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

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This commit is contained in:
Rémi Heredero 2023-08-29 15:50:09 +02:00
commit 72a307654f
14 changed files with 652 additions and 626 deletions
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14
306-controller_interface.X/app/can_message.c
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@ -37,7 +37,7 @@ void CM_processIncome(uint8_t idSender, uint8_t idMsg, uint32_t data){
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);
ALIVE_setAliveTime(ALcontroller(), CAR_CST.CONTROL_ALIVE_TIME);
}
if(idMsg == 0x1) { // CONTROL_SPEED_FACTOR
@ -78,7 +78,7 @@ void CM_processIncome(uint8_t idSender, uint8_t idMsg, uint32_t data){
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);
ALIVE_setAliveTime(ALjoy(), CAR_CST.JOYSTICK_ALIVE_TIME);
CM_JOY_SETUP(NULL);
}
@ -107,15 +107,15 @@ void CM_processIncome(uint8_t idSender, uint8_t idMsg, uint32_t data){
if(idMsg == 0xF) { // JOY_ALIVE
// - - - -
ALIVE_CHECKER_ISALIVE(ACjoy());
if(ACjoy()->state == STAC_DEAD){
ALIVE_ISALIVE(ALjoy());
if(ALjoy()->state == STAL_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);
ALIVE_setAliveTime(ALjoy(), CAR_CST.JOYSTICK_ALIVE_TIME);
ALIVE_emitBorn(ALjoy(), 0, 0);
ALIVE_emitReady(ALjoy(), 100, 0);
}
}
break;

34
306-controller_interface.X/app/factory/factory.c
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@ -30,12 +30,12 @@ LED* l8() {
return &theFactory.l8_;
}
WATCHDOG* WDcontroller(){
return &theFactory.WDcontroller_;
ALIVE* ALcontroller(){
return &theFactory.ALcontroller_;
}
ALIVE_CHECKER* ACjoy() {
return &theFactory.ACjoy_;
ALIVE* ALjoy(){
return &theFactory.ALjoy_;
}
@ -67,10 +67,10 @@ void Factory_init() {
MEM_init();
// TODO init watchdog with EPROM CST
WATCHDOG_init(WDcontroller());
WATCHDOG_setTime(WDcontroller(), CAR_CST.CONTROL_ALIVE_TIME);
ALIVE_init(ALcontroller());
ALIVE_setAliveTime(ALcontroller(), CAR_CST.CONTROL_ALIVE_TIME);
ALIVE_CHECKER_init(ACjoy());
ALIVE_init(ALjoy());
}
//connect objects if required
@ -78,20 +78,22 @@ void Factory_build() {
ECAN_SetRXBnInterruptHandler(CAN_newMsg);
CAN_onReceiveCan(CM_processIncome);
WATCHDOG_onAlive(WDcontroller(), CM_CONTROLLER_ALIVE, NULL);
ALIVE_CHECKER_onSetup(ACjoy(), CM_JOY_SETUP, NULL);
ALIVE_CHECKER_setAliveTime(ACjoy(), CAR_CST.JOYSTICK_ALIVE_TIME);
ALIVE_CHECKER_onBorn(ACjoy(), LED_on, l1());
ALIVE_CHECKER_onDead(ACjoy(), LED_off, l1());
ALIVE_onAlive(ALcontroller(), CM_CONTROLLER_ALIVE, NULL);
ALIVE_onSetup(ALjoy(), CM_JOY_SETUP, NULL);
ALIVE_setAliveTime(ALjoy(), CAR_CST.JOYSTICK_ALIVE_TIME);
ALIVE_onBorn(ALjoy(), LED_on, l1());
ALIVE_onDead(ALjoy(), LED_off, l1());
}
//start all state machines
void Factory_start() {
CAN_startBehaviour();
WATCHDOG_startBehaviour(WDcontroller());
ALIVE_CHECKER_startBehaviour(ACjoy());
ALIVE_CHECKER_emitBorn(ACjoy(), 100, 0);
ALIVE_CHECKER_emitReady(ACjoy(), 200, 0);
ALIVE_startBehaviourSender(ALcontroller());
ALIVE_startBehaviourChecker(ALjoy());
ALIVE_emitBorn(ALjoy(), 100, 0);
ALIVE_emitReady(ALjoy(), 200, 0);
}

11
306-controller_interface.X/app/factory/factory.h
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@ -16,9 +16,8 @@
#include "../can_message.h"
#include "../../board/led/led.h"
#include "../../board/button/button.h"
#include "../../middleware/alive_checker.h"
#include "../../middleware/alive.h"
#include "../../middleware/can_interface.h"
#include "../../middleware/watchdog.h"
#include "../../middleware/eeprom.h"
@ -32,8 +31,8 @@ typedef struct {
LED l7_;
LED l8_;
WATCHDOG WDcontroller_;
ALIVE_CHECKER ACjoy_;
ALIVE ALcontroller_;
ALIVE ALjoy_;
} Factory;
@ -52,8 +51,8 @@ LED* l6();
LED* l7();
LED* l8();
WATCHDOG* WDcontroller();
ALIVE_CHECKER* ACjoy();
ALIVE* ALcontroller();
ALIVE* ALjoy();
#endif

4
306-controller_interface.X/main.c
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@ -10,8 +10,6 @@ void main(void)
// Initialize the device
SYSTEM_Initialize();
// Enable the Global Interrupts
INTERRUPT_GlobalInterruptEnable();
// Disable the Global Interrupts
// INTERRUPT_GlobalInterruptDisable();
@ -29,6 +27,8 @@ 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);
// Enable the Global Interrupts
INTERRUPT_GlobalInterruptEnable();
while (1)
{

259
306-controller_interface.X/middleware/alive.c Normal file
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@ -0,0 +1,259 @@
/**
* @author Rémi Heredero
* @version 1.0.0
* @date August 2023
* @file alive.c
*/
#include "alive.h"
void ALIVE_init(ALIVE* me){
me->state = STAL_INIT;
me->isAlive = false;
me->checker = false;
me->sender = false;
me->haveBreak = true;
me->aliveTime = 10;
me->setup.f = NULL;
me->born.f = NULL;
me->wait.f = NULL;
me->dead.f = NULL;
me->alive.f = NULL;
me->break_cb.f = NULL;
}
void ALIVE_startBehaviourChecker(ALIVE* me){
POST(me, &ALIVE_processEvent, evALinitChecker, 0, 0);
}
void ALIVE_startBehaviourSender(ALIVE* me){
POST(me, &ALIVE_processEvent, evALinitSender, 0, 0);
}
bool ALIVE_processEvent(Event* ev) {
bool processed = false;
ALIVE* me = (ALIVE*)Event_getTarget(ev);
ALIVE_STATES oldState = me->state;
evIDT evid = Event_getId(ev);
uint64_t data = Event_getData(ev);
switch (me->state) { // onState
case STAL_INIT:
if (ev->id == evALinitChecker) {
me->state = STAL_SETUP;
}
if (ev->id == evALinitSender) {
me->state = STAL_ALIVE;
ALIVE_emitPoll(me, me->aliveTime*10, 0);
}
break;
case STAL_SETUP:
if (ev->id == evALborn) {
me->state = STAL_BORN;
}
break;
case STAL_BORN:
if (ev->id == evALready) {
me->state = STAL_WAIT;
ALIVE_emitPoll(me, me->aliveTime*10, 0);
}
break;
case STAL_WAIT:
if (ev->id == evALpoll) {
if (me->aliveTime == 0) {
if (me->haveBreak){
me->state = STAL_BREAK;
}
} else if (me->isAlive){
me->state = STAL_WAIT;
ALIVE_emitPoll(me, me->aliveTime*10, 0);
} else {
me->state = STAL_DEAD;
}
me->isAlive = false;
}
break;
case STAL_DEAD:
if (ev->id == evALborn) {
me->state = STAL_BORN;
}
break;
case STAL_ALIVE:
if (ev->id == evALpoll) {
if (me->alive.f != NULL) {
me->alive.f(me->alive.p);
}
if (me->aliveTime == 0) {
if (me->haveBreak){
me->state == STAL_BREAK;
}
} else {
ALIVE_emitPoll(me, me->aliveTime*10, 0);
}
}
break;
case STAL_BREAK:
if (ev->id == evALstart) {
ALIVE_emitPoll(me, me->aliveTime*10, 0);
if (me->checker) {
me->state = STAL_WAIT;
}
if (me->sender) {
me->state = STAL_ALIVE;
}
}
break;
}
if(oldState != me->state){
switch (oldState) { // onExit
case STAL_INIT:
break;
case STAL_SETUP:
break;
case STAL_BORN:
break;
case STAL_WAIT:
break;
case STAL_DEAD:
break;
case STAL_ALIVE:
break;
case STAL_BREAK:
break;
}
switch (me->state) { // onEntry
case STAL_INIT:
break;
case STAL_SETUP:
if (me->setup.f != NULL) {
me->setup.f(me->setup.p);
}
break;
case STAL_BORN:
if (me->born.f != NULL) {
me->born.f(me->born.p);
}
break;
case STAL_WAIT:
if (me->wait.f != NULL) {
me->wait.f(me->wait.p);
}
break;
case STAL_DEAD:
if (me->dead.f != NULL) {
me->dead.f(me->dead.p);
}
break;
case STAL_ALIVE:
break;
case STAL_BREAK:
if (me->break_cb.f != NULL) {
me->break_cb.f(me->break_cb.p);
}
break;
}
processed = true;
}
return processed;
}
/*************
* Callbacks *
*************/
void ALIVE_onSetup(ALIVE* me, ALIVE_CALLBACK_FUNCTION f, void* p) {
me->setup.f = f;
me->setup.p = p;
}
void ALIVE_onBorn(ALIVE* me, ALIVE_CALLBACK_FUNCTION f, void* p) {
me->born.f = f;
me->born.p = p;
}
void ALIVE_onWait(ALIVE* me, ALIVE_CALLBACK_FUNCTION f, void* p) {
me->wait.f = f;
me->wait.p = p;
}
void ALIVE_onDead(ALIVE* me, ALIVE_CALLBACK_FUNCTION f, void* p) {
me->dead.f = f;
me->dead.p = p;
}
void ALIVE_onAlive(ALIVE* me, ALIVE_CALLBACK_FUNCTION f, void* p) {
me->alive.f = f;
me->alive.p = p;
}
void ALIVE_onBreak(ALIVE* me, ALIVE_CALLBACK_FUNCTION f, void* p) {
me->break_cb.f = f;
me->break_cb.p = p;
}
/************
* EMITTERS *
************/
void ALIVE_emitInitSender(ALIVE* me, uint16_t t, int64_t data) {
POST(me, &ALIVE_processEvent, evALinitSender, t, data);
}
void ALIVE_emitBorn(ALIVE* me, uint16_t t, int64_t data) {
POST(me, &ALIVE_processEvent, evALborn, t, data);
}
void ALIVE_emitReady(ALIVE* me, uint16_t t, int64_t data) {
POST(me, &ALIVE_processEvent, evALready, t, data);
}
void ALIVE_emitPoll(ALIVE* me, uint16_t t, int64_t data) {
POST(me, &ALIVE_processEvent, evALpoll, t, data);
}
void ALIVE_emitStart(ALIVE* me, uint16_t t, int64_t data) {
POST(me, &ALIVE_processEvent, evALstart, t, data);
}
/***********
* SETTERS *
***********/
void ALIVE_setIsAlive(ALIVE* me, bool v) {
me->isAlive = v;
}
void ALIVE_setHaveBreak(ALIVE* me, bool v) {
me->haveBreak = v;
}
void ALIVE_setAliveTime(ALIVE* me, uint8_t v) {
me->aliveTime = v;
}
void ALIVE_ISALIVE(ALIVE* me) {
ALIVE_setIsAlive(me, true);
}

178
306-controller_interface.X/middleware/alive.h Normal file
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@ -0,0 +1,178 @@
/**
* @author Rémi Heredero
* @version 1.0.0
* @date August 2023
* @file alive.h
*/
#ifndef ALIVE_H
#define ALIVE_H
#include "../xf/xf.h"
typedef enum {
STAL_INIT,
STAL_SETUP,
STAL_BORN,
STAL_WAIT,
STAL_DEAD,
STAL_ALIVE,
STAL_BREAK
} ALIVE_STATES;
typedef enum {
evALinitChecker = 15,
evALinitSender,
evALborn,
evALready,
evALpoll,
evALstart
} ALIVE_EVENTS;
typedef void (*ALIVE_CALLBACK_FUNCTION)(void*);
typedef struct {
ALIVE_CALLBACK_FUNCTION f; // function
void* p; // param(s)
} ALIVE_CALLBACK;
typedef struct {
ALIVE_STATES state;
bool isAlive;
bool checker;
bool sender;
bool haveBreak;
uint8_t aliveTime;
ALIVE_CALLBACK setup;
ALIVE_CALLBACK born;
ALIVE_CALLBACK wait;
ALIVE_CALLBACK dead;
ALIVE_CALLBACK alive;
ALIVE_CALLBACK break_cb;
} ALIVE;
/**
* Initialize the ALIVE
* @param me the ALIVE itself
*/
void ALIVE_init(ALIVE* me);
/**
* Start the ALIVE state machine for checker part
* @param me the ALIVE itself
*/
void ALIVE_startBehaviourChecker(ALIVE* me);
/**
* Start the ALIVE state machine for sender part
* @param me the ALIVE itself
*/
void ALIVE_startBehaviourSender(ALIVE* me);
/**
* Process the event
* @param ev the event to process
* @return true if the event is processed
*/
bool ALIVE_processEvent(Event* ev);
/*************
* Callbacks *
*************/
/**
* Set the callback function to call when the ALIVE is entering state setup
* @param me the ALIVE itself
* @param f the function to call
* @param p the param(s) to pass to the function
*/
void ALIVE_onSetup(ALIVE* me, ALIVE_CALLBACK_FUNCTION f, void* p);
/**
* Set the callback function to call when the ALIVE is entering state born
* @param me the ALIVE itself
* @param f the function to call
* @param p the param(s) to pass to the function
*/
void ALIVE_onBorn(ALIVE* me, ALIVE_CALLBACK_FUNCTION f, void* p);
/**
* Set the callback function to call when the ALIVE is entering state wait
* @param me the ALIVE itself
* @param f the function to call
* @param p the param(s) to pass to the function
*/
void ALIVE_onWait(ALIVE* me, ALIVE_CALLBACK_FUNCTION f, void* p);
/**
* Set the callback function to call when the ALIVE is entering state dead
* @param me the ALIVE itself
* @param f the function to call
* @param p the param(s) to pass to the function
*/
void ALIVE_onDead(ALIVE* me, ALIVE_CALLBACK_FUNCTION f, void* p);
/**
* Set the callback function to call when the ALIVE is entering state alive
* @param me the ALIVE itself
* @param f the function to call
* @param p the param(s) to pass to the function
*/
void ALIVE_onAlive(ALIVE* me, ALIVE_CALLBACK_FUNCTION f, void* p);
/**
* Set the callback function to call when the ALIVE is entering state break
* @param me the ALIVE itself
* @param f the function to call
* @param p the param(s) to pass to the function
*/
void ALIVE_onBreak(ALIVE* me, ALIVE_CALLBACK_FUNCTION f, void* p);
/************
* EMITTERS *
************/
/**
* Emit the born event
* @param me the ALIVE itself
* @param t time to wait in ms before triggering event
* @param data data to put on the event for XF
*/
void ALIVE_emitBorn(ALIVE* me, uint16_t t, int64_t data);
/**
* Emit the ready event
* @param me the ALIVE itself
* @param t time to wait in ms before triggering event
* @param data data to put on the event for XF
*/
void ALIVE_emitReady(ALIVE* me, uint16_t t, int64_t data);
/**
* Emit the poll event
* @param me the ALIVE itself
* @param t time to wait in ms before triggering event
* @param data data to put on the event for XF
*/
void ALIVE_emitPoll(ALIVE* me, uint16_t t, int64_t data);
/**
* Emit the start event
* @param me the ALIVE itself
* @param t time to wait in ms before triggering event
* @param data data to put on the event for XF
*/
void ALIVE_emitStart(ALIVE* me, uint16_t t, int64_t data);
/***********
* SETTERS *
***********/
void ALIVE_setIsAlive(ALIVE* me, bool v);
void ALIVE_setHaveBreak(ALIVE* me, bool v);
void ALIVE_setAliveTime(ALIVE* me, uint8_t v);
void ALIVE_ISALIVE(ALIVE* me);
#endif

176
306-controller_interface.X/middleware/alive_checker.c
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@ -1,176 +0,0 @@
/**
* @author Rémi Heredero
* @version 1.0.0
* @date August 2023
* @file alive_checker.c
*/
#include "alive_checker.h"
void ALIVE_CHECKER_init(ALIVE_CHECKER* me){
me->state = STAC_INIT;
me->isAlive = false;
me->aliveTime = 10;
me->setup.f = NULL;
me->born.f = NULL;
me->wait.f = NULL;
me->dead.f = NULL;
}
void ALIVE_CHECKER_startBehaviour(ALIVE_CHECKER* me){
POST(me, &ALIVE_CHECKER_processEvent, evACinit, 0, 0);
}
bool ALIVE_CHECKER_processEvent(Event* ev) {
bool processed = false;
ALIVE_CHECKER* me = (ALIVE_CHECKER*)Event_getTarget(ev);
ALIVE_CHECKER_STATES oldState = me->state;
evIDT evid = Event_getId(ev);
uint64_t data = Event_getData(ev);
switch (me->state) { // onState
case STAC_INIT:
if (ev->id == evACinit) {
me->state = STAC_SETUP;
}
break;
case STAC_SETUP:
if (ev->id == evACborn) {
me->state = STAC_BORN;
}
break;
case STAC_BORN:
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 (me->isAlive) {
me->state = STAC_WAIT;
ALIVE_CHECKER_emitPoll(me, me->aliveTime*10, 0);
} else {
me->state = STAC_DEAD;
}
me->isAlive = false;
}
break;
case STAC_DEAD:
if(ev->id == evACborn) {
me->state = STAC_BORN;
}
break;
}
if(oldState != me->state){
switch (oldState) { // onExit
case STAC_INIT:
break;
case STAC_SETUP:
break;
case STAC_BORN:
break;
case STAC_WAIT:
break;
case STAC_DEAD:
break;
}
switch (me->state) { // onEntry
case STAC_INIT:
break;
case STAC_SETUP:
if (me->setup.f != NULL) {
me->setup.f(me->setup.p);
}
break;
case STAC_BORN:
if (me->born.f != NULL) {
me->born.f(me->born.p);
}
break;
case STAC_WAIT:
if (me->wait.f != NULL) {
me->wait.f(me->wait.p);
}
break;
case STAC_DEAD:
if (me->dead.f != NULL) {
me->dead.f(me->dead.p);
}
break;
}
processed = true;
}
return processed;
}
/*************
* Callbacks *
*************/
void ALIVE_CHECKER_onSetup(ALIVE_CHECKER* me, ALIVE_CHECKER_CALLBACK_FUNCTION f, void* p) {
me->setup.f = f;
me->setup.p = p;
}
void ALIVE_CHECKER_onBorn(ALIVE_CHECKER* me, ALIVE_CHECKER_CALLBACK_FUNCTION f, void* p) {
me->born.f = f;
me->born.p = p;
}
void ALIVE_CHECKER_onWait(ALIVE_CHECKER* me, ALIVE_CHECKER_CALLBACK_FUNCTION f, void* p) {
me->wait.f = f;
me->wait.p = p;
}
void ALIVE_CHECKER_onDead(ALIVE_CHECKER* me, ALIVE_CHECKER_CALLBACK_FUNCTION f, void* p) {
me->dead.f = f;
me->dead.p = p;
}
/************
* EMITTERS *
************/
void ALIVE_CHECKER_emitBorn(ALIVE_CHECKER* me, uint16_t t, int64_t data) {
POST(me, &ALIVE_CHECKER_processEvent, evACborn, t, data);
}
void ALIVE_CHECKER_emitReady(ALIVE_CHECKER* me, uint16_t t, int64_t data) {
POST(me, &ALIVE_CHECKER_processEvent, evACready, t, data);
}
void ALIVE_CHECKER_emitPoll(ALIVE_CHECKER* me, uint16_t t, int64_t data) {
POST(me, &ALIVE_CHECKER_processEvent, evACpoll, t, data);
}
/***********
* SETTERS *
***********/
void ALIVE_CHECKER_setAliveTime(ALIVE_CHECKER* me, uint8_t v) {
me->aliveTime = v;
}
void ALIVE_CHECKER_setIsAlive(ALIVE_CHECKER* me, bool v) {
me->isAlive = v;
}
void ALIVE_CHECKER_ISALIVE(ALIVE_CHECKER* me) {
ALIVE_CHECKER_setIsAlive(me, true);
}

134
306-controller_interface.X/middleware/alive_checker.h
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@ -1,134 +0,0 @@
/**
* @author Rémi Heredero
* @version 1.0.0
* @date August 2023
* @file alive_checker.h
*/
#ifndef ALIVE_CHECKER_H
#define ALIVE_CHECKER_H
#include "../xf/xf.h"
typedef enum {
STAC_INIT,
STAC_SETUP,
STAC_BORN,
STAC_WAIT,
STAC_DEAD
} ALIVE_CHECKER_STATES;
typedef enum {
evACinit = 15,
evACborn,
evACready,
evACpoll
} ALIVE_CHECKER_EVENTS;
typedef void (*ALIVE_CHECKER_CALLBACK_FUNCTION)(void*);
typedef struct {
ALIVE_CHECKER_CALLBACK_FUNCTION f; // function
void* p; // param(s)
} ALIVE_CHECKER_CALLBACK;
typedef struct {
ALIVE_CHECKER_STATES state;
bool isAlive;
uint8_t aliveTime;
ALIVE_CHECKER_CALLBACK setup;
ALIVE_CHECKER_CALLBACK born;
ALIVE_CHECKER_CALLBACK wait;
ALIVE_CHECKER_CALLBACK dead;
} ALIVE_CHECKER;
/**
* Initialize the ALIVE_CHECKER
* @param me the ALIVE_CHECKER itself
*/
void ALIVE_CHECKER_init(ALIVE_CHECKER* me);
/**
* Start the ALIVE_CHECKER state machine
* @param me the ALIVE_CHECKER itself
*/
void ALIVE_CHECKER_startBehaviour(ALIVE_CHECKER* me);
/**
* Process the event
* @param ev the event to process
* @return true if the event is processed
*/
bool ALIVE_CHECKER_processEvent(Event* ev);
/*************
* Callbacks *
*************/
/**
* Set the callback function to call when the ALIVE_CHECKER is entering state setup
* @param me the ALIVE_CHECKER itself
* @param f the function to call
* @param p the param(s) to pass to the function
*/
void ALIVE_CHECKER_onSetup(ALIVE_CHECKER* me, ALIVE_CHECKER_CALLBACK_FUNCTION f, void* p);
/**
* Set the callback function to call when the ALIVE_CHECKER is entering state born
* @param me the ALIVE_CHECKER itself
* @param f the function to call
* @param p the param(s) to pass to the function
*/
void ALIVE_CHECKER_onBorn(ALIVE_CHECKER* me, ALIVE_CHECKER_CALLBACK_FUNCTION f, void* p);
/**
* Set the callback function to call when the ALIVE_CHECKER is entering state wait
* @param me the ALIVE_CHECKER itself
* @param f the function to call
* @param p the param(s) to pass to the function
*/
void ALIVE_CHECKER_onWait(ALIVE_CHECKER* me, ALIVE_CHECKER_CALLBACK_FUNCTION f, void* p);
/**
* Set the callback function to call when the ALIVE_CHECKER is entering state dead
* @param me the ALIVE_CHECKER itself
* @param f the function to call
* @param p the param(s) to pass to the function
*/
void ALIVE_CHECKER_onDead(ALIVE_CHECKER* me, ALIVE_CHECKER_CALLBACK_FUNCTION f, void* p);
/************
* EMITTERS *
************/
/**
* Emit the born event
* @param me the ALIVE_CHECKER itself
* @param t time to wait in ms before triggering event
* @param data data to put on the event for XF
*/
void ALIVE_CHECKER_emitBorn(ALIVE_CHECKER* me, uint16_t t, int64_t data);
/**
* Emit the ready event
* @param me the ALIVE_CHECKER itself
* @param t time to wait in ms before triggering event
* @param data data to put on the event for XF
*/
void ALIVE_CHECKER_emitReady(ALIVE_CHECKER* me, uint16_t t, int64_t data);
/**
* Emit the poll event
* @param me the ALIVE_CHECKER itself
* @param t time to wait in ms before triggering event
* @param data data to put on the event for XF
*/
void ALIVE_CHECKER_emitPoll(ALIVE_CHECKER* me, uint16_t t, int64_t data);
/***********
* SETTERS *
***********/
void ALIVE_CHECKER_setAliveTime(ALIVE_CHECKER* me, uint8_t v);
void ALIVE_CHECKER_setIsAlive(ALIVE_CHECKER* me, bool v);
void ALIVE_CHECKER_ISALIVE(ALIVE_CHECKER* me); // Use this one when you receive CAN message
#endif

90
306-controller_interface.X/middleware/watchdog.c
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@ -1,90 +0,0 @@
/**
* @author Rémi Heredero
* @version 1.0.0
* @date August 2023
* @file watchdog.c
*/
#include "watchdog.h"
void WATCHDOG_init(WATCHDOG* me){
me->state = STWD_INIT;
me->time = 10;
me->alive.f = NULL;
}
void WATCHDOG_startBehaviour(WATCHDOG* me){
POST(me, &WATCHDOG_processEvent, evWDinit, 0, 0);
}
bool WATCHDOG_processEvent(Event* ev) {
bool processed = false;
WATCHDOG* me = (WATCHDOG*)Event_getTarget(ev);
WATCHDOG_STATES oldState = me->state;
evIDT evid = Event_getId(ev);
uint64_t data = Event_getData(ev);
switch (me->state) { // onState
case STWD_INIT:
if (ev->id == evWDinit) {
me->state = STWD_ALIVE;
WATCHDOG_emitPoll(me, 10*me->time, 0);
}
break;
case STWD_ALIVE:
if (ev->id == evWDpoll) {
WATCHDOG_emitPoll(me, 10*me->time, 0);
if (me->alive.f != NULL) {
me->alive.f(me->alive.p);
}
}
break;
}
if(oldState != me->state){
switch (oldState) { // onExit
case STWD_INIT:
break;
case STWD_ALIVE:
break;
}
switch (me->state) { // onEntry
case STWD_INIT:
break;
case STWD_ALIVE:
break;
}
processed = true;
}
return processed;
}
/*************
* Callbacks *
*************/
void WATCHDOG_onAlive(WATCHDOG* me, WATCHDOG_CALLBACK_FUNCTION f, void* p) {
me->alive.f = f;
me->alive.p = p;
}
/************
* EMITTERS *
************/
void WATCHDOG_emitPoll(WATCHDOG* me, uint16_t t, int64_t data) {
POST(me, &WATCHDOG_processEvent, evWDpoll, t, data);
}
/***********
* SETTERS *
***********/
void WATCHDOG_setTime(WATCHDOG* me, uint8_t v) {
me->time = v;
}

83
306-controller_interface.X/middleware/watchdog.h
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@ -1,83 +0,0 @@
/**
* @author Rémi Heredero
* @version 1.0.0
* @date August 2023
* @file watchdog.h
*/
#ifndef WATCHDOG_H
#define WATCHDOG_H
#include "../xf/xf.h"
typedef enum {
STWD_INIT,
STWD_ALIVE
} WATCHDOG_STATES;
typedef enum {
evWDinit = 20,
evWDpoll
} WATCHDOG_EVENTS;
typedef void (*WATCHDOG_CALLBACK_FUNCTION)(void*);
typedef struct {
WATCHDOG_CALLBACK_FUNCTION f; // function
void* p; // param(s)
} WATCHDOG_CALLBACK;
typedef struct {
WATCHDOG_STATES state;
uint8_t time;
WATCHDOG_CALLBACK alive;
} WATCHDOG;
/**
* Initialize the WATCHDOG
* @param me the WATCHDOG itself
*/
void WATCHDOG_init(WATCHDOG* me);
/**
* Start the WATCHDOG state machine
* @param me the WATCHDOG itself
*/
void WATCHDOG_startBehaviour(WATCHDOG* me);
/**
* Process the event
* @param ev the event to process
* @return true if the event is processed
*/
bool WATCHDOG_processEvent(Event* ev);
/*************
* Callbacks *
*************/
/**
* Set the callback function to call when the WATCHDOG is entering state alive
* @param me the WATCHDOG itself
* @param f the function to call
* @param p the param(s) to pass to the function
*/
void WATCHDOG_onAlive(WATCHDOG* me, WATCHDOG_CALLBACK_FUNCTION f, void* p);
/************
* EMITTERS *
************/
/**
* Emit the poll event
* @param me the WATCHDOG itself
* @param t time to wait in ms before triggering event
* @param data data to put on the event for XF
*/
void WATCHDOG_emitPoll(WATCHDOG* me, uint16_t t, int64_t data);
/***********
* SETTERS *
***********/
void WATCHDOG_setTime(WATCHDOG* me, uint8_t v);
#endif

8
306-controller_interface.X/nbproject/configurations.xml
View File

@ -26,8 +26,7 @@
</logicalFolder>
<logicalFolder name="middleware" displayName="middleware" projectFiles="true">
<itemPath>middleware/can_interface.h</itemPath>
<itemPath>middleware/alive_checker.h</itemPath>
<itemPath>middleware/watchdog.h</itemPath>
<itemPath>middleware/alive.h</itemPath>
</logicalFolder>
<logicalFolder name="xf" displayName="xf" projectFiles="true">
<itemPath>xf/event.h</itemPath>
@ -63,8 +62,7 @@
</logicalFolder>
<logicalFolder name="middleware" displayName="middleware" projectFiles="true">
<itemPath>middleware/can_interface.c</itemPath>
<itemPath>middleware/alive_checker.c</itemPath>
<itemPath>middleware/watchdog.c</itemPath>
<itemPath>middleware/alive.c</itemPath>
</logicalFolder>
<logicalFolder name="xf" displayName="xf" projectFiles="true">
<itemPath>xf/event.c</itemPath>
@ -94,7 +92,7 @@
<platformTool>PICkit3PlatformTool</platformTool>
<languageToolchain>XC8</languageToolchain>
<languageToolchainVersion>2.41</languageToolchainVersion>
<platform>2</platform>
<platform>3</platform>
</toolsSet>
<packs>
<pack name="PIC18F-K_DFP" vendor="Microchip" version="1.7.134"/>

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UML/alive.pdf
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287
UML/alive.uxf
View File

@ -1,13 +1,13 @@
<?xml version="1.0" encoding="UTF-8" standalone="no"?>
<diagram program="umlet" version="15.0.0">
<zoom_level>15</zoom_level>
<zoom_level>14</zoom_level>
<element>
<id>UMLSpecialState</id>
<coordinates>
<x>510</x>
<y>30</y>
<w>30</w>
<h>30</h>
<x>714</x>
<y>28</y>
<w>56</w>
<h>56</h>
</coordinates>
<panel_attributes>type=initial</panel_attributes>
<additional_attributes/>
@ -15,47 +15,48 @@
<element>
<id>Relation</id>
<coordinates>
<x>510</x>
<y>45</y>
<w>90</w>
<h>105</h>
<x>462</x>
<y>70</y>
<w>308</w>
<h>154</h>
</coordinates>
<panel_attributes>lt=-&gt;
evInit</panel_attributes>
<additional_attributes>10.0;10.0;10.0;50.0</additional_attributes>
evInitChecker</panel_attributes>
<additional_attributes>200.0;10.0;200.0;50.0;10.0;50.0;10.0;90.0</additional_attributes>
</element>
<element>
<id>UMLState</id>
<coordinates>
<x>390</x>
<y>120</y>
<w>285</w>
<h>90</h>
<x>350</x>
<y>196</y>
<w>266</w>
<h>112</h>
</coordinates>
<panel_attributes>SETUP
--
/entry: sendParamsOnCan</panel_attributes>
/entry: sendParamsOnCan
/entry: checker = true</panel_attributes>
<additional_attributes/>
</element>
<element>
<id>Relation</id>
<coordinates>
<x>510</x>
<y>195</y>
<w>105</w>
<h>105</h>
<x>462</x>
<y>294</y>
<w>98</w>
<h>98</h>
</coordinates>
<panel_attributes>lt=-&gt;
evBorn</panel_attributes>
m1=evBorn</panel_attributes>
<additional_attributes>10.0;10.0;10.0;50.0</additional_attributes>
</element>
<element>
<id>UMLState</id>
<coordinates>
<x>390</x>
<y>270</y>
<w>285</w>
<h>90</h>
<x>350</x>
<y>364</y>
<w>266</w>
<h>84</h>
</coordinates>
<panel_attributes>BORN
--
@ -65,10 +66,10 @@ evBorn</panel_attributes>
<element>
<id>UMLState</id>
<coordinates>
<x>390</x>
<y>420</y>
<w>285</w>
<h>120</h>
<x>350</x>
<y>504</y>
<w>266</w>
<h>112</h>
</coordinates>
<panel_attributes>WAIT
--
@ -80,22 +81,22 @@ isAlive = false</panel_attributes>
<element>
<id>Relation</id>
<coordinates>
<x>510</x>
<y>345</y>
<w>120</w>
<h>105</h>
<x>462</x>
<y>434</y>
<w>112</w>
<h>98</h>
</coordinates>
<panel_attributes>lt=-&gt;
evReady</panel_attributes>
m1=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>
<x>350</x>
<y>784</y>
<w>266</w>
<h>84</h>
</coordinates>
<panel_attributes>DEAD
--
@ -105,94 +106,166 @@ evReady</panel_attributes>
<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>495</x>
<y>600</y>
<w>60</w>
<h>60</h>
</coordinates>
<panel_attributes>type=decision</panel_attributes>
<additional_attributes/>
</element>
<element>
<id>Relation</id>
<coordinates>
<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>Relation</id>
<coordinates>
<x>315</x>
<y>465</y>
<x>280</x>
<y>546</y>
<w>210</w>
<h>210</h>
<h>182</h>
</coordinates>
<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>
m1=evPoll\n[isAlive]</panel_attributes>
<additional_attributes>80.0;50.0;80.0;110.0;10.0;110.0;10.0;10.0;50.0;10.0</additional_attributes>
</element>
<element>
<id>Relation</id>
<coordinates>
<x>660</x>
<y>135</y>
<w>210</w>
<h>405</h>
<x>224</x>
<y>392</y>
<w>336</w>
<h>560</h>
</coordinates>
<panel_attributes>lt=-&gt;
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>255</x>
<y>300</y>
<w>300</w>
<h>600</h>
</coordinates>
<panel_attributes>lt=-&gt;
evBorn</panel_attributes>
m1=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>
<x>462</x>
<y>602</y>
<w>112</w>
<h>210</h>
</coordinates>
<panel_attributes>lt=-</panel_attributes>
<additional_attributes>10.0;190.0;60.0;190.0;60.0;10.0</additional_attributes>
<panel_attributes>lt=-&gt;
m1=evPoll\n[default]</panel_attributes>
<additional_attributes>10.0;10.0;10.0;130.0</additional_attributes>
</element>
<element>
<id>Relation</id>
<coordinates>
<x>660</x>
<y>315</y>
<w>120</w>
<h>45</h>
<x>728</x>
<y>70</y>
<w>308</w>
<h>154</h>
</coordinates>
<panel_attributes>lt=-</panel_attributes>
<additional_attributes>10.0;10.0;60.0;10.0</additional_attributes>
<panel_attributes>lt=-&gt;
evInitSender</panel_attributes>
<additional_attributes>10.0;10.0;10.0;50.0;200.0;50.0;200.0;90.0</additional_attributes>
</element>
<element>
<id>Relation</id>
<coordinates>
<x>784</x>
<y>252</y>
<w>224</w>
<h>140</h>
</coordinates>
<panel_attributes>lt=-&gt;
m1=evPoll\n[else]</panel_attributes>
<additional_attributes>100.0;40.0;100.0;70.0;10.0;70.0;10.0;10.0;60.0;10.0</additional_attributes>
</element>
<element>
<id>UMLNote</id>
<coordinates>
<x>784</x>
<y>28</y>
<w>140</w>
<h>56</h>
</coordinates>
<panel_attributes>read time on
EPROM</panel_attributes>
<additional_attributes/>
</element>
<element>
<id>UMLState</id>
<coordinates>
<x>868</x>
<y>196</y>
<w>266</w>
<h>112</h>
</coordinates>
<panel_attributes>ALIVE
--
\entry: sender = true
--
sendAliveOnCan</panel_attributes>
<additional_attributes/>
</element>
<element>
<id>UMLState</id>
<coordinates>
<x>868</x>
<y>518</y>
<w>266</w>
<h>84</h>
</coordinates>
<panel_attributes>lt=..
BREAK
-..
</panel_attributes>
<additional_attributes/>
</element>
<element>
<id>Relation</id>
<coordinates>
<x>994</x>
<y>294</y>
<w>210</w>
<h>252</h>
</coordinates>
<panel_attributes>lt=..&gt;
m1=evPoll\n[time==0]\n[haveBreak]</panel_attributes>
<additional_attributes>60.0;10.0;60.0;110.0;10.0;110.0;10.0;160.0</additional_attributes>
</element>
<element>
<id>Relation</id>
<coordinates>
<x>560</x>
<y>546</y>
<w>336</w>
<h>182</h>
</coordinates>
<panel_attributes>lt=..&gt;
m1=evPoll\n[time==0]\n[haveBreak]</panel_attributes>
<additional_attributes>10.0;50.0;10.0;110.0;90.0;110.0;170.0;10.0;220.0;10.0</additional_attributes>
</element>
<element>
<id>Relation</id>
<coordinates>
<x>602</x>
<y>546</y>
<w>420</w>
<h>182</h>
</coordinates>
<panel_attributes>lt=..&gt;
m1=evStart\n[checker]</panel_attributes>
<additional_attributes>220.0;40.0;220.0;110.0;140.0;110.0;60.0;10.0;10.0;10.0</additional_attributes>
</element>
<element>
<id>Relation</id>
<coordinates>
<x>1078</x>
<y>252</y>
<w>182</w>
<h>476</h>
</coordinates>
<panel_attributes>lt=..&gt;
m1=evStart\n[sender]</panel_attributes>
<additional_attributes>10.0;250.0;10.0;320.0;110.0;320.0;110.0;10.0;40.0;10.0</additional_attributes>
</element>
<element>
<id>UMLNote</id>
<coordinates>
<x>868</x>
<y>728</y>
<w>266</w>
<h>154</h>
</coordinates>
<panel_attributes>lt=..
break part can be disable
with setHaveBreak(false)
not all childrens have a break
for time at 0</panel_attributes>
<additional_attributes/>
</element>
</diagram>

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