diff --git a/306-controller_interface.X/app/factory/factory.c b/306-controller_interface.X/app/factory/factory.c index 9f9a3bc..2cce0d7 100644 --- a/306-controller_interface.X/app/factory/factory.c +++ b/306-controller_interface.X/app/factory/factory.c @@ -57,8 +57,12 @@ void Factory_init() { } void foo(uint8_t a, uint8_t b, uint32_t c){ - LED_on(l1()); - CAN_Send(b, a, c); + if(b){ + LED_on(l1()); + } else { + LED_off(l1()); + } + CAN_Send(a, b, c); } //connect objects if required diff --git a/306-controller_interface.X/main.c b/306-controller_interface.X/main.c index 78e5812..6a05435 100644 --- a/306-controller_interface.X/main.c +++ b/306-controller_interface.X/main.c @@ -29,8 +29,6 @@ void main(void) // TMR0 is interrupting. Important: Set the TICKINTERVAL define in //the xf.h file to the same value as the TMR0 value. TMR0_SetInterruptHandler(XF_decrementAndQueueTimers); - - CAN_Send(1,1,42); while (1) { diff --git a/306-controller_interface.X/middleware/alive_checker.c b/306-controller_interface.X/middleware/alive_checker.c index b674c28..9128429 100644 --- a/306-controller_interface.X/middleware/alive_checker.c +++ b/306-controller_interface.X/middleware/alive_checker.c @@ -36,20 +36,20 @@ bool ALIVE_CHECKER_processEvent(Event* ev) { break; case STAC_SETUP: - if (ev->id = evACborn) { + if (ev->id == evACborn) { me->state = STAC_BORN; } break; case STAC_BORN: - if (ev->id = evACready) { + if (ev->id == evACready) { me->state = STAC_WAIT; ALIVE_CHECKER_emitPoll(me, me->aliveTime*10, 0); } break; case STAC_WAIT: - if (ev->id = evACpoll) { + if (ev->id == evACpoll) { if (me->isAlive) { me->state = STAC_WAIT; ALIVE_CHECKER_emitPoll(me, me->aliveTime*10, 0); @@ -60,7 +60,7 @@ bool ALIVE_CHECKER_processEvent(Event* ev) { break; case STAC_DEAD: - if(ev->id = evACborn) { + if(ev->id == evACborn) { me->state = STAC_BORN; } break; diff --git a/306-controller_interface.X/middleware/can_interface.c b/306-controller_interface.X/middleware/can_interface.c index ea146cc..f36bc99 100644 --- a/306-controller_interface.X/middleware/can_interface.c +++ b/306-controller_interface.X/middleware/can_interface.c @@ -6,6 +6,38 @@ */ #include "can_interface.h" +#include "../mcc_generated_files/ecan.h" + + +typedef union { + struct { + uint8_t sender; + uint8_t recipient; + uint8_t message; + uint32_t data; + } full; + struct { + uint8_t sender; + uint8_t recipient; + uint8_t message; + uint8_t data0; + uint8_t data1; + uint8_t data2; + uint8_t data3; + } separate; +} CAN_MESSAGE; + +typedef union { + struct { + uint8_t byte0; + uint8_t byte1; + uint8_t byte2; + uint8_t byte3; + } separate; + struct { + uint32_t bytes; + } full; +} CAN_4_BYTES; void CAN_init(){ CAN_myself.receiveCan = NULL; @@ -39,11 +71,13 @@ bool CAN_processEvent(Event* ev) { if (me->receiveCan != NULL) { uint32_t canData = (uint32_t) data; data = data>>32; - uint8_t idMsg = (uint8_t) data; - data = data>>4; - uint8_t idRecipient = (uint8_t) data; - data = data>>4; - uint8_t idSender = (uint8_t) data; + + CAN_4_BYTES tmpData; + tmpData.full.bytes = data; + uint8_t idMsg = 0x0F && (tmpData.separate.byte0>>4); + uint8_t idRecipient = 0x0F && tmpData.separate.byte1; + uint8_t idSender = (tmpData.separate.byte1>>4); + me->receiveCan(idSender, idMsg, canData); } } @@ -54,13 +88,13 @@ bool CAN_processEvent(Event* ev) { canMsg.frame.idType = 0; // I don't understand what is it canMsg.frame.dlc = 4; // 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; + canMsg.frame.data3 = (uint8_t) data; data = data >> 8; canMsg.frame.data2 = (uint8_t) data; data = data >> 8; - canMsg.frame.data3 = (uint8_t) data; + canMsg.frame.data1 = (uint8_t) data; + data = data >> 8; + canMsg.frame.data0 = (uint8_t) data; data = data >> 8; canMsg.frame.id = (uint32_t) data; CAN_transmit(&canMsg); @@ -107,14 +141,14 @@ void CAN_newMsg() { uCAN_MSG canMsg; CAN_receive(&canMsg); data = canMsg.frame.id; - data = data<<32; - data = canMsg.frame.data0; + data = data<<12; + data = data | canMsg.frame.data0; data = data<<8; - data = canMsg.frame.data1; + data = data | canMsg.frame.data1; data = data<<8; - data = canMsg.frame.data2; + data = data | canMsg.frame.data2; data = data<<8; - data = canMsg.frame.data3; + data = data | canMsg.frame.data3; POST(&CAN_myself, &CAN_processEvent, evCAnewMsg, 0, data); } diff --git a/306-controller_interface.X/ss22ep.mc3 b/306-controller_interface.X/ss22ep.mc3 index e23ff38..10db92b 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 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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"},"data":{"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"},"id":"Start Trigger_rowCount_0"},"Abort Trigger":{"data":{"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"},"id":"Abort Trigger_rowCount_0","Abort 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"}}},{"DMA Channels":{"data":{"isDisable":"true","options":"--NONE--","text":"DMA CHANNEL2","value":"false"},"id":"DMA Channels_rowCount_1"},"Src Module":{"data":{"isDisable":"true","options":"--NONE--,MEMORY,TMR0,ECAN","text":"--NONE--","value":"--NONE--"},"id":"Src Module_rowCount_1"},"Src Region":{"data":{"isDisable":"true","options":"SFR#disabled,GPR#enabled,Program Flash#enabled,Data EEPROM#enabled","text":"GPR","value":"GPR"},"id":"Src Region_rowCount_1"},"Src SFR":{"Src SFR":{"isDisable":"true","options":"","text":"","value":""},"data":{"isDisable":"true","options":"","text":"","value":""},"id":"Src SFR_rowCount_1"},"Src VarName":{"data":{"isDisable":"true","options":"","text":"SrcVarName1","value":"SrcVarName1"},"Src VarName":{"isDisable":"true","options":"","text":"SrcVarName1","value":"SrcVarName1"},"id":"Src VarName_rowCount_1"},"Src VarSize":{"data":{"isDisable":"true","options":"","text":"10","value":"10"},"id":"Src VarSize_rowCount_1","Src VarSize":{"isDisable":"true","options":"","text":"10","value":"10"}},"Src Address":{"data":{"isDisable":"true","options":"","text":"Enter Address1","value":"Enter Address1"},"id":"Src Address_rowCount_1","Src Address":{"isDisable":"true","options":"","text":"Enter Address1","value":"Enter Address1"}},"Src Mode":{"Src Mode":{"isDisable":"true","options":"decremented,incremented,unchanged","text":"unchanged","value":"unchanged"},"data":{"isDisable":"true","options":"decremented,incremented,unchanged","text":"unchanged","value":"unchanged"},"id":"Src Mode_rowCount_1"},"Src Message Size":{"data":{"isDisable":"true","options":"","text":"1","value":"1"},"Src Message Size":{"isDisable":"true","options":"","text":"1","value":"1"},"id":"Src Message Size_rowCount_1"},"Dst Module":{"data":{"isDisable":"true","options":"--NONE--,MEMORY,TMR0,ECAN","text":"--NONE--","value":"--NONE--"},"id":"Dst Module_rowCount_1"},"Dst Region":{"data":{"isDisable":"true","options":"SFR,GPR","text":"GPR","value":"GPR"},"id":"Dst Region_rowCount_1"},"Dst SFR":{"Dst SFR":{"isDisable":"true","options":"","text":"","value":""},"data":{"isDisable":"true","options":"","text":"","value":""},"id":"Dst SFR_rowCount_1"},"Dst VarName":{"data":{"isDisable":"true","options":"","text":"DstVarName1","value":"DstVarName1"},"Dst VarName":{"isDisable":"true","options":"","text":"DstVarName1","value":"DstVarName1"},"id":"Dst VarName_rowCount_1"},"Dst VarSize":{"data":{"isDisable":"true","options":"","text":"10","value":"10"},"id":"Dst VarSize_rowCount_1","Dst VarSize":{"isDisable":"true","options":"","text":"10","value":"10"}},"Dst Mode":{"data":{"isDisable":"true","options":"decremented,incremented,unchanged","text":"unchanged","value":"unchanged"},"Dst Mode":{"isDisable":"true","options":"decremented,incremented,unchanged","text":"unchanged","value":"unchanged"},"id":"Dst Mode_rowCount_1"},"Dst Message Size":{"data":{"isDisable":"true","options":"","text":"1","value":"1"},"Dst Message Size":{"isDisable":"true","options":"","text":"1","value":"1"},"id":"Dst Message Size_rowCount_1"},"Start Trigger":{"Start 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"},"data":{"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"},"id":"Start Trigger_rowCount_1"},"Abort Trigger":{"data":{"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"},"id":"Abort Trigger_rowCount_1","Abort 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"} @@ -17159,27 +17159,7 @@ Window delay time 87.5% - - - mcc_generated_files\mcc.h - aead6835bc73f4332d9abb5de6c2a40829de25cc98452c4c69960d51b52844e9 - - - mcc_generated_files\device_config.h - 2f04b3ff01bbe49769634d389433c7010ffb45d0f2973898e33988be7ab07d56 - - - mcc_generated_files\interrupt_manager.h - 313560861c27e0a0b39b2bbb6a64ac2068fd1937dc0339d7303ff241bbb52955 - - - mcc_generated_files\memory.c - ae2dbb373f8f03dd013cde153de046ba7c3c41033c1dedb8545cde41837ca3da - - - mcc_generated_files\tmr0.h - 68e2ba0f47166abd2da1a472d6a67bfde31f9be3edc8582ace93062a6a32f441 - + main.c 91afd5df6694cfcd0279d66d9b5b3eb72a9c4eae825f0c0af82824e2ee66e35e @@ -17188,6 +17168,46 @@ mcc_generated_files\device_config.c 4288704a051756dce8bb92e77a82ba1285fc638cde56b3676b59406ba0fcea7b + + mcc_generated_files\device_config.h + 2f04b3ff01bbe49769634d389433c7010ffb45d0f2973898e33988be7ab07d56 + + + mcc_generated_files\ecan.c + b60a119876875a2af386474d32176b8be0f47a074a2d8688e79251a2d7cdf6fa + + + mcc_generated_files\ecan.h + 0473fedf57d1376193e049ba507abed0960af84f0e416bea25972c4dae59ca26 + + + mcc_generated_files\interrupt_manager.c + bb0eaf9aec0554de0106cff27f66e56ae02a40bbdcb68d4d58d8a0d84d8929f6 + + + mcc_generated_files\interrupt_manager.h + 313560861c27e0a0b39b2bbb6a64ac2068fd1937dc0339d7303ff241bbb52955 + + + mcc_generated_files\mcc.c + 34fadc3a271040b358215ec477acf3e135b77137f9a1cc96def75fc2936d3ad6 + + + mcc_generated_files\mcc.h + aead6835bc73f4332d9abb5de6c2a40829de25cc98452c4c69960d51b52844e9 + + + mcc_generated_files\memory.c + ae2dbb373f8f03dd013cde153de046ba7c3c41033c1dedb8545cde41837ca3da + + + mcc_generated_files\memory.h + 77a34d015c961db9ed465b4ca2d85ba910fb030ca14c3c2854428ab0b9b6fac2 + + + mcc_generated_files\pin_manager.c + f8ace8a0b0d2a4f0ed3e209db056da57858e5a670ad7d514e44352d9187be806 + mcc_generated_files\pin_manager.h 3e61569926ed5f184a2267965f2cf7ca26dc997d552c213ebd94dbd80da54891 @@ -17197,28 +17217,8 @@ f9702dc8c67433ffc3b8db9e12ee3a73fb0b152a792d26f6c7a89a3846bc4fc9 - mcc_generated_files\pin_manager.c - f8ace8a0b0d2a4f0ed3e209db056da57858e5a670ad7d514e44352d9187be806 - - - mcc_generated_files\ecan.c - b60a119876875a2af386474d32176b8be0f47a074a2d8688e79251a2d7cdf6fa - - - mcc_generated_files\mcc.c - 34fadc3a271040b358215ec477acf3e135b77137f9a1cc96def75fc2936d3ad6 - - - mcc_generated_files\interrupt_manager.c - bb0eaf9aec0554de0106cff27f66e56ae02a40bbdcb68d4d58d8a0d84d8929f6 - - - mcc_generated_files\ecan.h - 0473fedf57d1376193e049ba507abed0960af84f0e416bea25972c4dae59ca26 - - - mcc_generated_files\memory.h - 77a34d015c961db9ed465b4ca2d85ba910fb030ca14c3c2854428ab0b9b6fac2 + mcc_generated_files\tmr0.h + 68e2ba0f47166abd2da1a472d6a67bfde31f9be3edc8582ace93062a6a32f441 \ No newline at end of file