Klagarge/SummerSchool2-Controller
Klagarge/SummerSchool2-Controller
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Merge branch 'feature/EEPROM' into develop

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This commit is contained in:
Rémi Heredero 2023-08-29 10:30:10 +02:00
commit 38d7936da7
30 changed files with 18734 additions and 218 deletions
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1
.gitignore vendored Normal file
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@ -0,0 +1 @@
.idea

147
306-controller_interface.X/app/can_message.c
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@ -5,9 +5,10 @@
* @file can_message.c
*/
#include "../middleware/can_interface.h"
#include "can_message.h"
#include "car.h"
#include "../app/factory/factory.h"
#include "../middleware/can_interface.h"
typedef union {
struct {
@ -23,36 +24,166 @@ typedef union {
void CM_processIncome(uint8_t idSender, uint8_t idMsg, uint32_t data){
switch(idSender){
case 0: // Broadcast / Debug
/*********************
* BROADCAST / DEBUG *
*********************/
case 0:
if(idMsg == 0x0) { // CONTROL_SETUP
// steeringMode - - controlAliveTime
BYTES_4 tmpData;
tmpData.full.bytes = data;
CAR_CST.CONTROL_STEERING_MODE = tmpData.separate.byte0;
CAR_CST.CONTROL_ALIVE_TIME = tmpData.separate.byte3;
MEM_write_1_byte(MEMADD_CONTROL_STEERING_MODE, CAR_CST.CONTROL_STEERING_MODE);
MEM_write_1_byte(MEMADD_CONTROL_ALIVE_TIME, CAR_CST.CONTROL_ALIVE_TIME);
WATCHDOG_setTime(WDcontroller(), CAR_CST.CONTROL_ALIVE_TIME);
}
if(idMsg == 0x1) { // CONTROL_SPEED_FACTOR
// valHH valH valL valLL
}
if(idMsg == 0x2) { // CONTROL_POWER_FACTOR
// valHH valH valL valLL
}
if(idMsg == 0x3) { // CONTROL_STEERING_FACTOR
// valHH valH valL valLL
}
if(idMsg == 0x4) { // CONTROL_SECURITY_PARAM
// maxSpeedFw maxSpeedBw - -
}
if(idMsg == 0x5) { // CONTROL_SETUP_PARAM
// displayAliveTime steeringAliveTime - -
}
if(idMsg == 0x6) { // CONTROL_SETUP_PARAM_JOY
// joystickMode joystickParam1 joystickParam2 joystickAliveTime
BYTES_4 tmpData;
tmpData.full.bytes = data;
CAR_CST.JOYSTICK_MODE = tmpData.separate.byte0;
CAR_CST.JOYSTICK_PARAM1 = tmpData.separate.byte1;
CAR_CST.JOYSTICK_PARAM2 = tmpData.separate.byte2;
CAR_CST.JOYSTICK_ALIVE_TIME = tmpData.separate.byte3;
MEM_write_1_byte(MEMADD_JOYSTICK_MODE, CAR_CST.JOYSTICK_MODE);
MEM_write_1_byte(MEMADD_JOYSTICK_PARAM1, CAR_CST.JOYSTICK_PARAM1);
MEM_write_1_byte(MEMADD_JOYSTICK_PARAM2, CAR_CST.JOYSTICK_PARAM2);
MEM_write_1_byte(MEMADD_JOYSTICK_ALIVE_TIME, CAR_CST.JOYSTICK_ALIVE_TIME);
ALIVE_CHECKER_setAliveTime(ACjoy(), CAR_CST.JOYSTICK_ALIVE_TIME);
CM_JOY_SETUP(NULL);
}
if(idMsg == 0x7) { // CONTROL_SETUP_PARAM_DRIVE
// driveAliveTime driveSpeedTime driveStopTime -
}
if(idMsg == 0x8) { // CONTROL_SETUP_PARAM_BATTERY
// batteryVoltTime batteryCurrentTime batteryEnergyTime batteryAliveTime
}
break;
case 2: // Joystick
/************
* JOYSTICK *
************/
case 2:
if(idMsg == 0x1) { // JOY_MESURE
// posX posY button -
}
if(idMsg == 0xF) { // JOY_ALIVE
// - - - -
ALIVE_CHECKER_ISALIVE(ACjoy());
if(ACjoy()->state == STAC_DEAD){
CAR_CST.JOYSTICK_MODE = MEM_read_1_byte(MEMADD_JOYSTICK_MODE);
CAR_CST.JOYSTICK_PARAM1 = MEM_read_1_byte(MEMADD_JOYSTICK_PARAM1);
CAR_CST.JOYSTICK_PARAM2 = MEM_read_1_byte(MEMADD_JOYSTICK_PARAM2);
CAR_CST.JOYSTICK_ALIVE_TIME = MEM_read_1_byte(MEMADD_JOYSTICK_ALIVE_TIME);
ALIVE_CHECKER_setAliveTime(ACjoy(), CAR_CST.JOYSTICK_ALIVE_TIME);
ALIVE_CHECKER_emitBorn(ACjoy(), 0, 0);
ALIVE_CHECKER_emitReady(ACjoy(), 100, 0);
}
}
break;
case 3: // Display
/***********
* DISPLAY *
***********/
case 3:
if(idMsg == 0xF) { // DISPLAY_ALIVE
// powerMode - - -
}
break;
case 4: // Drive
/*********
* DRIVE *
*********/
case 4:
if(idMsg == 0x0) { // DRIVE_SPEED
// speedHH speedH speedL speedLL
}
if(idMsg == 0xF) { // DRIVE_ALIVE
// statusH statusL - -
}
break;
case 5: // Steering
/************
* STEERING *
************/
case 5:
if(idMsg == 0x1) { // STEERING_GET_CENTER
// valHH valH valL valLL
}
if(idMsg == 0x2) { // STEERING_GET_POSITION
// valHH valH valL valLL
}
if(idMsg == 0xF) { // STEERING_ALIVE
// statusH statusL - -
}
break;
case 6: // Supply
/**********
* SUPPLY *
**********/
case 6:
if(idMsg == 0xF) { // BATTERY_ALIVE
// - - - -
}
break;
case 7: // Undefined
/*************
* UNDEFINED *
*************/
case 7:
break;
}
}

3
306-controller_interface.X/app/can_message.h
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@ -8,6 +8,9 @@
#ifndef CAN_MESSAGE_H
#define CAN_MESSAGE_H
#include <stdint.h> // usage of standard types
#include <stdbool.h> // usage of boolean types
#include "../mcc_generated_files/mcc.h"
/*
S R M

19
306-controller_interface.X/app/car.h
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@ -34,12 +34,15 @@
#define MEMADD_JOYSTICK_PARAM1 0x12
#define MEMADD_JOYSTICK_PARAM2 0x13
#define MEMADD_JOYSTICK_ALIVE_TIME 0x14
#define MEMADD_DISPLAY_ALIVE_TIME 0x
#define MEMADD_DRIVE_SPEED_TIME 0x
#define MEMADD_DRIVE_STOP_TIME 0x
#define MEMADD_DRIVE_ALIVE_TIME 0x
#define MEMADD_STEERING_ALIVE_TIME 0x
#define MEMADD_BATTERY_ALIVE_TIME 0x
#define MEMADD_DISPLAY_ALIVE_TIME 0x15
#define MEMADD_DRIVE_SPEED_TIME 0x16
#define MEMADD_DRIVE_STOP_TIME 0x17
#define MEMADD_DRIVE_ALIVE_TIME 0x18
#define MEMADD_STEERING_ALIVE_TIME 0x19
#define MEMADD_BATTERY_VOLT_TIME 0x1A
#define MEMADD_BATTERY_CURRENT_TIME 0x1B
#define MEMADD_BATTERY_ENERGY_TIME 0x1C
#define MEMADD_BATTERY_ALIVE_TIME 0x1D
typedef struct {
uint8_t CONTROL_STEERING_MODE;
@ -49,7 +52,6 @@ typedef struct {
uint32_t CONTROL_STEERING_FACTOR;
uint8_t CONTROL_MAX_SPEED_FW;
uint8_t CONTROL_MAX_SPEED_BW;
uint8_t JOYSTICK_MODE;
uint8_t JOYSTICK_PARAM1;
uint8_t JOYSTICK_PARAM2;
@ -59,6 +61,9 @@ typedef struct {
uint8_t DRIVE_STOP_TIME;
uint8_t DRIVE_ALIVE_TIME;
uint8_t STEERING_ALIVE_TIME;
uint8_t BATTERY_VOLT_TIME;
uint8_t BATTERY_CURRENT_TIME;
uint8_t BATTERY_ENERGY_TIME;
uint8_t BATTERY_ALIVE_TIME;
} CAR_CST_TYPE;
CAR_CST_TYPE CAR_CST;

7
306-controller_interface.X/app/factory/factory.c
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@ -64,17 +64,12 @@ void Factory_init() {
LED_off(l1());
// TODO init EPROM interface
MEM_init();
// TODO init watchdog with EPROM CST
WATCHDOG_init(WDcontroller());
CAR_CST.CONTROL_ALIVE_TIME = 100;
WATCHDOG_setTime(WDcontroller(), CAR_CST.CONTROL_ALIVE_TIME);
// TODO init ALIVE CHECKER with EPROM CST
CAR_CST.JOYSTICK_MODE = 0;
CAR_CST.JOYSTICK_PARAM1 = 100;
CAR_CST.JOYSTICK_PARAM2 = 1;
CAR_CST.JOYSTICK_ALIVE_TIME = 10;
ALIVE_CHECKER_init(ACjoy());
}

1
306-controller_interface.X/app/factory/factory.h
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@ -19,6 +19,7 @@
#include "../../middleware/alive_checker.h"
#include "../../middleware/can_interface.h"
#include "../../middleware/watchdog.h"
#include "../../middleware/eeprom.h"
typedef struct {

2
306-controller_interface.X/mcc_generated_files/device_config.c
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@ -14,7 +14,7 @@
This header file provides implementations for driver APIs for all modules selected in the GUI.
Generation Information :
Product Revision : PIC10 / PIC12 / PIC16 / PIC18 MCUs - 1.81.8
Device : PIC18F25K83
Device : PIC18F26K83
Driver Version : 2.00
The generated drivers are tested against the following:
Compiler : XC8 2.36 and above or later

2
306-controller_interface.X/mcc_generated_files/device_config.h
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@ -14,7 +14,7 @@
This header file provides implementations for driver APIs for all modules selected in the GUI.
Generation Information :
Product Revision : PIC10 / PIC12 / PIC16 / PIC18 MCUs - 1.81.8
Device : PIC18F25K83
Device : PIC18F26K83
Driver Version : 2.00
The generated drivers are tested against the following:
Compiler : XC8 2.36 and above or later

18
306-controller_interface.X/mcc_generated_files/ecan.c
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@ -130,17 +130,21 @@ void ECAN_Initialize(void)
/*
* ENABLE FILTERS
*
* Filter 0 set on mask 0
* Filter 1 set on mask 0
* Filter 2 set on mask 1
* RXF7EN RXF6EN RXF5EN RXF4EN RXF3EN RXF2EN RXF1EN RXF0EN
* 0b 00000111
*/
RXFCON0 = 0x07;
/**
Assign Filters to Masks
*/
// Filter 0 & 1 assigned to mask 0 and filter 2 assigned to mask 1
/*
* Assign Filters to Masks
*
* Filter 0 set on mask 0
* Filter 1 set on mask 0
* Filter 2 set on mask 1
* 0b F3 F2 F1 F0
* 0b 00 01 00 00
*/
MSEL0 = 0x10;
/**

2
306-controller_interface.X/mcc_generated_files/interrupt_manager.c
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@ -16,7 +16,7 @@
all modules selected in the GUI.
Generation Information :
Product Revision : PIC10 / PIC12 / PIC16 / PIC18 MCUs - 1.81.8
Device : PIC18F25K83
Device : PIC18F26K83
Driver Version : 2.04
The generated drivers are tested against the following:
Compiler : XC8 2.36 and above or later

2
306-controller_interface.X/mcc_generated_files/interrupt_manager.h
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@ -16,7 +16,7 @@
all modules selected in the GUI.
Generation Information :
Product Revision : PIC10 / PIC12 / PIC16 / PIC18 MCUs - 1.81.8
Device : PIC18F25K83
Device : PIC18F26K83
Driver Version : 2.03
The generated drivers are tested against the following:
Compiler : XC8 2.36 and above or later

2
306-controller_interface.X/mcc_generated_files/mcc.c
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@ -14,7 +14,7 @@
This header file provides implementations for driver APIs for all modules selected in the GUI.
Generation Information :
Product Revision : PIC10 / PIC12 / PIC16 / PIC18 MCUs - 1.81.8
Device : PIC18F25K83
Device : PIC18F26K83
Driver Version : 2.00
The generated drivers are tested against the following:
Compiler : XC8 2.36 and above or later

2
306-controller_interface.X/mcc_generated_files/mcc.h
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@ -14,7 +14,7 @@
This header file provides implementations for driver APIs for all modules selected in the GUI.
Generation Information :
Product Revision : PIC10 / PIC12 / PIC16 / PIC18 MCUs - 1.81.8
Device : PIC18F25K83
Device : PIC18F26K83
Driver Version : 2.00
The generated drivers are tested against the following:
Compiler : XC8 2.36 and above or later

2
306-controller_interface.X/mcc_generated_files/memory.c
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@ -14,7 +14,7 @@
This file provides implementations of driver APIs for MEMORY.
Generation Information :
Product Revision : PIC10 / PIC12 / PIC16 / PIC18 MCUs - 1.81.8
Device : PIC18F25K83
Device : PIC18F26K83
Driver Version : 2.1.3
The generated drivers are tested against the following:
Compiler : XC8 2.36 and above

8
306-controller_interface.X/mcc_generated_files/memory.h
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@ -14,7 +14,7 @@
This header file provides APIs for driver for MEMORY.
Generation Information :
Product Revision : PIC10 / PIC12 / PIC16 / PIC18 MCUs - 1.81.8
Device : PIC18F25K83
Device : PIC18F26K83
Driver Version : 2.1.3
The generated drivers are tested against the following:
Compiler : XC8 2.36 and above
@ -64,9 +64,9 @@
Section: Macro Declarations
*/
#define WRITE_FLASH_BLOCKSIZE 64
#define ERASE_FLASH_BLOCKSIZE 64
#define END_FLASH 0x008000
#define WRITE_FLASH_BLOCKSIZE 128
#define ERASE_FLASH_BLOCKSIZE 128
#define END_FLASH 0x010000
/**
Section: Flash Module APIs

2
306-controller_interface.X/mcc_generated_files/pin_manager.c
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@ -14,7 +14,7 @@
This header file provides implementations for pin APIs for all pins selected in the GUI.
Generation Information :
Product Revision : PIC10 / PIC12 / PIC16 / PIC18 MCUs - 1.81.8
Device : PIC18F25K83
Device : PIC18F26K83
Driver Version : 2.11
The generated drivers are tested against the following:
Compiler : XC8 2.36 and above

2
306-controller_interface.X/mcc_generated_files/pin_manager.h
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@ -14,7 +14,7 @@
This header file provides APIs for driver for .
Generation Information :
Product Revision : PIC10 / PIC12 / PIC16 / PIC18 MCUs - 1.81.8
Device : PIC18F25K83
Device : PIC18F26K83
Driver Version : 2.11
The generated drivers are tested against the following:
Compiler : XC8 2.36 and above

2
306-controller_interface.X/mcc_generated_files/tmr0.c
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@ -14,7 +14,7 @@
This source file provides APIs for TMR0.
Generation Information :
Product Revision : PIC10 / PIC12 / PIC16 / PIC18 MCUs - 1.81.8
Device : PIC18F25K83
Device : PIC18F26K83
Driver Version : 3.10
The generated drivers are tested against the following:
Compiler : XC8 2.36 and above

2
306-controller_interface.X/mcc_generated_files/tmr0.h
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@ -14,7 +14,7 @@
This header file provides APIs for TMR0.
Generation Information :
Product Revision : PIC10 / PIC12 / PIC16 / PIC18 MCUs - 1.81.8
Device : PIC18F25K83
Device : PIC18F26K83
Driver Version : 3.10
The generated drivers are tested against the following:
Compiler : XC8 2.36 and above

8
306-controller_interface.X/middleware/can_interface.c
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@ -146,13 +146,13 @@ void CAN_newMsg() {
CAN_receive(&canMsg);
data = canMsg.frame.id;
data = data<<12;
data = data | canMsg.frame.data0;
data = data<<8;
data = data | canMsg.frame.data1;
data = data | canMsg.frame.data3;
data = data<<8;
data = data | canMsg.frame.data2;
data = data<<8;
data = data | canMsg.frame.data3;
data = data | canMsg.frame.data1;
data = data<<8;
data = data | canMsg.frame.data0;
POST(&CAN_myself, &CAN_processEvent, evCAnewMsg, 0, data);
}

135
306-controller_interface.X/middleware/eeprom.c Normal file
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@ -0,0 +1,135 @@
/**
* @author R<EFBFBD>mi Heredero
* @version 1.0.0
* @date August 2023
* @file eeprom_interface.h
*/
#include "eeprom.h"
#include "../app/car.h"
typedef union {
struct {
uint8_t byte0;
uint8_t byte1;
uint8_t byte2;
uint8_t byte3;
} separate;
uint32_t full;
uint8_t array[4];
} BYTES_4;
void MEM_init(){
uint8_t check = MEM_read_1_byte(0x0);
if(check != 0x42){
CAR_CST.CONTROL_STEERING_MODE = 0;
CAR_CST.CONTROL_ALIVE_TIME = 50;
CAR_CST.CONTROL_SPEED_FACTOR = 0;
CAR_CST.CONTROL_POWER_FACTOR = 0;
CAR_CST.CONTROL_STEERING_FACTOR = 0;
CAR_CST.CONTROL_MAX_SPEED_FW = 0;
CAR_CST.CONTROL_MAX_SPEED_BW = 0;
CAR_CST.JOYSTICK_MODE = 0;
CAR_CST.JOYSTICK_PARAM1 = 100;
CAR_CST.JOYSTICK_PARAM2 = 1;
CAR_CST.JOYSTICK_ALIVE_TIME = 10;
CAR_CST.DISPLAY_ALIVE_TIME = 50;
CAR_CST.DRIVE_SPEED_TIME = 0;
CAR_CST.DRIVE_STOP_TIME = 0;
CAR_CST.DRIVE_ALIVE_TIME = 10;
CAR_CST.STEERING_ALIVE_TIME = 100;
CAR_CST.BATTERY_VOLT_TIME = 50;
CAR_CST.BATTERY_CURRENT_TIME = 50;
CAR_CST.BATTERY_ENERGY_TIME = 50;
CAR_CST.BATTERY_ALIVE_TIME = 50;
MEM_write_1_byte(MEMADD_CONTROL_STEERING_MODE, CAR_CST.CONTROL_STEERING_MODE);
MEM_write_1_byte(MEMADD_CONTROL_ALIVE_TIME, CAR_CST.CONTROL_ALIVE_TIME);
MEM_write_4_byte(MEMADD_CONTROL_SPEED_FACTOR, CAR_CST.CONTROL_SPEED_FACTOR);
MEM_write_4_byte(MEMADD_CONTROL_POWER_FACTOR, CAR_CST.CONTROL_POWER_FACTOR);
MEM_write_4_byte(MEMADD_CONTROL_STEERING_FACTOR, CAR_CST.CONTROL_STEERING_FACTOR);
MEM_write_1_byte(MEMADD_CONTROL_MAX_SPEED_FW, CAR_CST.CONTROL_MAX_SPEED_FW);
MEM_write_1_byte(MEMADD_CONTROL_MAX_SPEED_BW, CAR_CST.CONTROL_MAX_SPEED_BW);
MEM_write_1_byte(MEMADD_JOYSTICK_MODE, CAR_CST.JOYSTICK_MODE);
MEM_write_1_byte(MEMADD_JOYSTICK_PARAM1, CAR_CST.JOYSTICK_PARAM1);
MEM_write_1_byte(MEMADD_JOYSTICK_PARAM2, CAR_CST.JOYSTICK_PARAM2);
MEM_write_1_byte(MEMADD_JOYSTICK_ALIVE_TIME, CAR_CST.JOYSTICK_ALIVE_TIME);
MEM_write_1_byte(MEMADD_DISPLAY_ALIVE_TIME, CAR_CST.DISPLAY_ALIVE_TIME);
MEM_write_1_byte(MEMADD_DRIVE_SPEED_TIME, CAR_CST.DRIVE_SPEED_TIME);
MEM_write_1_byte(MEMADD_DRIVE_STOP_TIME, CAR_CST.DRIVE_STOP_TIME);
MEM_write_1_byte(MEMADD_DRIVE_ALIVE_TIME, CAR_CST.DRIVE_ALIVE_TIME);
MEM_write_1_byte(MEMADD_STEERING_ALIVE_TIME, CAR_CST.STEERING_ALIVE_TIME);
MEM_write_1_byte(MEMADD_BATTERY_VOLT_TIME, CAR_CST.BATTERY_VOLT_TIME);
MEM_write_1_byte(MEMADD_BATTERY_CURRENT_TIME, CAR_CST.BATTERY_CURRENT_TIME);
MEM_write_1_byte(MEMADD_BATTERY_ENERGY_TIME, CAR_CST.BATTERY_ENERGY_TIME);
MEM_write_1_byte(MEMADD_BATTERY_ALIVE_TIME, CAR_CST.BATTERY_ALIVE_TIME);
MEM_write_1_byte(0x0, 0x42);
} else {
CAR_CST.CONTROL_STEERING_MODE = MEM_read_1_byte(MEMADD_CONTROL_STEERING_MODE);
CAR_CST.CONTROL_ALIVE_TIME = MEM_read_1_byte(MEMADD_CONTROL_ALIVE_TIME);
CAR_CST.CONTROL_SPEED_FACTOR = MEM_read_1_byte(MEMADD_CONTROL_SPEED_FACTOR);
CAR_CST.CONTROL_POWER_FACTOR = MEM_read_1_byte(MEMADD_CONTROL_POWER_FACTOR);
CAR_CST.CONTROL_STEERING_FACTOR = MEM_read_1_byte(MEMADD_CONTROL_STEERING_FACTOR);
CAR_CST.CONTROL_MAX_SPEED_FW = MEM_read_1_byte(MEMADD_CONTROL_MAX_SPEED_FW);
CAR_CST.CONTROL_MAX_SPEED_BW = MEM_read_1_byte(MEMADD_CONTROL_MAX_SPEED_BW);
CAR_CST.JOYSTICK_MODE = MEM_read_1_byte(MEMADD_JOYSTICK_MODE);
CAR_CST.JOYSTICK_PARAM1 = MEM_read_1_byte(MEMADD_JOYSTICK_PARAM1);
CAR_CST.JOYSTICK_PARAM2 = MEM_read_1_byte(MEMADD_JOYSTICK_PARAM2);
CAR_CST.JOYSTICK_ALIVE_TIME = MEM_read_1_byte(MEMADD_JOYSTICK_ALIVE_TIME);
CAR_CST.DISPLAY_ALIVE_TIME = MEM_read_1_byte(MEMADD_DISPLAY_ALIVE_TIME);
CAR_CST.DRIVE_SPEED_TIME = MEM_read_1_byte(MEMADD_DRIVE_SPEED_TIME);
CAR_CST.DRIVE_STOP_TIME = MEM_read_1_byte(MEMADD_DRIVE_STOP_TIME);
CAR_CST.DRIVE_ALIVE_TIME = MEM_read_1_byte(MEMADD_DRIVE_ALIVE_TIME);
CAR_CST.STEERING_ALIVE_TIME = MEM_read_1_byte(MEMADD_STEERING_ALIVE_TIME);
CAR_CST.BATTERY_VOLT_TIME = MEM_read_1_byte(MEMADD_BATTERY_VOLT_TIME);
CAR_CST.BATTERY_CURRENT_TIME = MEM_read_1_byte(MEMADD_BATTERY_CURRENT_TIME);
CAR_CST.BATTERY_ENERGY_TIME = MEM_read_1_byte(MEMADD_BATTERY_ENERGY_TIME);
CAR_CST.BATTERY_ALIVE_TIME = MEM_read_1_byte(MEMADD_BATTERY_ALIVE_TIME);
}
}
void MEM_write_1_byte(uint8_t address, uint8_t data) {
DATAEE_WriteByte(address, data);
}
void MEM_write_4_byte(uint8_t address, uint32_t data) {
BYTES_4 tmpData;
tmpData.full = data;
for(uint8_t i = 0; i<4;i++) {
uint8_t add = address;
add += i;
MEM_write_1_byte(add, tmpData.array[i]);
}
}
uint8_t MEM_read_1_byte(uint8_t address) {
return DATAEE_ReadByte(address);
}
uint32_t MEM_read_4_byte(uint8_t address) {
BYTES_4 tmpData;
for(uint8_t i = 0; i<4;i++) {
uint8_t add = address;
add += i;
tmpData.array[i] = MEM_read_1_byte(add);
}
return tmpData.full;
}

21
306-controller_interface.X/middleware/eeprom.h Normal file
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@ -0,0 +1,21 @@
/**
* @author R<EFBFBD>mi Heredero
* @version 1.0.0
* @date August 2023
* @file eeprom_interface.h
*/
#ifndef EEPROM_INTERFACE_H
#define EEPROM_INTERFACE_H
#include <stdint.h> // usage of standard types
#include <stdbool.h> // usage of boolean types
#include "../mcc_generated_files/mcc.h"
void MEM_init();
void MEM_write_1_byte(uint8_t address, uint8_t data);
void MEM_write_4_byte(uint8_t address, uint32_t data);
uint8_t MEM_read_1_byte(uint8_t address);
uint32_t MEM_read_4_byte(uint8_t address);
#endif /* EEPROM_INTERFACE_H */

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306-controller_interface.X/nbproject/configurations.xml
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306-controller_interface.X/ss22ep.mc3
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2
306-controller_interface.X/xf/xf.h
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@ -28,7 +28,7 @@ typedef struct Timer_ // timer structure
/* depending on usage, change MAXTIMER and MAXEVENT */
/*----------------------------------------------------------------------------*/
#define MAXTIMER 8 // number of timers in our system
#define MAXEVENT 12 // number of events in our system
#define MAXEVENT 20 // number of events in our system
#define NULLTIMER 0 // no value for time
#define TICKINTERVAL 10 // this is the ticktimers duration

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UML/alive.pdf Normal file
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226
UML/alive.uxf
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@ -1,13 +1,13 @@
<?xml version="1.0" encoding="UTF-8" standalone="no"?>
<diagram program="umlet" version="15.0.0">
<zoom_level>14</zoom_level>
<zoom_level>15</zoom_level>
<element>
<id>UMLSpecialState</id>
<coordinates>
<x>266</x>
<y>98</y>
<w>28</w>
<h>28</h>
<x>510</x>
<y>30</y>
<w>30</w>
<h>30</h>
</coordinates>
<panel_attributes>type=initial</panel_attributes>
<additional_attributes/>
@ -15,115 +15,112 @@
<element>
<id>Relation</id>
<coordinates>
<x>266</x>
<y>112</y>
<w>112</w>
<h>98</h>
<x>510</x>
<y>45</y>
<w>90</w>
<h>105</h>
</coordinates>
<panel_attributes>lt=-&gt;
evACinit</panel_attributes>
evInit</panel_attributes>
<additional_attributes>10.0;10.0;10.0;50.0</additional_attributes>
</element>
<element>
<id>UMLState</id>
<coordinates>
<x>210</x>
<y>182</y>
<w>140</w>
<h>56</h>
<x>390</x>
<y>120</y>
<w>285</w>
<h>90</h>
</coordinates>
<panel_attributes>STAC_SETUP</panel_attributes>
<additional_attributes/>
</element>
<element>
<id>UMLNote</id>
<coordinates>
<x>434</x>
<y>182</y>
<w>140</w>
<h>42</h>
</coordinates>
<panel_attributes>Send params</panel_attributes>
<additional_attributes/>
</element>
<element>
<id>Relation</id>
<coordinates>
<x>266</x>
<y>224</y>
<w>126</w>
<h>98</h>
</coordinates>
<panel_attributes>lt=-&gt;
evACborn</panel_attributes>
<additional_attributes>10.0;10.0;10.0;50.0</additional_attributes>
</element>
<element>
<id>UMLState</id>
<coordinates>
<x>210</x>
<y>294</y>
<w>140</w>
<h>56</h>
</coordinates>
<panel_attributes>STAC_BORN</panel_attributes>
<additional_attributes/>
</element>
<element>
<id>UMLState</id>
<coordinates>
<x>168</x>
<y>406</y>
<w>224</w>
<h>84</h>
</coordinates>
<panel_attributes>STAC_WAIT
<panel_attributes>SETUP
--
/entry: isAlive = false</panel_attributes>
/entry: sendParamsOnCan</panel_attributes>
<additional_attributes/>
</element>
<element>
<id>Relation</id>
<coordinates>
<x>266</x>
<y>336</y>
<w>140</w>
<h>98</h>
<x>510</x>
<y>195</y>
<w>105</w>
<h>105</h>
</coordinates>
<panel_attributes>lt=-&gt;
evACready</panel_attributes>
evBorn</panel_attributes>
<additional_attributes>10.0;10.0;10.0;50.0</additional_attributes>
</element>
<element>
<id>UMLState</id>
<coordinates>
<x>210</x>
<y>658</y>
<w>140</w>
<h>56</h>
<x>390</x>
<y>270</y>
<w>285</w>
<h>90</h>
</coordinates>
<panel_attributes>STAC_DEAD</panel_attributes>
<panel_attributes>BORN
--
/entry: init</panel_attributes>
<additional_attributes/>
</element>
<element>
<id>UMLState</id>
<coordinates>
<x>390</x>
<y>420</y>
<w>285</w>
<h>120</h>
</coordinates>
<panel_attributes>WAIT
--
/entry: start children class
--
isAlive = false</panel_attributes>
<additional_attributes/>
</element>
<element>
<id>Relation</id>
<coordinates>
<x>266</x>
<y>476</y>
<w>112</w>
<h>98</h>
<x>510</x>
<y>345</y>
<w>120</w>
<h>105</h>
</coordinates>
<panel_attributes>lt=-&gt;
evACpoll</panel_attributes>
evReady</panel_attributes>
<additional_attributes>10.0;10.0;10.0;50.0</additional_attributes>
</element>
<element>
<id>UMLState</id>
<coordinates>
<x>390</x>
<y>720</y>
<w>285</w>
<h>90</h>
</coordinates>
<panel_attributes>DEAD
--
</panel_attributes>
<additional_attributes/>
</element>
<element>
<id>Relation</id>
<coordinates>
<x>510</x>
<y>525</y>
<w>105</w>
<h>105</h>
</coordinates>
<panel_attributes>lt=-&gt;
evPoll</panel_attributes>
<additional_attributes>10.0;10.0;10.0;50.0</additional_attributes>
</element>
<element>
<id>UMLSpecialState</id>
<coordinates>
<x>252</x>
<y>546</y>
<w>56</w>
<h>56</h>
<x>495</x>
<y>600</y>
<w>60</w>
<h>60</h>
</coordinates>
<panel_attributes>type=decision</panel_attributes>
<additional_attributes/>
@ -131,48 +128,71 @@ evACpoll</panel_attributes>
<element>
<id>Relation</id>
<coordinates>
<x>266</x>
<y>588</y>
<w>84</w>
<h>98</h>
<x>510</x>
<y>645</y>
<w>90</w>
<h>105</h>
</coordinates>
<panel_attributes>lt=-&gt;
m1=[else]</panel_attributes>
<additional_attributes>10.0;10.0;10.0;50.0</additional_attributes>
</element>
<element>
<id>UMLNote</id>
<id>Relation</id>
<coordinates>
<x>434</x>
<y>294</y>
<w>140</w>
<h>42</h>
<x>315</x>
<y>465</y>
<w>210</w>
<h>210</h>
</coordinates>
<panel_attributes>Reset / Init</panel_attributes>
<additional_attributes/>
<panel_attributes>lt=-&gt;
m1=[isAlive]</panel_attributes>
<additional_attributes>120.0;110.0;10.0;110.0;10.0;10.0;50.0;10.0</additional_attributes>
</element>
<element>
<id>Relation</id>
<coordinates>
<x>294</x>
<y>420</y>
<w>182</w>
<h>196</h>
<x>660</x>
<y>135</y>
<w>210</w>
<h>405</h>
</coordinates>
<panel_attributes>lt=-&gt;
m1=[alive]</panel_attributes>
<additional_attributes>10.0;110.0;110.0;110.0;110.0;10.0;70.0;10.0</additional_attributes>
evDisable</panel_attributes>
<additional_attributes>10.0;250.0;60.0;250.0;60.0;10.0;10.0;10.0</additional_attributes>
</element>
<element>
<id>Relation</id>
<coordinates>
<x>140</x>
<y>308</y>
<w>168</w>
<h>490</h>
<x>255</x>
<y>300</y>
<w>300</w>
<h>600</h>
</coordinates>
<panel_attributes>lt=-&gt;
evACborn</panel_attributes>
<additional_attributes>100.0;290.0;100.0;330.0;10.0;330.0;10.0;10.0;50.0;10.0</additional_attributes>
evBorn</panel_attributes>
<additional_attributes>180.0;340.0;180.0;380.0;10.0;380.0;10.0;10.0;90.0;10.0</additional_attributes>
</element>
<element>
<id>Relation</id>
<coordinates>
<x>660</x>
<y>495</y>
<w>120</w>
<h>315</h>
</coordinates>
<panel_attributes>lt=-</panel_attributes>
<additional_attributes>10.0;190.0;60.0;190.0;60.0;10.0</additional_attributes>
</element>
<element>
<id>Relation</id>
<coordinates>
<x>660</x>
<y>315</y>
<w>120</w>
<h>45</h>
</coordinates>
<panel_attributes>lt=-</panel_attributes>
<additional_attributes>10.0;10.0;60.0;10.0</additional_attributes>
</element>
</diagram>

29
UML/can.puml Normal file
View File

@ -0,0 +1,29 @@
@startuml
actor CAN_BUS as bus
participant interrupt as ISR
queue XF as xf
participant ecan as ecan
participant can_interface as can
control can_message as msg
bus -\\ ISR ++ : can message
ISR -> can : newMsg
can -> ecan : read
ecan --> can : message
can -> xf : POST XF
destroy ISR
group clock xf [every 10ms]
xf o-> can : receiveCan
can -> msg : processIncome
msg -> can : create message
can -> xf : POST XF
end
group clock xf [every 10ms]
xf o-> can : sendCan
can -> ecan : write
ecan -\\ bus : can message
end
@enduml

9
threewheeler.DBF
View File

@ -6,7 +6,7 @@
[BUSMASTER_VERSION] [3.2.2]
[NUMBER_OF_MESSAGES] 25
[NUMBER_OF_MESSAGES] 26
[START_MSG] JOY_MEASURE,529,3,3,1,S
[START_SIGNALS] posX,8,1,0,I,127,-128,1,0.000000,1.000000,%,
@ -150,4 +150,11 @@
[START_MSG] STEERING_GET_POS,1298,4,1,1,S
[START_SIGNALS] POSITION,32,4,0,I,2147483647,-2147483648,0,0.000000,1.000000,qc,
[END_MSG]
[START_MSG] CONTROL_SETUP_PARAM_JOY,22,4,4,1,S
[START_SIGNALS] mode,1,1,0,B,1,0,1,0.000000,1.000000,,
[START_SIGNALS] timeMeasureOrDeltaX,8,2,0,U,255,0,1,0.000000,10.000000,msOrVal,
[START_SIGNALS] DeltaY,8,3,0,U,255,0,1,0.000000,1.000000,val,
[START_SIGNALS] aliveTime,8,4,0,U,255,0,1,0.000000,10.000000,ms,
[END_MSG]