINK>
@@ -219,10 +221,93 @@
         <property key="remove-unused-sections" value="true"/>
       </HI-TECH-LINK>
       <PICkit3PlatformTool>
-        <property key="firmware.download.all" value="false"/>
+        <property key="AutoSelectMemRanges" value="auto"/>
+        <property key="Freeze Peripherals" value="true"/>
+        <property key="SecureSegment.SegmentProgramming" value="FullChipProgramming"/>
+        <property key="ToolFirmwareFilePath"
+                  value="Press to browse for a specific firmware version"/>
+        <property key="ToolFirmwareOption.UseLatestFirmware" value="true"/>
+        <property key="debugoptions.debug-startup" value="Use system settings"/>
+        <property key="debugoptions.reset-behaviour" value="Use system settings"/>
+        <property key="debugoptions.useswbreakpoints" value="false"/>
+        <property key="hwtoolclock.frcindebug" value="false"/>
+        <property key="memories.aux" value="false"/>
+        <property key="memories.bootflash" value="true"/>
+        <property key="memories.configurationmemory" value="true"/>
+        <property key="memories.configurationmemory2" value="true"/>
+        <property key="memories.dataflash" value="true"/>
+        <property key="memories.eeprom" value="true"/>
+        <property key="memories.flashdata" value="true"/>
+        <property key="memories.id" value="true"/>
+        <property key="memories.instruction.ram" value="true"/>
+        <property key="memories.instruction.ram.ranges"
+                  value="${memories.instruction.ram.ranges}"/>
+        <property key="memories.programmemory" value="true"/>
+        <property key="memories.programmemory.ranges" value="0-ffff"/>
+        <property key="poweroptions.powerenable" value="false"/>
+        <property key="programmertogo.imagename" value=""/>
+        <property key="programoptions.donoteraseauxmem" value="false"/>
+        <property key="programoptions.eraseb4program" value="true"/>
+        <property key="programoptions.pgmspeed" value="2"/>
+        <property key="programoptions.preservedataflash" value="false"/>
+        <property key="programoptions.preservedataflash.ranges"
+                  value="${programoptions.preservedataflash.ranges}"/>
+        <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"/>
+        <property key="programoptions.preserveuserid" value="false"/>
+        <property key="programoptions.programcalmem" value="false"/>
+        <property key="programoptions.programuserotp" value="false"/>
+        <property key="programoptions.testmodeentrymethod" value="VDDFirst"/>
+        <property key="programoptions.usehighvoltageonmclr" value="false"/>
+        <property key="programoptions.uselvpprogramming" value="false"/>
+        <property key="voltagevalue" value="5.0"/>
       </PICkit3PlatformTool>
       <Tool>
+        <property key="AutoSelectMemRanges" value="auto"/>
+        <property key="Freeze Peripherals" value="true"/>
+        <property key="SecureSegment.SegmentProgramming" value="FullChipProgramming"/>
+        <property key="ToolFirmwareFilePath"
+                  value="Press to browse for a specific firmware version"/>
+        <property key="ToolFirmwareOption.UseLatestFirmware" value="true"/>
+        <property key="debugoptions.debug-startup" value="Use system settings"/>
+        <property key="debugoptions.reset-behaviour" value="Use system settings"/>
+        <property key="debugoptions.useswbreakpoints" value="false"/>
         <property key="firmware.download.all" value="false"/>
+        <property key="hwtoolclock.frcindebug" value="false"/>
+        <property key="memories.aux" value="false"/>
+        <property key="memories.bootflash" value="true"/>
+        <property key="memories.configurationmemory" value="true"/>
+        <property key="memories.configurationmemory2" value="true"/>
+        <property key="memories.dataflash" value="true"/>
+        <property key="memories.eeprom" value="true"/>
+        <property key="memories.flashdata" value="true"/>
+        <property key="memories.id" value="true"/>
+        <property key="memories.instruction.ram" value="true"/>
+        <property key="memories.instruction.ram.ranges"
+                  value="${memories.instruction.ram.ranges}"/>
+        <property key="memories.programmemory" value="true"/>
+        <property key="memories.programmemory.ranges" value="0-ffff"/>
+        <property key="poweroptions.powerenable" value="false"/>
+        <property key="programmertogo.imagename" value=""/>
+        <property key="programoptions.donoteraseauxmem" value="false"/>
+        <property key="programoptions.eraseb4program" value="true"/>
+        <property key="programoptions.pgmspeed" value="2"/>
+        <property key="programoptions.preservedataflash" value="false"/>
+        <property key="programoptions.preservedataflash.ranges"
+                  value="${programoptions.preservedataflash.ranges}"/>
+        <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"/>
+        <property key="programoptions.preserveuserid" value="false"/>
+        <property key="programoptions.programcalmem" value="false"/>
+        <property key="programoptions.programuserotp" value="false"/>
+        <property key="programoptions.testmodeentrymethod" value="VDDFirst"/>
+        <property key="programoptions.usehighvoltageonmclr" value="false"/>
+        <property key="programoptions.uselvpprogramming" value="false"/>
+        <property key="voltagevalue" value="5.0"/>
       </Tool>
       <XC8-CO>
         <property key="coverage-enable" value=""/>

UML/can.uxf

@@ -0,0 +1,134 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<diagram program="umlet" version="15.0.0">
+  <zoom_level>15</zoom_level>
+  <element>
+    <id>UMLSpecialState</id>
+    <coordinates>
+      <x>465</x>
+      <y>165</y>
+      <w>30</w>
+      <h>30</h>
+    </coordinates>
+    <panel_attributes>type=initial</panel_attributes>
+    <additional_attributes/>
+  </element>
+  <element>
+    <id>UMLState</id>
+    <coordinates>
+      <x>405</x>
+      <y>255</y>
+      <w>150</w>
+      <h>60</h>
+    </coordinates>
+    <panel_attributes>STCA_WAIT</panel_attributes>
+    <additional_attributes/>
+  </element>
+  <element>
+    <id>Relation</id>
+    <coordinates>
+      <x>465</x>
+      <y>180</y>
+      <w>90</w>
+      <h>105</h>
+    </coordinates>
+    <panel_attributes>lt=-&gt;
+evInit
+</panel_attributes>
+    <additional_attributes>10.0;10.0;10.0;50.0</additional_attributes>
+  </element>
+  <element>
+    <id>Relation</id>
+    <coordinates>
+      <x>465</x>
+      <y>300</y>
+      <w>180</w>
+      <h>105</h>
+    </coordinates>
+    <panel_attributes>lt=-&gt;
+evCaNewMsg</panel_attributes>
+    <additional_attributes>10.0;10.0;10.0;50.0</additional_attributes>
+  </element>
+  <element>
+    <id>UMLState</id>
+    <coordinates>
+      <x>330</x>
+      <y>375</y>
+      <w>285</w>
+      <h>105</h>
+    </coordinates>
+    <panel_attributes>STCA_READ
+-
+-.
+/entry: processCan</panel_attributes>
+    <additional_attributes/>
+  </element>
+  <element>
+    <id>Relation</id>
+    <coordinates>
+      <x>495</x>
+      <y>270</y>
+      <w>225</w>
+      <h>360</h>
+    </coordinates>
+    <panel_attributes>lt=-&gt;
+m1=[queue empty]
+</panel_attributes>
+    <additional_attributes>10.0;210.0;130.0;210.0;130.0;10.0;40.0;10.0</additional_attributes>
+  </element>
+  <element>
+    <id>UMLSpecialState</id>
+    <coordinates>
+      <x>450</x>
+      <y>555</y>
+      <w>60</w>
+      <h>60</h>
+    </coordinates>
+    <panel_attributes>type=decision</panel_attributes>
+    <additional_attributes/>
+  </element>
+  <element>
+    <id>Relation</id>
+    <coordinates>
+      <x>465</x>
+      <y>465</y>
+      <w>45</w>
+      <h>120</h>
+    </coordinates>
+    <panel_attributes>lt=-&gt;
+</panel_attributes>
+    <additional_attributes>10.0;10.0;10.0;60.0</additional_attributes>
+  </element>
+  <element>
+    <id>Relation</id>
+    <coordinates>
+      <x>225</x>
+      <y>390</y>
+      <w>255</w>
+      <h>240</h>
+    </coordinates>
+    <panel_attributes>lt=-&gt;
+m1=[else]
+</panel_attributes>
+    <additional_attributes>150.0;130.0;10.0;130.0;10.0;10.0;70.0;10.0</additional_attributes>
+  </element>
+  <element>
+    <id>UMLNote</id>
+    <coordinates>
+      <x>750</x>
+      <y>300</y>
+      <w>615</w>
+      <h>270</h>
+    </coordinates>
+    <panel_attributes>_*How to use*_
+
+*In Factory_build: *
+ECAN_SetRXBnInterruptHandler(CANINTERFACE_newMsg);
+CANINTERFACE_onProcessCan(&amp;processCan);
+
+*Somewhere:*
+void processCan(uint32_t canId, uint32_t canData) {
+    .....
+}</panel_attributes>
+    <additional_attributes/>
+  </element>
+</diagram>