Klagarge/SummerSchool2-Controller
Klagarge/SummerSchool2-Controller
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create alive_checker

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This commit is contained in:
Rémi Heredero 2023-08-25 18:23:36 +02:00
parent deba3fbf0d
commit 88096a007c
7 changed files with 149 additions and 24 deletions
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89
306-controller_interface.X/app/can_message.c
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@ -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) {
}

13
306-controller_interface.X/app/can_message.h
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@ -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 */

35
306-controller_interface.X/app/car.h
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@ -23,20 +23,23 @@
/*******************
* MEMORY ADRESSES *
*******************/
#define MEMADD_CONTROL_STEERING_MODE 0x00
#define MEMADD_CONTROL_ALIVE_TIME 0x01
#define MEMADD_CONTROL_SPEED_FACTOR 0x02
#define MEMADD_CONTROL_POWER_FACTOR 0x06
#define MEMADD_CONTROL_STEERING_FACTOR 0x0A
#define MEMADD_CONTROL_MAX_SPEED_FW 0x0E
#define MEMADD_CONTROL_MAX_SPEED_BW 0x0F
#define MEMADD_JOYSTICK_ALIVE_TIME 0x10
#define MEMADD_DISPLAY_ALIVE_TIME 0x11
#define MEMADD_DRIVE_SPEED_TIME 0x12
#define MEMADD_DRIVE_STOP_TIME 0x13
#define MEMADD_DRIVE_ALIVE_TIME 0x14
#define MEMADD_STEERING_ALIVE_TIME 0x15
#define MEMADD_BATTERY_ALIVE_TIME 0x16
#define MEMADD_CONTROL_STEERING_MODE 0x01
#define MEMADD_CONTROL_ALIVE_TIME 0x02
#define MEMADD_CONTROL_SPEED_FACTOR 0x03
#define MEMADD_CONTROL_POWER_FACTOR 0x07
#define MEMADD_CONTROL_STEERING_FACTOR 0x0B
#define MEMADD_CONTROL_MAX_SPEED_FW 0x0F
#define MEMADD_CONTROL_MAX_SPEED_BW 0x10
#define MEMADD_JOYSTICK_MODE 0x11
#define MEMADD_JOYSTICK_PARAM1 0x12
#define MEMADD_JOYSTICK_PARAM2 0x13
#define MEMADD_JOYSTICK_ALIVE_TIME 0x14
#define MEMADD_DISPLAY_ALIVE_TIME 0x
#define MEMADD_DRIVE_SPEED_TIME 0x
#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;

22
306-controller_interface.X/app/factory/factory.c
View File

@ -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);
}

2
306-controller_interface.X/app/factory/factory.h
View File

@ -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

2
306-controller_interface.X/middleware/alive_checker.c
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@ -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);
}

8
306-controller_interface.X/middleware/can_interface.c
View File

@ -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;
data = data >> 8;
canMsg.frame.data2 = (uint8_t) data;
canMsg.frame.data0 = (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);