create alive_checker

306-controller_interface.X/app/can_message.c

@@ -6,7 +6,94 @@
  */
 
 #include "../middleware/can_interface.h"
+#include "car.h"
+#include "../app/factory/factory.h"
 
-void CM_controller_alive(void* p) {
+typedef union {
+    struct {
+        uint8_t byte0;
+        uint8_t byte1;
+        uint8_t byte2;
+        uint8_t byte3;
+    } separate;
+    struct {
+        uint32_t bytes;
+    } full;
+} BYTES_4;
+
+void CM_processIncome(uint8_t idSender, uint8_t idMsg, uint32_t data){
+    switch(idSender){
+        case 0: // Broadcast / Debug
+            break;
+            
+        case 2: // Joystick
+            if(idMsg == 0x1) { // JOY_MESURE
+                
+            }
+            
+            if(idMsg == 0xF) { // JOY_ALIVE
+                ALIVE_CHECKER_ISALIVE(ACjoy());
+            }
+            break;
+            
+        case 3: // Display
+            break;
+            
+        case 4: // Drive
+            break;
+            
+        case 5: // Steering
+            break;
+            
+        case 6: // Supply
+            break;
+            
+        case 7: // Undefined
+            break;
+    }
+}
+
+void CM_CONTROLLER_ALIVE(void* p) {
     CAN_Send(0x0, 0xF, 0);
 }
+
+void CM_JOY_SETUP(void* p) {
+    BYTES_4 joy;
+    joy.separate.byte0 = CAR_CST.JOYSTICK_MODE;
+    joy.separate.byte1 = CAR_CST.JOYSTICK_PARAM1;
+    joy.separate.byte2 = CAR_CST.JOYSTICK_PARAM2;
+    joy.separate.byte3 = CAR_CST.JOYSTICK_ALIVE_TIME;
+    CAN_Send(2, 0, joy.full.bytes);
+    
+}
+void CM_DISPLAY_SETUP(void* p) {
+    
+}
+
+void CM_DISPLAY_SPEED(void* p) {
+    
+}
+
+void CM_DISPLAY_DIRECTION(void* p) {
+    
+}
+
+void CM_DRIVE_SETUP(void* p) {
+    
+}
+
+void CM_DRIVE_POWER(void* p) {
+    
+}
+
+void CM_STEERING_SETUP(void* p) {
+    
+}
+
+void CM_STEERING_SET(void* p) {
+    
+}
+
+void CM_SETUP_CONTROL(void* p) {
+    
+}

306-controller_interface.X/app/can_message.h

@@ -23,7 +23,18 @@ S   R   M
 1	6	0	SETUP_CONTROL       batteryVoltTime batteryCurrentTime  batteryEnergyTime   aliveTime
 */
 
-void CM_controller_alive(void* p);
+void CM_processIncome(uint8_t idSender, uint8_t idMsg, uint32_t data);
+void CM_CONTROLLER_ALIVE(void* p);
+void CM_JOY_SETUP(void* p);
+void CM_DISPLAY_SETUP(void* p);
+void CM_DISPLAY_SPEED(void* p);
+void CM_DISPLAY_DIRECTION(void* p);
+void CM_DRIVE_SETUP(void* p);
+void CM_DRIVE_POWER(void* p);
+void CM_STEERING_SETUP(void* p);
+void CM_STEERING_SET(void* p);
+void CM_SETUP_CONTROL(void* p);
+
 
 #endif	/* CAN_MESSAGE_H */
 

306-controller_interface.X/app/car.h

@@ -23,20 +23,23 @@
 /*******************
  * MEMORY ADRESSES *
  *******************/
-#define MEMADD_CONTROL_STEERING_MODE        0x00
+#define MEMADD_CONTROL_STEERING_MODE        0x01
-#define MEMADD_CONTROL_ALIVE_TIME           0x01
+#define MEMADD_CONTROL_ALIVE_TIME           0x02
-#define MEMADD_CONTROL_SPEED_FACTOR         0x02
+#define MEMADD_CONTROL_SPEED_FACTOR         0x03
-#define MEMADD_CONTROL_POWER_FACTOR         0x06
+#define MEMADD_CONTROL_POWER_FACTOR         0x07
-#define MEMADD_CONTROL_STEERING_FACTOR      0x0A
+#define MEMADD_CONTROL_STEERING_FACTOR      0x0B
-#define MEMADD_CONTROL_MAX_SPEED_FW         0x0E
+#define MEMADD_CONTROL_MAX_SPEED_FW         0x0F
-#define MEMADD_CONTROL_MAX_SPEED_BW         0x0F
+#define MEMADD_CONTROL_MAX_SPEED_BW         0x10
-#define MEMADD_JOYSTICK_ALIVE_TIME          0x10
+#define MEMADD_JOYSTICK_MODE                0x11
-#define MEMADD_DISPLAY_ALIVE_TIME           0x11
+#define MEMADD_JOYSTICK_PARAM1              0x12
-#define MEMADD_DRIVE_SPEED_TIME             0x12
+#define MEMADD_JOYSTICK_PARAM2              0x13
-#define MEMADD_DRIVE_STOP_TIME              0x13
+#define MEMADD_JOYSTICK_ALIVE_TIME          0x14
-#define MEMADD_DRIVE_ALIVE_TIME             0x14
+#define MEMADD_DISPLAY_ALIVE_TIME           0x
-#define MEMADD_STEERING_ALIVE_TIME          0x15
+#define MEMADD_DRIVE_SPEED_TIME             0x
-#define MEMADD_BATTERY_ALIVE_TIME           0x16
+#define MEMADD_DRIVE_STOP_TIME              0x
+#define MEMADD_DRIVE_ALIVE_TIME             0x
+#define MEMADD_STEERING_ALIVE_TIME          0x
+#define MEMADD_BATTERY_ALIVE_TIME           0x
 
 typedef struct {
     uint8_t     CONTROL_STEERING_MODE;
@@ -46,6 +49,10 @@ 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;
     uint8_t     JOYSTICK_ALIVE_TIME;
     uint8_t     DISPLAY_ALIVE_TIME;
     uint8_t     DRIVE_SPEED_TIME;

306-controller_interface.X/app/factory/factory.c

@@ -34,6 +34,10 @@ WATCHDOG* WDcontroller(){
     return &theFactory.WDcontroller_;
 }
 
+ALIVE_CHECKER* ACjoy() {
+    return &theFactory.ACjoy_;
+}
+
 
 //initialize all objects
 void Factory_init() {
@@ -63,8 +67,15 @@ void Factory_init() {
     
     // TODO init watchdog with EPROM CST 
     WATCHDOG_init(WDcontroller());
-    CAR_CST.CONTROL_ALIVE_TIME = 10; 
+    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());
 }
 
 void foo(uint8_t a, uint8_t b, uint32_t c){
@@ -81,11 +92,18 @@ void Factory_build() {
     ECAN_SetRXBnInterruptHandler(CAN_newMsg);
     CAN_onReceiveCan(foo);
     
-    WATCHDOG_onAlive(WDcontroller(), CM_controller_alive, NULL);
+    WATCHDOG_onAlive(WDcontroller(), CM_CONTROLLER_ALIVE, NULL);
+    ALIVE_CHECKER_onSetup(ACjoy(), CM_JOY_SETUP, NULL);
+    ALIVE_CHECKER_setAliveTime(ACjoy(), CAR_CST.JOYSTICK_ALIVE_TIME);
+    
 }
 
 //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);
+    
 }

306-controller_interface.X/app/factory/factory.h

@@ -32,6 +32,7 @@ typedef struct {
     LED l8_;
     
     WATCHDOG WDcontroller_;
+    ALIVE_CHECKER ACjoy_;
 
 } Factory;
 
@@ -51,6 +52,7 @@ LED* l7();
 LED* l8();
 
 WATCHDOG* WDcontroller();
+ALIVE_CHECKER* ACjoy();
 
 
 #endif

306-controller_interface.X/middleware/alive_checker.c

@@ -56,6 +56,7 @@ bool ALIVE_CHECKER_processEvent(Event* ev) {
                 } else {
                     me->state = STAC_DEAD;
                 }
+                me->isAlive = false;
             }
             break;
         
@@ -101,7 +102,6 @@ bool ALIVE_CHECKER_processEvent(Event* ev) {
                 break;
             
             case STAC_WAIT:
-                me->isAlive = false;
                 if (me->wait.f != NULL) {
                     me->wait.f(me->wait.p);
                 }

306-controller_interface.X/middleware/can_interface.c

@@ -88,13 +88,13 @@ bool CAN_processEvent(Event* ev) {
                 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
-                canMsg.frame.data3 = (uint8_t) data;
+                canMsg.frame.data0 = (uint8_t) data;
-                data = data >> 8;
-                canMsg.frame.data2 = (uint8_t) data;
                 data = data >> 8;
                 canMsg.frame.data1 = (uint8_t) data;
                 data = data >> 8;
-                canMsg.frame.data0 = (uint8_t) data;
+                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);