can interface tested

IT WORKING !!!!

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

306-controller_interface.X/main.c

@@ -30,8 +30,6 @@ void main(void)
     //the xf.h file to the same value as the TMR0 value. 
     TMR0_SetInterruptHandler(XF_decrementAndQueueTimers);
 
-    CAN_Send(1,1,42);
-
     while (1)
     {
         //handle the next event if there is any in the queue

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;

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);
 }