Klagarge/SummerSchool2-Controller
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Merge branch 'develop'

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This commit is contained in:
Rémi Heredero
2023-09-04 08:44:42 +02:00
parent 242cf4d0da a3d6c9ae6c
commit 3cd456a154
8 changed files with 195 additions and 53 deletions
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10
306-controller_interface.X/app/can_message.c
View File

@@ -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);
}

2
306-controller_interface.X/app/can_message.h
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@@ -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

18
306-controller_interface.X/app/eeprom.c
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@@ -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_POWER_FACTOR = 10000;
KART_CST.CONTROL_STEERING_FACTOR = 400000000;
KART_CST.CONTROL_SPEED_FACTOR = 111111; // 111'111
KART_CST.CONTROL_POWER_FACTOR = 10000; // 10'000
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_POWER_FACTOR = MEM_read_1_byte(MEMADD_CONTROL_POWER_FACTOR);
KART_CST.CONTROL_STEERING_FACTOR = MEM_read_1_byte(MEMADD_CONTROL_STEERING_FACTOR);
KART_CST.CONTROL_SPEED_FACTOR = MEM_read_4_byte(MEMADD_CONTROL_SPEED_FACTOR);
KART_CST.CONTROL_POWER_FACTOR = MEM_read_4_byte(MEMADD_CONTROL_POWER_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() {

159
306-controller_interface.X/middleware/can_interface.c
View File

@@ -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 bytes;
} full;
uint32_t 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.bytes = data;
uint8_t idMsg = tmpData.separate.byte0;
tmpData.full = data;
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) {
uCAN_MSG canMsg;
if (ev->id == evCAsend4) {
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;
}
@@ -153,7 +235,11 @@ void CAN_newMsg() {
data = data | canMsg.frame.data1;
data = data<<8;
data = data | canMsg.frame.data0;
POST(&CAN_myself, &CAN_processEvent, evCAnewMsg, 0, data);
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) {
@@ -161,7 +247,50 @@ void CAN_Send(uint8_t idRecipient, uint8_t idMsg, uint32_t data) {
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);
}
/***********

15
306-controller_interface.X/middleware/can_interface.h
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@@ -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 *
***********/

4
306-controller_interface.X/nbproject/configurations.xml
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@@ -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"/>

0
306-controller_interface.X/queuelogs/debugtool Normal file
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40
busmaster_config.cfx
View File

@@ -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>
<Width>0</Width>
<IsVisible>1</IsVisible>
<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>
<IsInterpret>0</IsInterpret>
<IsAppend>0</IsAppend>
<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>
<Width>0</Width>
<IsVisible>1</IsVisible>
<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>
<IsInterpret>0</IsInterpret>
<IsAppend>0</IsAppend>
<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>