Merge pull request #1 from SummerSchool2023-RED/feature/car_param
Feature/car param
This commit is contained in:
Rémi Heredero
GitHub
commit
aff69ef4d7
@ -1,25 +0,0 @@
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#include "blcontrol.h"
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#include "../mcc_generated_files/mcc.h"
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#include "../factory/factory.h"
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//private methods
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void BLControl_init(BLControl* me)
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{
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//nothing to do yet
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}
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void BLControl_onButton(void * me, uint8_t buttonId, bool pressed)
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{
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BLControl* realMe = (BLControl*)me;
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if (buttonId == BID)
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{
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if (pressed)
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{
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LED_on(l());
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}
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else
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{
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LED_off(l());
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}
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}
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}
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@ -1,19 +0,0 @@
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#ifndef BLCONTROL_DEF
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#define BLCONTROL_DEF
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#include <stdint.h>
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#include <stdbool.h>
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#include "../xf/xf.h"
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#include "../board/button/buttonsm.h"
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struct BLControl_
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{
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};
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typedef struct BLControl_ BLControl;
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void BLControl_init(BLControl* me);
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void BLControl_onButton(void* me, uint8_t buttonId, bool pressed);
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#endif
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61
306-controller_interface.X/app/car.h
Normal file
61
306-controller_interface.X/app/car.h
Normal file
@ -0,0 +1,61 @@
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/**
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* @author Rémi Heredero
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* @version. 0.0.0
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* @date August 2023
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* @file car.h
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*/
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#ifndef CAR_H
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#define CAR_H
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/*************
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* MODULE ID *
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*************/
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#define ID_CONTROL 1 // Control the three-wheeler
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#define ID_JOYSTICK 2 // Inform control avout current joystick state
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#define ID_DISPLAY 3 // User interface to display informations
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#define ID_DRIVE 4 // Drive power motor of the three-wheeler
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#define ID_STEERING 5 // Drive the direction motor og the three-wheeler
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#define ID_SUPPLY 6 // Information about batteries, current, ...
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#define ID_BROADCAST 0 // Message to and from any module
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#define ID_DEBUG 0 // Message to and from any module
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/*******************
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* MEMORY ADRESSES *
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*******************/
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#define MEMADD_CONTROL_STEERING_MODE 0x00
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#define MEMADD_CONTROL_ALIVE_TIME 0x01
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#define MEMADD_CONTROL_SPEED_FACTOR 0x02
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#define MEMADD_CONTROL_POWER_FACTOR 0x06
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#define MEMADD_CONTROL_STEERING_FACTOR 0x0A
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#define MEMADD_CONTROL_MAX_SPEED_FW 0x0E
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#define MEMADD_CONTROL_MAX_SPEED_BW 0x0F
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#define MEMADD_JOYSTICK_ALIVE_TIME 0x10
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#define MEMADD_DISPLAY_ALIVE_TIME 0x11
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#define MEMADD_DRIVE_SPEED_TIME 0x12
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#define MEMADD_DRIVE_STOP_TIME 0x13
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#define MEMADD_DRIVE_ALIVE_TIME 0x14
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#define MEMADD_STEERING_ALIVE_TIME 0x15
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#define MEMADD_BATTERY_ALIVE_TIME 0x16
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typedef struct {
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uint8_t CONTROL_STEERING_MODE;
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uint8_t CONTROL_ALIVE_TIME;
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uint32_t CONTROL_SPEED_FACTOR;
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uint32_t CONTROL_POWER_FACTOR;
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uint32_t CONTROL_STEERING_FACTOR;
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uint8_t CONTROL_MAX_SPEED_FW;
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uint8_t CONTROL_MAX_SPEED_BW;
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uint8_t JOYSTICK_ALIVE_TIME;
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uint8_t DISPLAY_ALIVE_TIME;
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uint8_t DRIVE_SPEED_TIME;
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uint8_t DRIVE_STOP_TIME;
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uint8_t DRIVE_ALIVE_TIME;
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uint8_t STEERING_ALIVE_TIME;
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uint8_t BATTERY_ALIVE_TIME;
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} CAR_CST_TYPE;
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CAR_CST_TYPE CAR_CST;
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#endif /* CAR_H */
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70
306-controller_interface.X/app/factory/factory.c
Normal file
70
306-controller_interface.X/app/factory/factory.c
Normal file
@ -0,0 +1,70 @@
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#include "factory.h"
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//the factory object containing all objects of our system
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static Factory theFactory;
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//all the getters
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LED* l1() {
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return &theFactory.l1_;
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}
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LED* l2() {
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return &theFactory.l2_;
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}
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LED* l3() {
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return &theFactory.l3_;
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}
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LED* l4() {
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return &theFactory.l4_;
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}
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LED* l5() {
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return &theFactory.l5_;
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}
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LED* l6() {
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return &theFactory.l6_;
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}
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LED* l7() {
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return &theFactory.l7_;
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}
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LED* l8() {
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return &theFactory.l8_;
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}
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//initialize all objects
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void Factory_init() {
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LED_init(l1(), 1);
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LED_init(l2(), 2);
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LED_init(l3(), 3);
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LED_init(l4(), 4);
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LED_init(l5(), 5);
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LED_init(l6(), 6);
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LED_init(l7(), 7);
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LED_init(l8(), 8);
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LED_initHW(l1());
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LED_initHW(l2());
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LED_initHW(l3());
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LED_initHW(l4());
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LED_initHW(l5());
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LED_initHW(l6());
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LED_initHW(l7());
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LED_initHW(l8());
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CAN_init();
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}
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void foo(uint8_t a, uint8_t b, uint32_t c){
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}
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//connect objects if required
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void Factory_build() {
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ECAN_SetRXBnInterruptHandler(CAN_newMsg);
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CAN_onReceiveCan(foo);
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}
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//start all state machines
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void Factory_start() {
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CAN_startBehaviour();
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}
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48
306-controller_interface.X/app/factory/factory.h
Normal file
48
306-controller_interface.X/app/factory/factory.h
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/**
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* @author Rémi Heredero
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* @version. 0.0.0
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* @date August 2023
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* @file factory.h
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*/
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#ifndef FACTORY_H
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#define FACTORY_H
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#include <stdint.h>
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#include <stdbool.h>
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#include "../../board/led/led.h"
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#include "../../board/button/button.h"
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#include "../../middleware/can_interface.h"
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typedef struct {
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LED l1_;
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LED l2_;
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LED l3_;
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LED l4_;
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LED l5_;
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LED l6_;
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LED l7_;
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LED l8_;
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} Factory;
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void Factory_init();
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void Factory_build();
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void Factory_start();
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//these are global getters for our objects
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LED* l1();
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LED* l2();
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LED* l3();
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LED* l4();
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LED* l5();
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LED* l6();
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LED* l7();
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LED* l8();
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#endif
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@ -1,5 +1,5 @@
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#include "mcc_generated_files/mcc.h"
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#include "../mcc_generated_files/mcc.h"
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#include "xf/xf.h"
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#include "../xf/xf.h"
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#include "factory/factory.h"
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#include "factory/factory.h"
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/*
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/*
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@ -1,66 +1,137 @@
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/**
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* @author Rémi Heredero (remi@heredero.ch)
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* @version. 1.0.0
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* @date 2023-06-15
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*/
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#include "button.h"
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#include "button.h"
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#include "../../mcc_generated_files/pin_manager.h"
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#include "../../mcc_generated_files/pin_manager.h"
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#include "../../app/factory/factory.h"
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void Button_init(Button* me, uint8_t id, bool isPullUp)
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/**
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{
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* @brief Initialize the button
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*
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* @param me The object to initialize
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* @param id The id of the button
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*/
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void BUTTON_init(BUTTON* me, uint8_t id) {
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me->id = id;
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me->id = id;
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me->isPullUp = isPullUp;
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me->state = ST_PBINIT;
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me->press.fCallBack = NULL;
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me->release.fCallBack = NULL;
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}
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}
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/**
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/**
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* @brief Initialize the Driver
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* @brief Initialize the hardware of the button
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*
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*
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* @param me The object to initialize
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*/
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*/
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void Button_initHW(Button* me)
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void BUTTON_initHW(BUTTON* me) {
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{
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switch (me->id) {
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}
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//read the state of the button
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//maybe you have to adjust the
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//low level calls
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uint8_t Button_read(Button* me)
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{
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uint8_t value = LOW;
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switch (me->id)
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{
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case 1:
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case 1:
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value = IO_RA7_GetValue();
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INPUT1_SetDigitalInput();
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break;
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break;
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case 2:
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case 2:
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break;
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INPUT2_SetDigitalInput();
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break;
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case 3:
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case 3:
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break;
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INPUT3_SetDigitalInput();
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case 4:
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break;
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break;
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default:
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case 5:
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break;
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break;
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case 6:
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break;
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case 7:
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break;
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case 8:
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break;
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case 9:
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break;
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case 10:
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break;
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}
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}
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if (me->isPullUp == true)
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{
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value=value==LOW?HIGH:LOW;
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}
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return value;
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}
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//id getter
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uint8_t Button_getId(Button* me)
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{
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return me->id;
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}
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}
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//id setter
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/**
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void Button_setId(Button* me, uint8_t id)
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* @brief Check if the button is pressed
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{
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* The function returns true if the button is pressed, false otherwise
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me->id = id;
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*
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* @param me The object to check
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* @return true if the button is pressed
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* @return false if the button is not pressed
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*/
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bool BUTTON_isPressed(BUTTON* me) {
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switch (me->id) {
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case 1:
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return INPUT1_GetValue();
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break;
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case 2:
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return INPUT2_GetValue();
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break;
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case 3:
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return INPUT3_GetValue();
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break;
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default:
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return false;
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break;
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}
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}
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void BUTTON_startBehaviour(BUTTON* me) {
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POST(me, &BUTTON_processEvent, evPBInit, 0, 0);
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}
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bool BUTTON_processEvent(Event * ev) {
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bool processed = false;
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BUTTON* me = (BUTTON*)Event_getTarget(ev);
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BUTTON_STATES oldState = me->state;
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evIDT evid = Event_getId(ev);
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switch(me->state){
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case ST_PBINIT:
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if (evid == evPBInit) {
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POST(me, &BUTTON_processEvent, evPBPoll, 0, 0);
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if(BUTTON_isPressed(me)) {
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me->state = ST_PBPRESSED;
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} else {
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me->state = ST_PBRELEASED;
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}
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}
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break;
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case ST_PBRELEASED:
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if(evid == evPBPoll) {
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POST(me, &BUTTON_processEvent, evPBPoll, PB_POLL_TIME, 0);
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if(BUTTON_isPressed(me)) {
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me->state = ST_PBPRESSED;
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}
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}
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|
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break;
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case ST_PBPRESSED:
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if(evid == evPBPoll) {
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POST(me, &BUTTON_processEvent, evPBPoll, PB_POLL_TIME, 0);
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if(!BUTTON_isPressed(me)){
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me->state = ST_PBRELEASED;
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}
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}
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break;
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}
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if(oldState != me->state) {
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switch(me->state){
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case ST_PBINIT:
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break;
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case ST_PBRELEASED:
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if(me->release.fCallBack != NULL) me->release.fCallBack(me->release.param);
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break;
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case ST_PBPRESSED:
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if(me->press.fCallBack != NULL) me->press.fCallBack(me->press.param);
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break;
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}
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processed = true;
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|
}
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return processed;
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}
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|
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void BUTTON_setEventFunctions(BUTTON* me, buttonCallBack fPress, buttonCallBack fRelease) {
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|
me->press = fPress;
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me->release = fRelease;
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|
}
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|
|
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buttonCallBack BUTTON_defineCallBack(fButtonCallback f, void* param){
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|
buttonCallBack c;
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|
c.fCallBack = f;
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|
c.param = param;
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|
return c;
|
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}
|
}
|
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@ -1,25 +1,97 @@
|
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#ifndef Button_ONCE
|
/**
|
||||||
#define Button_ONCE
|
* @author Rémi Heredero (remi@heredero.ch)
|
||||||
|
* @version. 1.0.0
|
||||||
|
* @date 2023-06-15
|
||||||
|
*/
|
||||||
|
#ifndef BUTTON_H
|
||||||
|
#define BUTTON_H
|
||||||
|
|
||||||
#include <stdint.h>
|
#include <stdint.h>
|
||||||
#include <stdbool.h>
|
#include <stdbool.h>
|
||||||
|
#include "../../xf/xf.h"
|
||||||
|
|
||||||
/*
|
#define PB_POLL_TIME 20 // Poll time for BUTTON
|
||||||
* this is the declaration of the Button class
|
|
||||||
|
typedef enum {
|
||||||
|
ST_PBINIT,
|
||||||
|
ST_PBRELEASED,
|
||||||
|
ST_PBPRESSED
|
||||||
|
} BUTTON_STATES;
|
||||||
|
|
||||||
|
typedef enum {
|
||||||
|
evPBInit=50,
|
||||||
|
evPBPoll
|
||||||
|
} BUTTON_EVENTS;
|
||||||
|
|
||||||
|
// Calback function
|
||||||
|
typedef void (*fButtonCallback)(void*);
|
||||||
|
typedef struct {
|
||||||
|
fButtonCallback fCallBack;
|
||||||
|
void* param;
|
||||||
|
} buttonCallBack;
|
||||||
|
|
||||||
|
typedef struct {
|
||||||
|
uint8_t id; // Id of the button
|
||||||
|
BUTTON_STATES state; // Actual state
|
||||||
|
buttonCallBack press; // Callback for the rising edge of the button
|
||||||
|
buttonCallBack release; // Callback for the falling edge of the button
|
||||||
|
} BUTTON;
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief Initialize the button
|
||||||
|
*
|
||||||
|
* @param me button itself
|
||||||
|
* @param id The id of the button
|
||||||
*/
|
*/
|
||||||
|
void BUTTON_init(BUTTON* me, uint8_t id);
|
||||||
|
|
||||||
struct Button_
|
/**
|
||||||
{
|
* @brief Initialize the hardware of the button
|
||||||
uint8_t id;
|
*
|
||||||
bool isPullUp;
|
* @param me button itself
|
||||||
};
|
*/
|
||||||
|
void BUTTON_initHW(BUTTON* me);
|
||||||
|
|
||||||
typedef struct Button_ Button;
|
/**
|
||||||
|
* @brief Set both callback event functions
|
||||||
|
*
|
||||||
|
* @param me button itself
|
||||||
|
* @param fPress callback function when the button have a rising edge
|
||||||
|
* @param release callback function whent the have a falling edge
|
||||||
|
*/
|
||||||
|
void BUTTON_setEventFunctions(BUTTON* me, buttonCallBack fPress, buttonCallBack release);
|
||||||
|
|
||||||
void Button_init(Button* me, uint8_t id, bool isPullUp);
|
/**
|
||||||
void Button_initHW(Button* me);
|
* @brief Check if the button is pressed
|
||||||
uint8_t Button_read(Button* me);
|
* The function returns true if the button is pressed, false otherwise
|
||||||
void Button_setId(Button* me, uint8_t id);
|
*
|
||||||
uint8_t Button_getId(Button* me);
|
* @param me button itself
|
||||||
|
* @return true if the button is pressed
|
||||||
|
* @return false if the button is not pressed
|
||||||
|
*/
|
||||||
|
bool BUTTON_isPressed(BUTTON* me);
|
||||||
|
|
||||||
#endif
|
/**
|
||||||
|
* @biref Start state machine of the BUTTON
|
||||||
|
*
|
||||||
|
* @param me the button itself
|
||||||
|
*/
|
||||||
|
void BUTTON_startBehaviour(BUTTON* me);
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief State machine of the BUTTON
|
||||||
|
*
|
||||||
|
* @param ev event to process on the state machine
|
||||||
|
*/
|
||||||
|
bool BUTTON_processEvent(Event* ev);
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief Define a callback for BUTTON
|
||||||
|
*
|
||||||
|
* @param f callback function
|
||||||
|
* @param param callback parameter for the function
|
||||||
|
* @return the callback struct
|
||||||
|
*/
|
||||||
|
buttonCallBack BUTTON_defineCallBack(fButtonCallback f, void* param);
|
||||||
|
|
||||||
|
#endif /* BUTTON_H */
|
||||||
@ -1,129 +0,0 @@
|
|||||||
#include "buttonsm.h"
|
|
||||||
|
|
||||||
/*
|
|
||||||
* this is the init method of the ButtonSM class
|
|
||||||
*/
|
|
||||||
void ButtonSM_init(ButtonSM* me, Button* button)
|
|
||||||
{
|
|
||||||
me->state = ST_BSMINIT;
|
|
||||||
me->button = button;
|
|
||||||
|
|
||||||
me->actualState = ST_BSMINIT;
|
|
||||||
me->observer = NULL;
|
|
||||||
me->observerCB = NULL;
|
|
||||||
}
|
|
||||||
|
|
||||||
/*
|
|
||||||
* this is the state machine method of the ButtonSM class
|
|
||||||
*/
|
|
||||||
bool ButtonSM_processEvent(Event* ev)
|
|
||||||
{
|
|
||||||
ButtonSM* me = (ButtonSM*)ev->target;
|
|
||||||
bool processed = false;
|
|
||||||
BSMState oldState = me->state;
|
|
||||||
|
|
||||||
switch (me->state)
|
|
||||||
{
|
|
||||||
case ST_BSMINIT:
|
|
||||||
if (Event_getId(ev) == evBSMInit)
|
|
||||||
{
|
|
||||||
me->state = ST_BSMWAIT;
|
|
||||||
}
|
|
||||||
break;
|
|
||||||
case ST_BSMWAIT:
|
|
||||||
if (Event_getId(ev) == evBSMPollTM)
|
|
||||||
{
|
|
||||||
me->state = ST_BSMPOLL;
|
|
||||||
}
|
|
||||||
break;
|
|
||||||
case ST_BSMPOLL:
|
|
||||||
if (Event_getId(ev) == evBSMDefault)
|
|
||||||
{
|
|
||||||
if (Button_read(me->button)==HIGH)
|
|
||||||
{
|
|
||||||
me->state = ST_BSMPRESSED;
|
|
||||||
}
|
|
||||||
else
|
|
||||||
{
|
|
||||||
me->state = ST_BSMRELEASED;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
break;
|
|
||||||
case ST_BSMPRESSED:
|
|
||||||
if (Event_getId(ev) == evBSMDefault)
|
|
||||||
{
|
|
||||||
me->state = ST_BSMWAIT;
|
|
||||||
}
|
|
||||||
break;
|
|
||||||
case ST_BSMRELEASED:
|
|
||||||
if (Event_getId(ev) == evBSMDefault)
|
|
||||||
{
|
|
||||||
me->state = ST_BSMWAIT;
|
|
||||||
}
|
|
||||||
break;
|
|
||||||
}
|
|
||||||
if (oldState != me->state)
|
|
||||||
{
|
|
||||||
processed = true;
|
|
||||||
switch (me->state)
|
|
||||||
{
|
|
||||||
case ST_BSMINIT:
|
|
||||||
break;
|
|
||||||
case ST_BSMWAIT:
|
|
||||||
POST(me, &ButtonSM_processEvent, evBSMPollTM,POLLTM,0);
|
|
||||||
break;
|
|
||||||
case ST_BSMPOLL:
|
|
||||||
POST(me, &ButtonSM_processEvent, evBSMDefault,0,0);
|
|
||||||
break;
|
|
||||||
case ST_BSMPRESSED:
|
|
||||||
POST(me, &ButtonSM_processEvent, evBSMDefault,0,0);
|
|
||||||
if (me->actualState != ST_BSMPRESSED)
|
|
||||||
{
|
|
||||||
if (me->observerCB != NULL)
|
|
||||||
{
|
|
||||||
me->observerCB(me->observer,Button_getId(me->button),true);
|
|
||||||
me->actualState = ST_BSMPRESSED;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
break;
|
|
||||||
case ST_BSMRELEASED:
|
|
||||||
POST(me, &ButtonSM_processEvent, evBSMDefault,0,0);
|
|
||||||
if (me->actualState != ST_BSMRELEASED)
|
|
||||||
{
|
|
||||||
if (me->observerCB != NULL)
|
|
||||||
{
|
|
||||||
me->observerCB(me->observer,Button_getId(me->button),false);
|
|
||||||
me->actualState = ST_BSMRELEASED;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
break;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
return processed;
|
|
||||||
}
|
|
||||||
|
|
||||||
/*
|
|
||||||
* this is the start method for the
|
|
||||||
* state machine of the ButtonSM class
|
|
||||||
*/
|
|
||||||
void ButtonSM_startBehaviour(ButtonSM* me)
|
|
||||||
{
|
|
||||||
POST(me, &ButtonSM_processEvent, evBSMInit,0,0);
|
|
||||||
me->actualState = Button_read(me->button)==HIGH?ST_BSMPRESSED:ST_BSMRELEASED;
|
|
||||||
}
|
|
||||||
|
|
||||||
/*
|
|
||||||
* this is the method to set the object and the
|
|
||||||
* call back method of the ButtonSM class
|
|
||||||
* this method will be called whenever the
|
|
||||||
* button changes its state
|
|
||||||
* as parameters to the callback method will be passed
|
|
||||||
* the object address, the button id and its state
|
|
||||||
* if the call back method does not belong to a class,
|
|
||||||
* then the object address must be set to NULL
|
|
||||||
*/
|
|
||||||
void ButtonSM_setObserver(ButtonSM* me, void* observer, buttonObserverCBT observerCB)
|
|
||||||
{
|
|
||||||
me->observer = observer;
|
|
||||||
me->observerCB = observerCB;
|
|
||||||
}
|
|
||||||
@ -1,69 +0,0 @@
|
|||||||
#ifndef BUTTONSM_DEF
|
|
||||||
#define BUTTONSM_DEF
|
|
||||||
|
|
||||||
#include <stdint.h>
|
|
||||||
#include <stdbool.h>
|
|
||||||
#include "../../xf/xf.h"
|
|
||||||
#include "button.h"
|
|
||||||
|
|
||||||
/*
|
|
||||||
* these are the events of the
|
|
||||||
* button state machine
|
|
||||||
* be sure to make the first event
|
|
||||||
* in the enumeration different from 0
|
|
||||||
*/
|
|
||||||
typedef enum BSMEvent
|
|
||||||
{
|
|
||||||
evBSMInit = 10,
|
|
||||||
evBSMDefault,
|
|
||||||
evBSMPollTM
|
|
||||||
} BSMEvent;
|
|
||||||
|
|
||||||
/*
|
|
||||||
* these are the states of the
|
|
||||||
* button state machine
|
|
||||||
*/
|
|
||||||
typedef enum BSMSTate_
|
|
||||||
{
|
|
||||||
ST_BSMINIT,
|
|
||||||
ST_BSMWAIT,
|
|
||||||
ST_BSMPOLL,
|
|
||||||
ST_BSMPRESSED,
|
|
||||||
ST_BSMRELEASED
|
|
||||||
} BSMState;
|
|
||||||
|
|
||||||
/*
|
|
||||||
* the associated button will be polled
|
|
||||||
* each 50 ms. do not make this time
|
|
||||||
* shorter than TICKINTERVAL
|
|
||||||
*/
|
|
||||||
#define POLLTM 50
|
|
||||||
|
|
||||||
/*
|
|
||||||
* this is the prototype type of the callback function
|
|
||||||
* that will be called when the associated button
|
|
||||||
* changes from released to pressed or inverse.
|
|
||||||
*/
|
|
||||||
typedef void (*buttonObserverCBT)(void*, uint8_t, bool);
|
|
||||||
|
|
||||||
/*
|
|
||||||
* this is the declaration of the ButtonSM class
|
|
||||||
*/
|
|
||||||
struct ButtonSM_
|
|
||||||
{
|
|
||||||
BSMState state;
|
|
||||||
Button* button;
|
|
||||||
BSMState actualState;
|
|
||||||
|
|
||||||
buttonObserverCBT observerCB;
|
|
||||||
void* observer;
|
|
||||||
};
|
|
||||||
|
|
||||||
typedef struct ButtonSM_ ButtonSM;
|
|
||||||
|
|
||||||
|
|
||||||
void ButtonSM_init(ButtonSM* me, Button* button);
|
|
||||||
void ButtonSM_startBehaviour(ButtonSM* me);
|
|
||||||
bool ButtonSM_processEvent(Event* ev);
|
|
||||||
void ButtonSM_setObserver(ButtonSM* me, void* observer, buttonObserverCBT observerCB);
|
|
||||||
#endif
|
|
||||||
@ -1,8 +1,13 @@
|
|||||||
|
/**
|
||||||
|
* @author Rémi Heredero (remi@heredero.ch)
|
||||||
|
* @version. 1.0.0
|
||||||
|
* @date 2023-06-15
|
||||||
|
*/
|
||||||
|
|
||||||
#include "led.h"
|
#include "led.h"
|
||||||
#include "../../mcc_generated_files/pin_manager.h"
|
#include "../../mcc_generated_files/pin_manager.h"
|
||||||
|
|
||||||
void LED_init(LED* me, uint8_t id)
|
void LED_init(LED* me, uint8_t id) {
|
||||||
{
|
|
||||||
me->id = id;
|
me->id = id;
|
||||||
}
|
}
|
||||||
|
|
||||||
@ -10,94 +15,68 @@ void LED_init(LED* me, uint8_t id)
|
|||||||
* @brief Initialize the Driver
|
* @brief Initialize the Driver
|
||||||
*
|
*
|
||||||
*/
|
*/
|
||||||
void LED_initHW(LED* me)
|
void LED_initHW(LED* me) {
|
||||||
{
|
|
||||||
LED_off(me);
|
LED_off(me);
|
||||||
}
|
}
|
||||||
|
|
||||||
/*
|
void LED_on(void* me) {
|
||||||
* for the on and the off methods:
|
LED* l = (LED*) me;
|
||||||
* if the output is push pull, it depends if the
|
switch (l->id) {
|
||||||
* load is connect to ground or vcc.
|
|
||||||
* in this case, the load is connected to vcc,
|
|
||||||
* so on and off are inverted. Change the code as it
|
|
||||||
* is convenient for your hardware
|
|
||||||
*/
|
|
||||||
|
|
||||||
|
|
||||||
//switch on the led
|
|
||||||
//maybe you have to adjust your
|
|
||||||
//low level calls
|
|
||||||
void LED_on(LED* me)
|
|
||||||
{
|
|
||||||
switch (me->id)
|
|
||||||
{
|
|
||||||
case 1:
|
case 1:
|
||||||
IO_RB0_SetLow();
|
OUTPUT1_SetHigh();
|
||||||
break;
|
break;
|
||||||
case 2:
|
case 2:
|
||||||
|
OUTPUT2_SetHigh();
|
||||||
break;
|
break;
|
||||||
case 3:
|
case 3:
|
||||||
|
OUTPUT3_SetHigh();
|
||||||
break;
|
break;
|
||||||
case 4:
|
case 4:
|
||||||
|
OUTPUT4_SetHigh();
|
||||||
break;
|
break;
|
||||||
case 5:
|
case 5:
|
||||||
|
OUTPUT5_SetHigh();
|
||||||
break;
|
break;
|
||||||
case 6:
|
case 6:
|
||||||
|
OUTPUT6_SetHigh();
|
||||||
break;
|
break;
|
||||||
case 7:
|
case 7:
|
||||||
|
OUTPUT7_SetHigh();
|
||||||
break;
|
break;
|
||||||
case 8:
|
case 8:
|
||||||
break;
|
OUTPUT8_SetHigh();
|
||||||
case 9:
|
|
||||||
break;
|
|
||||||
case 10:
|
|
||||||
break;
|
break;
|
||||||
}
|
}
|
||||||
|
|
||||||
}
|
}
|
||||||
|
|
||||||
//switch off the led
|
void LED_off(void* me) {
|
||||||
//maybe you have to adjust your
|
LED* l = (LED*) me;
|
||||||
//low level calls
|
switch (l->id) {
|
||||||
void LED_off(LED* me)
|
|
||||||
{
|
|
||||||
switch (me->id)
|
|
||||||
{
|
|
||||||
case 1:
|
case 1:
|
||||||
IO_RB0_SetHigh();
|
OUTPUT1_SetLow();
|
||||||
break;
|
break;
|
||||||
case 2:
|
case 2:
|
||||||
|
OUTPUT2_SetLow();
|
||||||
break;
|
break;
|
||||||
case 3:
|
case 3:
|
||||||
|
OUTPUT3_SetLow();
|
||||||
break;
|
break;
|
||||||
case 4:
|
case 4:
|
||||||
|
OUTPUT4_SetLow();
|
||||||
break;
|
break;
|
||||||
case 5:
|
case 5:
|
||||||
|
OUTPUT5_SetLow();
|
||||||
break;
|
break;
|
||||||
case 6:
|
case 6:
|
||||||
|
OUTPUT6_SetLow();
|
||||||
break;
|
break;
|
||||||
case 7:
|
case 7:
|
||||||
|
OUTPUT7_SetLow();
|
||||||
break;
|
break;
|
||||||
case 8:
|
case 8:
|
||||||
break;
|
OUTPUT8_SetLow();
|
||||||
case 9:
|
|
||||||
break;
|
|
||||||
case 10:
|
|
||||||
break;
|
break;
|
||||||
}
|
}
|
||||||
|
|
||||||
}
|
}
|
||||||
|
|
||||||
void LED_setState(LED* me, uint8_t state)
|
|
||||||
{
|
|
||||||
if (state == HIGH)
|
|
||||||
{
|
|
||||||
LED_on(me);
|
|
||||||
}
|
|
||||||
|
|
||||||
if (state == LOW)
|
|
||||||
{
|
|
||||||
LED_off(me);
|
|
||||||
}
|
|
||||||
}
|
|
||||||
@ -1,23 +1,43 @@
|
|||||||
#ifndef LED_ONCE
|
/**
|
||||||
#define LED_ONCE
|
* @author Rémi Heredero (remi@heredero.ch)
|
||||||
|
* @version. 1.0.0
|
||||||
|
* @date 2023-06-15
|
||||||
|
*/
|
||||||
|
|
||||||
|
#ifndef LED_H
|
||||||
|
#define LED_H
|
||||||
|
|
||||||
#include <stdint.h>
|
#include <stdint.h>
|
||||||
|
|
||||||
/*
|
// LED struct
|
||||||
* this is the declaration of the Led class
|
typedef struct {
|
||||||
|
uint8_t id; // The id of the LED
|
||||||
|
}LED;
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Initialize the led
|
||||||
|
* @param me the led itself
|
||||||
|
* @param id the id of the led
|
||||||
*/
|
*/
|
||||||
struct LED_
|
|
||||||
{
|
|
||||||
//has a gpo
|
|
||||||
uint8_t id;
|
|
||||||
};
|
|
||||||
|
|
||||||
typedef struct LED_ LED;
|
|
||||||
|
|
||||||
void LED_init(LED* me, uint8_t id);
|
void LED_init(LED* me, uint8_t id);
|
||||||
void LED_initHW(LED* me);
|
|
||||||
void LED_on(LED* me);
|
|
||||||
void LED_off(LED* me);
|
|
||||||
void LED_setState(LED* me,uint8_t state);
|
|
||||||
|
|
||||||
#endif
|
/**
|
||||||
|
* Initializing the led
|
||||||
|
* @param me the led itself
|
||||||
|
*/
|
||||||
|
void LED_initHW(LED* me);
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Turn On the led
|
||||||
|
* @param me the led itself
|
||||||
|
*/
|
||||||
|
void LED_on(void* me);
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Turn Off the led
|
||||||
|
* @param me the led itself
|
||||||
|
*/
|
||||||
|
void LED_off(void* me);
|
||||||
|
|
||||||
|
#endif /* LED_H */
|
||||||
|
|
||||||
|
|||||||
@ -1,53 +0,0 @@
|
|||||||
#include "factory.h"
|
|
||||||
|
|
||||||
|
|
||||||
//the factory object containing all objects of our system
|
|
||||||
static Factory theFactory;
|
|
||||||
|
|
||||||
|
|
||||||
//all the getters
|
|
||||||
LED* l()
|
|
||||||
{
|
|
||||||
return &theFactory.l_;
|
|
||||||
}
|
|
||||||
|
|
||||||
Button* b()
|
|
||||||
{
|
|
||||||
return &theFactory.b_;
|
|
||||||
}
|
|
||||||
|
|
||||||
ButtonSM* bsm()
|
|
||||||
{
|
|
||||||
return &theFactory.bsm_;
|
|
||||||
}
|
|
||||||
|
|
||||||
BLControl* blc()
|
|
||||||
{
|
|
||||||
return &theFactory.blc_;
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
//initialize all objects
|
|
||||||
void Factory_init()
|
|
||||||
{
|
|
||||||
LED_init(l(),LID);
|
|
||||||
LED_initHW(l());
|
|
||||||
Button_init(b(),BID, true);
|
|
||||||
Button_initHW(b());
|
|
||||||
ButtonSM_init(bsm(),b());
|
|
||||||
BLControl_init(blc());
|
|
||||||
;
|
|
||||||
|
|
||||||
}
|
|
||||||
|
|
||||||
//connect objects if required
|
|
||||||
void Factory_build()
|
|
||||||
{
|
|
||||||
ButtonSM_setObserver(bsm(), blc(), &BLControl_onButton);
|
|
||||||
}
|
|
||||||
|
|
||||||
//start all state machines
|
|
||||||
void Factory_start()
|
|
||||||
{
|
|
||||||
ButtonSM_startBehaviour(bsm());
|
|
||||||
}
|
|
||||||
@ -1,41 +0,0 @@
|
|||||||
/* this is the Factory class */
|
|
||||||
|
|
||||||
|
|
||||||
#ifndef FACTORY_ONCE
|
|
||||||
#define FACTORY_ONCE
|
|
||||||
|
|
||||||
#include <stdint.h>
|
|
||||||
#include <stdbool.h>
|
|
||||||
|
|
||||||
#include "../board/led/led.h"
|
|
||||||
#include "../board/button/button.h"
|
|
||||||
#include "../board/button/buttonsm.h"
|
|
||||||
#include "../app/blcontrol.h"
|
|
||||||
|
|
||||||
|
|
||||||
#define BID 1
|
|
||||||
#define LID 1
|
|
||||||
|
|
||||||
void bObs(void*, uint8_t,bool);
|
|
||||||
|
|
||||||
struct Factory_
|
|
||||||
{
|
|
||||||
LED l_;
|
|
||||||
Button b_;
|
|
||||||
ButtonSM bsm_;
|
|
||||||
BLControl blc_;
|
|
||||||
};
|
|
||||||
|
|
||||||
typedef struct Factory_ Factory;
|
|
||||||
|
|
||||||
void Factory_init();
|
|
||||||
void Factory_build();
|
|
||||||
void Factory_start();
|
|
||||||
|
|
||||||
//these are global getters for our objects
|
|
||||||
LED* l();
|
|
||||||
Button* b();
|
|
||||||
ButtonSM* bsm();
|
|
||||||
BLControl* blc();
|
|
||||||
|
|
||||||
#endif
|
|
||||||
@ -70,10 +70,10 @@ typedef union {
|
|||||||
uint8_t data1;
|
uint8_t data1;
|
||||||
uint8_t data2;
|
uint8_t data2;
|
||||||
uint8_t data3;
|
uint8_t data3;
|
||||||
uint8_t data4;
|
uint8_t data4; // uselesss
|
||||||
uint8_t data5;
|
uint8_t data5; // uselesss
|
||||||
uint8_t data6;
|
uint8_t data6; // uselesss
|
||||||
uint8_t data7;
|
uint8_t data7; // uselesss
|
||||||
uint8_t rtr;
|
uint8_t rtr;
|
||||||
} frame;
|
} frame;
|
||||||
uint8_t array[15];
|
uint8_t array[15];
|
||||||
|
|||||||
@ -64,16 +64,16 @@ void PIN_MANAGER_Initialize(void)
|
|||||||
/**
|
/**
|
||||||
TRISx registers
|
TRISx registers
|
||||||
*/
|
*/
|
||||||
TRISA = 0xFF;
|
TRISA = 0x00;
|
||||||
TRISB = 0xFE;
|
TRISB = 0xF6;
|
||||||
TRISC = 0xFF;
|
TRISC = 0xFF;
|
||||||
|
|
||||||
/**
|
/**
|
||||||
ANSELx registers
|
ANSELx registers
|
||||||
*/
|
*/
|
||||||
ANSELC = 0xFF;
|
ANSELC = 0xFF;
|
||||||
ANSELB = 0xF6;
|
ANSELB = 0xEE;
|
||||||
ANSELA = 0x7F;
|
ANSELA = 0x00;
|
||||||
|
|
||||||
/**
|
/**
|
||||||
WPUx registers
|
WPUx registers
|
||||||
@ -112,7 +112,8 @@ void PIN_MANAGER_Initialize(void)
|
|||||||
|
|
||||||
|
|
||||||
|
|
||||||
CANRXPPS = 0x0B; //RB3->ECAN:CANRX;
|
CANRXPPS = 0x0C; //RB4->ECAN:CANRX;
|
||||||
|
RB3PPS = 0x33; //RB3->ECAN:CANTX0;
|
||||||
}
|
}
|
||||||
|
|
||||||
void PIN_MANAGER_IOC(void)
|
void PIN_MANAGER_IOC(void)
|
||||||
|
|||||||
@ -65,45 +65,165 @@
|
|||||||
#define PULL_UP_ENABLED 1
|
#define PULL_UP_ENABLED 1
|
||||||
#define PULL_UP_DISABLED 0
|
#define PULL_UP_DISABLED 0
|
||||||
|
|
||||||
// get/set IO_RA7 aliases
|
// get/set OUTPUT1 aliases
|
||||||
#define IO_RA7_TRIS TRISAbits.TRISA7
|
#define OUTPUT1_TRIS TRISAbits.TRISA0
|
||||||
#define IO_RA7_LAT LATAbits.LATA7
|
#define OUTPUT1_LAT LATAbits.LATA0
|
||||||
#define IO_RA7_PORT PORTAbits.RA7
|
#define OUTPUT1_PORT PORTAbits.RA0
|
||||||
#define IO_RA7_WPU WPUAbits.WPUA7
|
#define OUTPUT1_WPU WPUAbits.WPUA0
|
||||||
#define IO_RA7_OD ODCONAbits.ODCA7
|
#define OUTPUT1_OD ODCONAbits.ODCA0
|
||||||
#define IO_RA7_ANS ANSELAbits.ANSELA7
|
#define OUTPUT1_ANS ANSELAbits.ANSELA0
|
||||||
#define IO_RA7_SetHigh() do { LATAbits.LATA7 = 1; } while(0)
|
#define OUTPUT1_SetHigh() do { LATAbits.LATA0 = 1; } while(0)
|
||||||
#define IO_RA7_SetLow() do { LATAbits.LATA7 = 0; } while(0)
|
#define OUTPUT1_SetLow() do { LATAbits.LATA0 = 0; } while(0)
|
||||||
#define IO_RA7_Toggle() do { LATAbits.LATA7 = ~LATAbits.LATA7; } while(0)
|
#define OUTPUT1_Toggle() do { LATAbits.LATA0 = ~LATAbits.LATA0; } while(0)
|
||||||
#define IO_RA7_GetValue() PORTAbits.RA7
|
#define OUTPUT1_GetValue() PORTAbits.RA0
|
||||||
#define IO_RA7_SetDigitalInput() do { TRISAbits.TRISA7 = 1; } while(0)
|
#define OUTPUT1_SetDigitalInput() do { TRISAbits.TRISA0 = 1; } while(0)
|
||||||
#define IO_RA7_SetDigitalOutput() do { TRISAbits.TRISA7 = 0; } while(0)
|
#define OUTPUT1_SetDigitalOutput() do { TRISAbits.TRISA0 = 0; } while(0)
|
||||||
#define IO_RA7_SetPullup() do { WPUAbits.WPUA7 = 1; } while(0)
|
#define OUTPUT1_SetPullup() do { WPUAbits.WPUA0 = 1; } while(0)
|
||||||
#define IO_RA7_ResetPullup() do { WPUAbits.WPUA7 = 0; } while(0)
|
#define OUTPUT1_ResetPullup() do { WPUAbits.WPUA0 = 0; } while(0)
|
||||||
#define IO_RA7_SetPushPull() do { ODCONAbits.ODCA7 = 0; } while(0)
|
#define OUTPUT1_SetPushPull() do { ODCONAbits.ODCA0 = 0; } while(0)
|
||||||
#define IO_RA7_SetOpenDrain() do { ODCONAbits.ODCA7 = 1; } while(0)
|
#define OUTPUT1_SetOpenDrain() do { ODCONAbits.ODCA0 = 1; } while(0)
|
||||||
#define IO_RA7_SetAnalogMode() do { ANSELAbits.ANSELA7 = 1; } while(0)
|
#define OUTPUT1_SetAnalogMode() do { ANSELAbits.ANSELA0 = 1; } while(0)
|
||||||
#define IO_RA7_SetDigitalMode() do { ANSELAbits.ANSELA7 = 0; } while(0)
|
#define OUTPUT1_SetDigitalMode() do { ANSELAbits.ANSELA0 = 0; } while(0)
|
||||||
|
|
||||||
// get/set IO_RB0 aliases
|
// get/set OUTPUT2 aliases
|
||||||
#define IO_RB0_TRIS TRISBbits.TRISB0
|
#define OUTPUT2_TRIS TRISAbits.TRISA1
|
||||||
#define IO_RB0_LAT LATBbits.LATB0
|
#define OUTPUT2_LAT LATAbits.LATA1
|
||||||
#define IO_RB0_PORT PORTBbits.RB0
|
#define OUTPUT2_PORT PORTAbits.RA1
|
||||||
#define IO_RB0_WPU WPUBbits.WPUB0
|
#define OUTPUT2_WPU WPUAbits.WPUA1
|
||||||
#define IO_RB0_OD ODCONBbits.ODCB0
|
#define OUTPUT2_OD ODCONAbits.ODCA1
|
||||||
#define IO_RB0_ANS ANSELBbits.ANSELB0
|
#define OUTPUT2_ANS ANSELAbits.ANSELA1
|
||||||
#define IO_RB0_SetHigh() do { LATBbits.LATB0 = 1; } while(0)
|
#define OUTPUT2_SetHigh() do { LATAbits.LATA1 = 1; } while(0)
|
||||||
#define IO_RB0_SetLow() do { LATBbits.LATB0 = 0; } while(0)
|
#define OUTPUT2_SetLow() do { LATAbits.LATA1 = 0; } while(0)
|
||||||
#define IO_RB0_Toggle() do { LATBbits.LATB0 = ~LATBbits.LATB0; } while(0)
|
#define OUTPUT2_Toggle() do { LATAbits.LATA1 = ~LATAbits.LATA1; } while(0)
|
||||||
#define IO_RB0_GetValue() PORTBbits.RB0
|
#define OUTPUT2_GetValue() PORTAbits.RA1
|
||||||
#define IO_RB0_SetDigitalInput() do { TRISBbits.TRISB0 = 1; } while(0)
|
#define OUTPUT2_SetDigitalInput() do { TRISAbits.TRISA1 = 1; } while(0)
|
||||||
#define IO_RB0_SetDigitalOutput() do { TRISBbits.TRISB0 = 0; } while(0)
|
#define OUTPUT2_SetDigitalOutput() do { TRISAbits.TRISA1 = 0; } while(0)
|
||||||
#define IO_RB0_SetPullup() do { WPUBbits.WPUB0 = 1; } while(0)
|
#define OUTPUT2_SetPullup() do { WPUAbits.WPUA1 = 1; } while(0)
|
||||||
#define IO_RB0_ResetPullup() do { WPUBbits.WPUB0 = 0; } while(0)
|
#define OUTPUT2_ResetPullup() do { WPUAbits.WPUA1 = 0; } while(0)
|
||||||
#define IO_RB0_SetPushPull() do { ODCONBbits.ODCB0 = 0; } while(0)
|
#define OUTPUT2_SetPushPull() do { ODCONAbits.ODCA1 = 0; } while(0)
|
||||||
#define IO_RB0_SetOpenDrain() do { ODCONBbits.ODCB0 = 1; } while(0)
|
#define OUTPUT2_SetOpenDrain() do { ODCONAbits.ODCA1 = 1; } while(0)
|
||||||
#define IO_RB0_SetAnalogMode() do { ANSELBbits.ANSELB0 = 1; } while(0)
|
#define OUTPUT2_SetAnalogMode() do { ANSELAbits.ANSELA1 = 1; } while(0)
|
||||||
#define IO_RB0_SetDigitalMode() do { ANSELBbits.ANSELB0 = 0; } while(0)
|
#define OUTPUT2_SetDigitalMode() do { ANSELAbits.ANSELA1 = 0; } while(0)
|
||||||
|
|
||||||
|
// get/set OUTPUT3 aliases
|
||||||
|
#define OUTPUT3_TRIS TRISAbits.TRISA2
|
||||||
|
#define OUTPUT3_LAT LATAbits.LATA2
|
||||||
|
#define OUTPUT3_PORT PORTAbits.RA2
|
||||||
|
#define OUTPUT3_WPU WPUAbits.WPUA2
|
||||||
|
#define OUTPUT3_OD ODCONAbits.ODCA2
|
||||||
|
#define OUTPUT3_ANS ANSELAbits.ANSELA2
|
||||||
|
#define OUTPUT3_SetHigh() do { LATAbits.LATA2 = 1; } while(0)
|
||||||
|
#define OUTPUT3_SetLow() do { LATAbits.LATA2 = 0; } while(0)
|
||||||
|
#define OUTPUT3_Toggle() do { LATAbits.LATA2 = ~LATAbits.LATA2; } while(0)
|
||||||
|
#define OUTPUT3_GetValue() PORTAbits.RA2
|
||||||
|
#define OUTPUT3_SetDigitalInput() do { TRISAbits.TRISA2 = 1; } while(0)
|
||||||
|
#define OUTPUT3_SetDigitalOutput() do { TRISAbits.TRISA2 = 0; } while(0)
|
||||||
|
#define OUTPUT3_SetPullup() do { WPUAbits.WPUA2 = 1; } while(0)
|
||||||
|
#define OUTPUT3_ResetPullup() do { WPUAbits.WPUA2 = 0; } while(0)
|
||||||
|
#define OUTPUT3_SetPushPull() do { ODCONAbits.ODCA2 = 0; } while(0)
|
||||||
|
#define OUTPUT3_SetOpenDrain() do { ODCONAbits.ODCA2 = 1; } while(0)
|
||||||
|
#define OUTPUT3_SetAnalogMode() do { ANSELAbits.ANSELA2 = 1; } while(0)
|
||||||
|
#define OUTPUT3_SetDigitalMode() do { ANSELAbits.ANSELA2 = 0; } while(0)
|
||||||
|
|
||||||
|
// get/set OUTPUT4 aliases
|
||||||
|
#define OUTPUT4_TRIS TRISAbits.TRISA3
|
||||||
|
#define OUTPUT4_LAT LATAbits.LATA3
|
||||||
|
#define OUTPUT4_PORT PORTAbits.RA3
|
||||||
|
#define OUTPUT4_WPU WPUAbits.WPUA3
|
||||||
|
#define OUTPUT4_OD ODCONAbits.ODCA3
|
||||||
|
#define OUTPUT4_ANS ANSELAbits.ANSELA3
|
||||||
|
#define OUTPUT4_SetHigh() do { LATAbits.LATA3 = 1; } while(0)
|
||||||
|
#define OUTPUT4_SetLow() do { LATAbits.LATA3 = 0; } while(0)
|
||||||
|
#define OUTPUT4_Toggle() do { LATAbits.LATA3 = ~LATAbits.LATA3; } while(0)
|
||||||
|
#define OUTPUT4_GetValue() PORTAbits.RA3
|
||||||
|
#define OUTPUT4_SetDigitalInput() do { TRISAbits.TRISA3 = 1; } while(0)
|
||||||
|
#define OUTPUT4_SetDigitalOutput() do { TRISAbits.TRISA3 = 0; } while(0)
|
||||||
|
#define OUTPUT4_SetPullup() do { WPUAbits.WPUA3 = 1; } while(0)
|
||||||
|
#define OUTPUT4_ResetPullup() do { WPUAbits.WPUA3 = 0; } while(0)
|
||||||
|
#define OUTPUT4_SetPushPull() do { ODCONAbits.ODCA3 = 0; } while(0)
|
||||||
|
#define OUTPUT4_SetOpenDrain() do { ODCONAbits.ODCA3 = 1; } while(0)
|
||||||
|
#define OUTPUT4_SetAnalogMode() do { ANSELAbits.ANSELA3 = 1; } while(0)
|
||||||
|
#define OUTPUT4_SetDigitalMode() do { ANSELAbits.ANSELA3 = 0; } while(0)
|
||||||
|
|
||||||
|
// get/set OUTPUT5 aliases
|
||||||
|
#define OUTPUT5_TRIS TRISAbits.TRISA4
|
||||||
|
#define OUTPUT5_LAT LATAbits.LATA4
|
||||||
|
#define OUTPUT5_PORT PORTAbits.RA4
|
||||||
|
#define OUTPUT5_WPU WPUAbits.WPUA4
|
||||||
|
#define OUTPUT5_OD ODCONAbits.ODCA4
|
||||||
|
#define OUTPUT5_ANS ANSELAbits.ANSELA4
|
||||||
|
#define OUTPUT5_SetHigh() do { LATAbits.LATA4 = 1; } while(0)
|
||||||
|
#define OUTPUT5_SetLow() do { LATAbits.LATA4 = 0; } while(0)
|
||||||
|
#define OUTPUT5_Toggle() do { LATAbits.LATA4 = ~LATAbits.LATA4; } while(0)
|
||||||
|
#define OUTPUT5_GetValue() PORTAbits.RA4
|
||||||
|
#define OUTPUT5_SetDigitalInput() do { TRISAbits.TRISA4 = 1; } while(0)
|
||||||
|
#define OUTPUT5_SetDigitalOutput() do { TRISAbits.TRISA4 = 0; } while(0)
|
||||||
|
#define OUTPUT5_SetPullup() do { WPUAbits.WPUA4 = 1; } while(0)
|
||||||
|
#define OUTPUT5_ResetPullup() do { WPUAbits.WPUA4 = 0; } while(0)
|
||||||
|
#define OUTPUT5_SetPushPull() do { ODCONAbits.ODCA4 = 0; } while(0)
|
||||||
|
#define OUTPUT5_SetOpenDrain() do { ODCONAbits.ODCA4 = 1; } while(0)
|
||||||
|
#define OUTPUT5_SetAnalogMode() do { ANSELAbits.ANSELA4 = 1; } while(0)
|
||||||
|
#define OUTPUT5_SetDigitalMode() do { ANSELAbits.ANSELA4 = 0; } while(0)
|
||||||
|
|
||||||
|
// get/set OUTPUT6 aliases
|
||||||
|
#define OUTPUT6_TRIS TRISAbits.TRISA5
|
||||||
|
#define OUTPUT6_LAT LATAbits.LATA5
|
||||||
|
#define OUTPUT6_PORT PORTAbits.RA5
|
||||||
|
#define OUTPUT6_WPU WPUAbits.WPUA5
|
||||||
|
#define OUTPUT6_OD ODCONAbits.ODCA5
|
||||||
|
#define OUTPUT6_ANS ANSELAbits.ANSELA5
|
||||||
|
#define OUTPUT6_SetHigh() do { LATAbits.LATA5 = 1; } while(0)
|
||||||
|
#define OUTPUT6_SetLow() do { LATAbits.LATA5 = 0; } while(0)
|
||||||
|
#define OUTPUT6_Toggle() do { LATAbits.LATA5 = ~LATAbits.LATA5; } while(0)
|
||||||
|
#define OUTPUT6_GetValue() PORTAbits.RA5
|
||||||
|
#define OUTPUT6_SetDigitalInput() do { TRISAbits.TRISA5 = 1; } while(0)
|
||||||
|
#define OUTPUT6_SetDigitalOutput() do { TRISAbits.TRISA5 = 0; } while(0)
|
||||||
|
#define OUTPUT6_SetPullup() do { WPUAbits.WPUA5 = 1; } while(0)
|
||||||
|
#define OUTPUT6_ResetPullup() do { WPUAbits.WPUA5 = 0; } while(0)
|
||||||
|
#define OUTPUT6_SetPushPull() do { ODCONAbits.ODCA5 = 0; } while(0)
|
||||||
|
#define OUTPUT6_SetOpenDrain() do { ODCONAbits.ODCA5 = 1; } while(0)
|
||||||
|
#define OUTPUT6_SetAnalogMode() do { ANSELAbits.ANSELA5 = 1; } while(0)
|
||||||
|
#define OUTPUT6_SetDigitalMode() do { ANSELAbits.ANSELA5 = 0; } while(0)
|
||||||
|
|
||||||
|
// get/set OUTPUT7 aliases
|
||||||
|
#define OUTPUT7_TRIS TRISAbits.TRISA6
|
||||||
|
#define OUTPUT7_LAT LATAbits.LATA6
|
||||||
|
#define OUTPUT7_PORT PORTAbits.RA6
|
||||||
|
#define OUTPUT7_WPU WPUAbits.WPUA6
|
||||||
|
#define OUTPUT7_OD ODCONAbits.ODCA6
|
||||||
|
#define OUTPUT7_ANS ANSELAbits.ANSELA6
|
||||||
|
#define OUTPUT7_SetHigh() do { LATAbits.LATA6 = 1; } while(0)
|
||||||
|
#define OUTPUT7_SetLow() do { LATAbits.LATA6 = 0; } while(0)
|
||||||
|
#define OUTPUT7_Toggle() do { LATAbits.LATA6 = ~LATAbits.LATA6; } while(0)
|
||||||
|
#define OUTPUT7_GetValue() PORTAbits.RA6
|
||||||
|
#define OUTPUT7_SetDigitalInput() do { TRISAbits.TRISA6 = 1; } while(0)
|
||||||
|
#define OUTPUT7_SetDigitalOutput() do { TRISAbits.TRISA6 = 0; } while(0)
|
||||||
|
#define OUTPUT7_SetPullup() do { WPUAbits.WPUA6 = 1; } while(0)
|
||||||
|
#define OUTPUT7_ResetPullup() do { WPUAbits.WPUA6 = 0; } while(0)
|
||||||
|
#define OUTPUT7_SetPushPull() do { ODCONAbits.ODCA6 = 0; } while(0)
|
||||||
|
#define OUTPUT7_SetOpenDrain() do { ODCONAbits.ODCA6 = 1; } while(0)
|
||||||
|
#define OUTPUT7_SetAnalogMode() do { ANSELAbits.ANSELA6 = 1; } while(0)
|
||||||
|
#define OUTPUT7_SetDigitalMode() do { ANSELAbits.ANSELA6 = 0; } while(0)
|
||||||
|
|
||||||
|
// get/set OUTPUT8 aliases
|
||||||
|
#define OUTPUT8_TRIS TRISAbits.TRISA7
|
||||||
|
#define OUTPUT8_LAT LATAbits.LATA7
|
||||||
|
#define OUTPUT8_PORT PORTAbits.RA7
|
||||||
|
#define OUTPUT8_WPU WPUAbits.WPUA7
|
||||||
|
#define OUTPUT8_OD ODCONAbits.ODCA7
|
||||||
|
#define OUTPUT8_ANS ANSELAbits.ANSELA7
|
||||||
|
#define OUTPUT8_SetHigh() do { LATAbits.LATA7 = 1; } while(0)
|
||||||
|
#define OUTPUT8_SetLow() do { LATAbits.LATA7 = 0; } while(0)
|
||||||
|
#define OUTPUT8_Toggle() do { LATAbits.LATA7 = ~LATAbits.LATA7; } while(0)
|
||||||
|
#define OUTPUT8_GetValue() PORTAbits.RA7
|
||||||
|
#define OUTPUT8_SetDigitalInput() do { TRISAbits.TRISA7 = 1; } while(0)
|
||||||
|
#define OUTPUT8_SetDigitalOutput() do { TRISAbits.TRISA7 = 0; } while(0)
|
||||||
|
#define OUTPUT8_SetPullup() do { WPUAbits.WPUA7 = 1; } while(0)
|
||||||
|
#define OUTPUT8_ResetPullup() do { WPUAbits.WPUA7 = 0; } while(0)
|
||||||
|
#define OUTPUT8_SetPushPull() do { ODCONAbits.ODCA7 = 0; } while(0)
|
||||||
|
#define OUTPUT8_SetOpenDrain() do { ODCONAbits.ODCA7 = 1; } while(0)
|
||||||
|
#define OUTPUT8_SetAnalogMode() do { ANSELAbits.ANSELA7 = 1; } while(0)
|
||||||
|
#define OUTPUT8_SetDigitalMode() do { ANSELAbits.ANSELA7 = 0; } while(0)
|
||||||
|
|
||||||
// get/set RB3 procedures
|
// get/set RB3 procedures
|
||||||
#define RB3_SetHigh() do { LATBbits.LATB3 = 1; } while(0)
|
#define RB3_SetHigh() do { LATBbits.LATB3 = 1; } while(0)
|
||||||
@ -117,6 +237,18 @@
|
|||||||
#define RB3_SetAnalogMode() do { ANSELBbits.ANSELB3 = 1; } while(0)
|
#define RB3_SetAnalogMode() do { ANSELBbits.ANSELB3 = 1; } while(0)
|
||||||
#define RB3_SetDigitalMode() do { ANSELBbits.ANSELB3 = 0; } while(0)
|
#define RB3_SetDigitalMode() do { ANSELBbits.ANSELB3 = 0; } while(0)
|
||||||
|
|
||||||
|
// get/set RB4 procedures
|
||||||
|
#define RB4_SetHigh() do { LATBbits.LATB4 = 1; } while(0)
|
||||||
|
#define RB4_SetLow() do { LATBbits.LATB4 = 0; } while(0)
|
||||||
|
#define RB4_Toggle() do { LATBbits.LATB4 = ~LATBbits.LATB4; } while(0)
|
||||||
|
#define RB4_GetValue() PORTBbits.RB4
|
||||||
|
#define RB4_SetDigitalInput() do { TRISBbits.TRISB4 = 1; } while(0)
|
||||||
|
#define RB4_SetDigitalOutput() do { TRISBbits.TRISB4 = 0; } while(0)
|
||||||
|
#define RB4_SetPullup() do { WPUBbits.WPUB4 = 1; } while(0)
|
||||||
|
#define RB4_ResetPullup() do { WPUBbits.WPUB4 = 0; } while(0)
|
||||||
|
#define RB4_SetAnalogMode() do { ANSELBbits.ANSELB4 = 1; } while(0)
|
||||||
|
#define RB4_SetDigitalMode() do { ANSELBbits.ANSELB4 = 0; } while(0)
|
||||||
|
|
||||||
/**
|
/**
|
||||||
@Param
|
@Param
|
||||||
none
|
none
|
||||||
|
|||||||
176
306-controller_interface.X/middleware/alive_checker.c
Normal file
176
306-controller_interface.X/middleware/alive_checker.c
Normal file
@ -0,0 +1,176 @@
|
|||||||
|
/**
|
||||||
|
* @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;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
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:
|
||||||
|
me->isAlive = false;
|
||||||
|
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->aliveTime = v;
|
||||||
|
}
|
||||||
|
|
||||||
|
void ALIVE_CHECKER_ISALIVE(ALIVE_CHECKER* me) {
|
||||||
|
ALIVE_CHECKER_setIsAlive(me, true);
|
||||||
|
}
|
||||||
134
306-controller_interface.X/middleware/alive_checker.h
Normal file
134
306-controller_interface.X/middleware/alive_checker.h
Normal file
@ -0,0 +1,134 @@
|
|||||||
|
/**
|
||||||
|
* @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 = 100, // TODO change this number (< 256)
|
||||||
|
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
|
||||||
127
306-controller_interface.X/middleware/can_interface.c
Normal file
127
306-controller_interface.X/middleware/can_interface.c
Normal file
@ -0,0 +1,127 @@
|
|||||||
|
/**
|
||||||
|
* @author Rémi Heredero
|
||||||
|
* @version 1.0.0
|
||||||
|
* @date August 2023
|
||||||
|
* @file can_interface.c
|
||||||
|
*/
|
||||||
|
|
||||||
|
#include "can_interface.h"
|
||||||
|
|
||||||
|
void CAN_init(){
|
||||||
|
CAN_myself.receiveCan = NULL;
|
||||||
|
CAN_myself.sender = 0;
|
||||||
|
}
|
||||||
|
|
||||||
|
void CAN_startBehaviour(){
|
||||||
|
POST(&CAN_myself, &CAN_processEvent, evCAinit, 0, 0);
|
||||||
|
}
|
||||||
|
|
||||||
|
bool CAN_processEvent(Event* ev) {
|
||||||
|
bool processed = false;
|
||||||
|
CAN* me = (CAN*)Event_getTarget(ev);
|
||||||
|
CAN_STATES oldState = me->state;
|
||||||
|
evIDT evid = Event_getId(ev);
|
||||||
|
|
||||||
|
uint64_t data = Event_getData(ev);
|
||||||
|
|
||||||
|
|
||||||
|
switch (me->state) { // onState
|
||||||
|
case STCA_INIT:
|
||||||
|
if (ev->id == evCAinit) {
|
||||||
|
me->state = STCA_PROCESS;
|
||||||
|
}
|
||||||
|
break;
|
||||||
|
|
||||||
|
case STCA_PROCESS:
|
||||||
|
|
||||||
|
// New message arrive
|
||||||
|
if (ev->id == evCAnewMsg) {
|
||||||
|
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;
|
||||||
|
me->receiveCan(idSender, idMsg, canData);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
// Send a message
|
||||||
|
if (ev->id == evCAsend) {
|
||||||
|
uCAN_MSG canMsg;
|
||||||
|
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;
|
||||||
|
data = data >> 8;
|
||||||
|
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);
|
||||||
|
}
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
|
||||||
|
if(oldState != me->state){
|
||||||
|
switch (oldState) { // onExit
|
||||||
|
case STCA_INIT:
|
||||||
|
break;
|
||||||
|
|
||||||
|
case STCA_PROCESS:
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
|
||||||
|
switch (me->state) { // onEntry
|
||||||
|
case STCA_INIT:
|
||||||
|
break;
|
||||||
|
|
||||||
|
case STCA_PROCESS:
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
|
||||||
|
processed = true;
|
||||||
|
}
|
||||||
|
return processed;
|
||||||
|
}
|
||||||
|
|
||||||
|
/*************
|
||||||
|
* Callbacks *
|
||||||
|
*************/
|
||||||
|
|
||||||
|
void CAN_onReceiveCan(CAN_CALLBACK f) {
|
||||||
|
CAN_myself.receiveCan = f;
|
||||||
|
}
|
||||||
|
|
||||||
|
/************
|
||||||
|
* EMITTERS *
|
||||||
|
************/
|
||||||
|
|
||||||
|
void CAN_newMsg() {
|
||||||
|
uint64_t data;
|
||||||
|
uCAN_MSG canMsg;
|
||||||
|
CAN_receive(&canMsg);
|
||||||
|
data = canMsg.frame.id;
|
||||||
|
data = data<<32;
|
||||||
|
data = canMsg.frame.data0;
|
||||||
|
data = data<<8;
|
||||||
|
data = canMsg.frame.data1;
|
||||||
|
data = data<<8;
|
||||||
|
data = canMsg.frame.data2;
|
||||||
|
data = data<<8;
|
||||||
|
data = canMsg.frame.data3;
|
||||||
|
POST(&CAN_myself, &CAN_processEvent, evCAnewMsg, 0, data);
|
||||||
|
}
|
||||||
|
|
||||||
|
void CAN_Send(uint8_t idRecipient, uint8_t idMsg, uint32_t data) {
|
||||||
|
uint64_t tmpData = CAN_myself.sender;
|
||||||
|
tmpData = (tmpData<<4) | idRecipient;
|
||||||
|
tmpData = (tmpData<<4) | idMsg;
|
||||||
|
tmpData = (tmpData<<32) | data;
|
||||||
|
POST(&CAN_myself, &CAN_processEvent, evCAsend, 0, tmpData);
|
||||||
|
}
|
||||||
99
306-controller_interface.X/middleware/can_interface.h
Normal file
99
306-controller_interface.X/middleware/can_interface.h
Normal file
@ -0,0 +1,99 @@
|
|||||||
|
/**
|
||||||
|
* @author Rémi Heredero
|
||||||
|
* @version 1.0.0
|
||||||
|
* @date August 2023
|
||||||
|
* @file can_interface.h
|
||||||
|
*/
|
||||||
|
#ifndef CAN_H
|
||||||
|
#define CAN_H
|
||||||
|
|
||||||
|
#include "../xf/xf.h"
|
||||||
|
|
||||||
|
typedef enum {
|
||||||
|
STCA_INIT,
|
||||||
|
STCA_PROCESS
|
||||||
|
} CAN_STATES;
|
||||||
|
|
||||||
|
typedef enum {
|
||||||
|
evCAinit = 10, // TODO change this number (< 256)
|
||||||
|
evCAnewMsg,
|
||||||
|
evCAsend
|
||||||
|
} CAN_EVENTS;
|
||||||
|
|
||||||
|
typedef void (*CAN_CALLBACK)(uint8_t, uint8_t, uint32_t);
|
||||||
|
|
||||||
|
typedef struct {
|
||||||
|
CAN_STATES state;
|
||||||
|
uint8_t sender;
|
||||||
|
CAN_CALLBACK receiveCan;
|
||||||
|
} CAN;
|
||||||
|
|
||||||
|
CAN CAN_myself;
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Initialize the CAN
|
||||||
|
* @param me the CAN itself
|
||||||
|
*/
|
||||||
|
void CAN_init();
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Start the CAN state machine
|
||||||
|
*/
|
||||||
|
void CAN_startBehaviour();
|
||||||
|
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Process the event
|
||||||
|
* @param ev the event to process
|
||||||
|
* @return true if the event is processed
|
||||||
|
*/
|
||||||
|
bool CAN_processEvent(Event* ev);
|
||||||
|
|
||||||
|
/*************
|
||||||
|
* Callbacks *
|
||||||
|
*************/
|
||||||
|
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Set the callback function to call when the CAN is entering state read
|
||||||
|
* @param f the function to call
|
||||||
|
*/
|
||||||
|
void CAN_onReceiveCan(CAN_CALLBACK f);
|
||||||
|
|
||||||
|
/************
|
||||||
|
* EMITTERS *
|
||||||
|
************/
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Handler for receiving new can message during.
|
||||||
|
* This function is done during interrupt
|
||||||
|
*/
|
||||||
|
void CAN_newMsg();
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Put a new can message on the queue
|
||||||
|
* @param idRecipient id for the recipient
|
||||||
|
* @param idMsg id for the message
|
||||||
|
* @param data 4 bytes of data to send
|
||||||
|
*/
|
||||||
|
void CAN_Send(uint8_t idRecipient, uint8_t idMsg, uint32_t data);
|
||||||
|
|
||||||
|
/***********
|
||||||
|
* SETTERS *
|
||||||
|
***********/
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Set the sender of this firmware
|
||||||
|
* @param idSender id of the sender
|
||||||
|
* 1 CONTROL
|
||||||
|
* 2 JOYSTICK
|
||||||
|
* 3 DISPLAY
|
||||||
|
* 4 DRIVE
|
||||||
|
* 5 STEERING
|
||||||
|
* 6 SUPPLY
|
||||||
|
* 7 UNDEFINED YET
|
||||||
|
* 0 BROADCAST/DEBUG
|
||||||
|
*/
|
||||||
|
void CAN_setSender(uint8_t idSender);
|
||||||
|
|
||||||
|
#endif
|
||||||
@ -5,19 +5,11 @@
|
|||||||
displayName="Header Files"
|
displayName="Header Files"
|
||||||
projectFiles="true">
|
projectFiles="true">
|
||||||
<logicalFolder name="app" displayName="app" projectFiles="true">
|
<logicalFolder name="app" displayName="app" projectFiles="true">
|
||||||
<itemPath>app/blcontrol.h</itemPath>
|
<itemPath>app/factory/factory.h</itemPath>
|
||||||
|
<itemPath>app/car.h</itemPath>
|
||||||
</logicalFolder>
|
</logicalFolder>
|
||||||
<logicalFolder name="board" displayName="board" projectFiles="true">
|
<logicalFolder name="board" displayName="board" projectFiles="true">
|
||||||
<logicalFolder name="button" displayName="button" projectFiles="true">
|
<itemPath>board/led/led.h</itemPath>
|
||||||
<itemPath>board/button/buttonsm.h</itemPath>
|
|
||||||
<itemPath>board/button/button.h</itemPath>
|
|
||||||
</logicalFolder>
|
|
||||||
<logicalFolder name="led" displayName="led" projectFiles="true">
|
|
||||||
<itemPath>board/led/led.h</itemPath>
|
|
||||||
</logicalFolder>
|
|
||||||
</logicalFolder>
|
|
||||||
<logicalFolder name="factory" displayName="factory" projectFiles="true">
|
|
||||||
<itemPath>factory/factory.h</itemPath>
|
|
||||||
</logicalFolder>
|
</logicalFolder>
|
||||||
<logicalFolder name="MCC Generated Files"
|
<logicalFolder name="MCC Generated Files"
|
||||||
displayName="MCC Generated Files"
|
displayName="MCC Generated Files"
|
||||||
@ -31,6 +23,8 @@
|
|||||||
<itemPath>mcc_generated_files/memory.h</itemPath>
|
<itemPath>mcc_generated_files/memory.h</itemPath>
|
||||||
</logicalFolder>
|
</logicalFolder>
|
||||||
<logicalFolder name="middleware" displayName="middleware" projectFiles="true">
|
<logicalFolder name="middleware" displayName="middleware" projectFiles="true">
|
||||||
|
<itemPath>middleware/can_interface.h</itemPath>
|
||||||
|
<itemPath>middleware/alive_checker.h</itemPath>
|
||||||
</logicalFolder>
|
</logicalFolder>
|
||||||
<logicalFolder name="xf" displayName="xf" projectFiles="true">
|
<logicalFolder name="xf" displayName="xf" projectFiles="true">
|
||||||
<itemPath>xf/event.h</itemPath>
|
<itemPath>xf/event.h</itemPath>
|
||||||
@ -46,19 +40,11 @@
|
|||||||
displayName="Source Files"
|
displayName="Source Files"
|
||||||
projectFiles="true">
|
projectFiles="true">
|
||||||
<logicalFolder name="app" displayName="app" projectFiles="true">
|
<logicalFolder name="app" displayName="app" projectFiles="true">
|
||||||
<itemPath>app/blcontrol.c</itemPath>
|
<itemPath>app/factory/factory.c</itemPath>
|
||||||
|
<itemPath>app/main.c</itemPath>
|
||||||
</logicalFolder>
|
</logicalFolder>
|
||||||
<logicalFolder name="board" displayName="board" projectFiles="true">
|
<logicalFolder name="board" displayName="board" projectFiles="true">
|
||||||
<logicalFolder name="button" displayName="button" projectFiles="true">
|
<itemPath>board/led/led.c</itemPath>
|
||||||
<itemPath>board/button/button.c</itemPath>
|
|
||||||
<itemPath>board/button/buttonsm.c</itemPath>
|
|
||||||
</logicalFolder>
|
|
||||||
<logicalFolder name="led" displayName="led" projectFiles="true">
|
|
||||||
<itemPath>board/led/led.c</itemPath>
|
|
||||||
</logicalFolder>
|
|
||||||
</logicalFolder>
|
|
||||||
<logicalFolder name="factory" displayName="factory" projectFiles="true">
|
|
||||||
<itemPath>factory/factory.c</itemPath>
|
|
||||||
</logicalFolder>
|
</logicalFolder>
|
||||||
<logicalFolder name="MCC Generated Files"
|
<logicalFolder name="MCC Generated Files"
|
||||||
displayName="MCC Generated Files"
|
displayName="MCC Generated Files"
|
||||||
@ -72,12 +58,13 @@
|
|||||||
<itemPath>mcc_generated_files/memory.c</itemPath>
|
<itemPath>mcc_generated_files/memory.c</itemPath>
|
||||||
</logicalFolder>
|
</logicalFolder>
|
||||||
<logicalFolder name="middleware" displayName="middleware" projectFiles="true">
|
<logicalFolder name="middleware" displayName="middleware" projectFiles="true">
|
||||||
|
<itemPath>middleware/can_interface.c</itemPath>
|
||||||
|
<itemPath>middleware/alive_checker.c</itemPath>
|
||||||
</logicalFolder>
|
</logicalFolder>
|
||||||
<logicalFolder name="xf" displayName="xf" projectFiles="true">
|
<logicalFolder name="xf" displayName="xf" projectFiles="true">
|
||||||
<itemPath>xf/event.c</itemPath>
|
<itemPath>xf/event.c</itemPath>
|
||||||
<itemPath>xf/xf.c</itemPath>
|
<itemPath>xf/xf.c</itemPath>
|
||||||
</logicalFolder>
|
</logicalFolder>
|
||||||
<itemPath>main.c</itemPath>
|
|
||||||
</logicalFolder>
|
</logicalFolder>
|
||||||
<logicalFolder name="ExternalFiles"
|
<logicalFolder name="ExternalFiles"
|
||||||
displayName="Important Files"
|
displayName="Important Files"
|
||||||
@ -169,7 +156,7 @@
|
|||||||
<property key="use-cci" value="false"/>
|
<property key="use-cci" value="false"/>
|
||||||
<property key="use-iar" value="false"/>
|
<property key="use-iar" value="false"/>
|
||||||
<property key="verbose" value="false"/>
|
<property key="verbose" value="false"/>
|
||||||
<property key="warning-level" value="-3"/>
|
<property key="warning-level" value="3"/>
|
||||||
<property key="what-to-do" value="ignore"/>
|
<property key="what-to-do" value="ignore"/>
|
||||||
</HI-TECH-COMP>
|
</HI-TECH-COMP>
|
||||||
<HI-TECH-LINK>
|
<HI-TECH-LINK>
|
||||||
@ -219,10 +206,93 @@
|
|||||||
<property key="remove-unused-sections" value="true"/>
|
<property key="remove-unused-sections" value="true"/>
|
||||||
</HI-TECH-LINK>
|
</HI-TECH-LINK>
|
||||||
<PICkit3PlatformTool>
|
<PICkit3PlatformTool>
|
||||||
<property key="firmware.download.all" value="false"/>
|
<property key="AutoSelectMemRanges" value="auto"/>
|
||||||
|
<property key="Freeze Peripherals" value="true"/>
|
||||||
|
<property key="SecureSegment.SegmentProgramming" value="FullChipProgramming"/>
|
||||||
|
<property key="ToolFirmwareFilePath"
|
||||||
|
value="Press to browse for a specific firmware version"/>
|
||||||
|
<property key="ToolFirmwareOption.UseLatestFirmware" value="true"/>
|
||||||
|
<property key="debugoptions.debug-startup" value="Use system settings"/>
|
||||||
|
<property key="debugoptions.reset-behaviour" value="Use system settings"/>
|
||||||
|
<property key="debugoptions.useswbreakpoints" value="false"/>
|
||||||
|
<property key="hwtoolclock.frcindebug" value="false"/>
|
||||||
|
<property key="memories.aux" value="false"/>
|
||||||
|
<property key="memories.bootflash" value="true"/>
|
||||||
|
<property key="memories.configurationmemory" value="true"/>
|
||||||
|
<property key="memories.configurationmemory2" value="true"/>
|
||||||
|
<property key="memories.dataflash" value="true"/>
|
||||||
|
<property key="memories.eeprom" value="true"/>
|
||||||
|
<property key="memories.flashdata" value="true"/>
|
||||||
|
<property key="memories.id" value="true"/>
|
||||||
|
<property key="memories.instruction.ram" value="true"/>
|
||||||
|
<property key="memories.instruction.ram.ranges"
|
||||||
|
value="${memories.instruction.ram.ranges}"/>
|
||||||
|
<property key="memories.programmemory" value="true"/>
|
||||||
|
<property key="memories.programmemory.ranges" value="0-ffff"/>
|
||||||
|
<property key="poweroptions.powerenable" value="false"/>
|
||||||
|
<property key="programmertogo.imagename" value=""/>
|
||||||
|
<property key="programoptions.donoteraseauxmem" value="false"/>
|
||||||
|
<property key="programoptions.eraseb4program" value="true"/>
|
||||||
|
<property key="programoptions.pgmspeed" value="2"/>
|
||||||
|
<property key="programoptions.preservedataflash" value="false"/>
|
||||||
|
<property key="programoptions.preservedataflash.ranges"
|
||||||
|
value="${programoptions.preservedataflash.ranges}"/>
|
||||||
|
<property key="programoptions.preserveeeprom" value="false"/>
|
||||||
|
<property key="programoptions.preserveeeprom.ranges" value="310000-3103ff"/>
|
||||||
|
<property key="programoptions.preserveprogram.ranges" value=""/>
|
||||||
|
<property key="programoptions.preserveprogramrange" value="false"/>
|
||||||
|
<property key="programoptions.preserveuserid" value="false"/>
|
||||||
|
<property key="programoptions.programcalmem" value="false"/>
|
||||||
|
<property key="programoptions.programuserotp" value="false"/>
|
||||||
|
<property key="programoptions.testmodeentrymethod" value="VDDFirst"/>
|
||||||
|
<property key="programoptions.usehighvoltageonmclr" value="false"/>
|
||||||
|
<property key="programoptions.uselvpprogramming" value="false"/>
|
||||||
|
<property key="voltagevalue" value="5.0"/>
|
||||||
</PICkit3PlatformTool>
|
</PICkit3PlatformTool>
|
||||||
<Tool>
|
<Tool>
|
||||||
|
<property key="AutoSelectMemRanges" value="auto"/>
|
||||||
|
<property key="Freeze Peripherals" value="true"/>
|
||||||
|
<property key="SecureSegment.SegmentProgramming" value="FullChipProgramming"/>
|
||||||
|
<property key="ToolFirmwareFilePath"
|
||||||
|
value="Press to browse for a specific firmware version"/>
|
||||||
|
<property key="ToolFirmwareOption.UseLatestFirmware" value="true"/>
|
||||||
|
<property key="debugoptions.debug-startup" value="Use system settings"/>
|
||||||
|
<property key="debugoptions.reset-behaviour" value="Use system settings"/>
|
||||||
|
<property key="debugoptions.useswbreakpoints" value="false"/>
|
||||||
<property key="firmware.download.all" value="false"/>
|
<property key="firmware.download.all" value="false"/>
|
||||||
|
<property key="hwtoolclock.frcindebug" value="false"/>
|
||||||
|
<property key="memories.aux" value="false"/>
|
||||||
|
<property key="memories.bootflash" value="true"/>
|
||||||
|
<property key="memories.configurationmemory" value="true"/>
|
||||||
|
<property key="memories.configurationmemory2" value="true"/>
|
||||||
|
<property key="memories.dataflash" value="true"/>
|
||||||
|
<property key="memories.eeprom" value="true"/>
|
||||||
|
<property key="memories.flashdata" value="true"/>
|
||||||
|
<property key="memories.id" value="true"/>
|
||||||
|
<property key="memories.instruction.ram" value="true"/>
|
||||||
|
<property key="memories.instruction.ram.ranges"
|
||||||
|
value="${memories.instruction.ram.ranges}"/>
|
||||||
|
<property key="memories.programmemory" value="true"/>
|
||||||
|
<property key="memories.programmemory.ranges" value="0-ffff"/>
|
||||||
|
<property key="poweroptions.powerenable" value="false"/>
|
||||||
|
<property key="programmertogo.imagename" value=""/>
|
||||||
|
<property key="programoptions.donoteraseauxmem" value="false"/>
|
||||||
|
<property key="programoptions.eraseb4program" value="true"/>
|
||||||
|
<property key="programoptions.pgmspeed" value="2"/>
|
||||||
|
<property key="programoptions.preservedataflash" value="false"/>
|
||||||
|
<property key="programoptions.preservedataflash.ranges"
|
||||||
|
value="${programoptions.preservedataflash.ranges}"/>
|
||||||
|
<property key="programoptions.preserveeeprom" value="false"/>
|
||||||
|
<property key="programoptions.preserveeeprom.ranges" value="310000-3103ff"/>
|
||||||
|
<property key="programoptions.preserveprogram.ranges" value=""/>
|
||||||
|
<property key="programoptions.preserveprogramrange" value="false"/>
|
||||||
|
<property key="programoptions.preserveuserid" value="false"/>
|
||||||
|
<property key="programoptions.programcalmem" value="false"/>
|
||||||
|
<property key="programoptions.programuserotp" value="false"/>
|
||||||
|
<property key="programoptions.testmodeentrymethod" value="VDDFirst"/>
|
||||||
|
<property key="programoptions.usehighvoltageonmclr" value="false"/>
|
||||||
|
<property key="programoptions.uselvpprogramming" value="false"/>
|
||||||
|
<property key="voltagevalue" value="5.0"/>
|
||||||
</Tool>
|
</Tool>
|
||||||
<XC8-CO>
|
<XC8-CO>
|
||||||
<property key="coverage-enable" value=""/>
|
<property key="coverage-enable" value=""/>
|
||||||
|
|||||||
File diff suppressed because one or more lines are too long
178
UML/alive.uxf
Normal file
178
UML/alive.uxf
Normal file
@ -0,0 +1,178 @@
|
|||||||
|
<?xml version="1.0" encoding="UTF-8" standalone="no"?>
|
||||||
|
<diagram program="umlet" version="15.0.0">
|
||||||
|
<zoom_level>14</zoom_level>
|
||||||
|
<element>
|
||||||
|
<id>UMLSpecialState</id>
|
||||||
|
<coordinates>
|
||||||
|
<x>266</x>
|
||||||
|
<y>98</y>
|
||||||
|
<w>28</w>
|
||||||
|
<h>28</h>
|
||||||
|
</coordinates>
|
||||||
|
<panel_attributes>type=initial</panel_attributes>
|
||||||
|
<additional_attributes/>
|
||||||
|
</element>
|
||||||
|
<element>
|
||||||
|
<id>Relation</id>
|
||||||
|
<coordinates>
|
||||||
|
<x>266</x>
|
||||||
|
<y>112</y>
|
||||||
|
<w>112</w>
|
||||||
|
<h>98</h>
|
||||||
|
</coordinates>
|
||||||
|
<panel_attributes>lt=->
|
||||||
|
evACinit</panel_attributes>
|
||||||
|
<additional_attributes>10.0;10.0;10.0;50.0</additional_attributes>
|
||||||
|
</element>
|
||||||
|
<element>
|
||||||
|
<id>UMLState</id>
|
||||||
|
<coordinates>
|
||||||
|
<x>210</x>
|
||||||
|
<y>182</y>
|
||||||
|
<w>140</w>
|
||||||
|
<h>56</h>
|
||||||
|
</coordinates>
|
||||||
|
<panel_attributes>STAC_SETUP</panel_attributes>
|
||||||
|
<additional_attributes/>
|
||||||
|
</element>
|
||||||
|
<element>
|
||||||
|
<id>UMLNote</id>
|
||||||
|
<coordinates>
|
||||||
|
<x>434</x>
|
||||||
|
<y>182</y>
|
||||||
|
<w>140</w>
|
||||||
|
<h>42</h>
|
||||||
|
</coordinates>
|
||||||
|
<panel_attributes>Send params</panel_attributes>
|
||||||
|
<additional_attributes/>
|
||||||
|
</element>
|
||||||
|
<element>
|
||||||
|
<id>Relation</id>
|
||||||
|
<coordinates>
|
||||||
|
<x>266</x>
|
||||||
|
<y>224</y>
|
||||||
|
<w>126</w>
|
||||||
|
<h>98</h>
|
||||||
|
</coordinates>
|
||||||
|
<panel_attributes>lt=->
|
||||||
|
evACborn</panel_attributes>
|
||||||
|
<additional_attributes>10.0;10.0;10.0;50.0</additional_attributes>
|
||||||
|
</element>
|
||||||
|
<element>
|
||||||
|
<id>UMLState</id>
|
||||||
|
<coordinates>
|
||||||
|
<x>210</x>
|
||||||
|
<y>294</y>
|
||||||
|
<w>140</w>
|
||||||
|
<h>56</h>
|
||||||
|
</coordinates>
|
||||||
|
<panel_attributes>STAC_BORN</panel_attributes>
|
||||||
|
<additional_attributes/>
|
||||||
|
</element>
|
||||||
|
<element>
|
||||||
|
<id>UMLState</id>
|
||||||
|
<coordinates>
|
||||||
|
<x>168</x>
|
||||||
|
<y>406</y>
|
||||||
|
<w>224</w>
|
||||||
|
<h>84</h>
|
||||||
|
</coordinates>
|
||||||
|
<panel_attributes>STAC_WAIT
|
||||||
|
--
|
||||||
|
/entry: isAlive = false</panel_attributes>
|
||||||
|
<additional_attributes/>
|
||||||
|
</element>
|
||||||
|
<element>
|
||||||
|
<id>Relation</id>
|
||||||
|
<coordinates>
|
||||||
|
<x>266</x>
|
||||||
|
<y>336</y>
|
||||||
|
<w>140</w>
|
||||||
|
<h>98</h>
|
||||||
|
</coordinates>
|
||||||
|
<panel_attributes>lt=->
|
||||||
|
evACready</panel_attributes>
|
||||||
|
<additional_attributes>10.0;10.0;10.0;50.0</additional_attributes>
|
||||||
|
</element>
|
||||||
|
<element>
|
||||||
|
<id>UMLState</id>
|
||||||
|
<coordinates>
|
||||||
|
<x>210</x>
|
||||||
|
<y>658</y>
|
||||||
|
<w>140</w>
|
||||||
|
<h>56</h>
|
||||||
|
</coordinates>
|
||||||
|
<panel_attributes>STAC_DEAD</panel_attributes>
|
||||||
|
<additional_attributes/>
|
||||||
|
</element>
|
||||||
|
<element>
|
||||||
|
<id>Relation</id>
|
||||||
|
<coordinates>
|
||||||
|
<x>266</x>
|
||||||
|
<y>476</y>
|
||||||
|
<w>112</w>
|
||||||
|
<h>98</h>
|
||||||
|
</coordinates>
|
||||||
|
<panel_attributes>lt=->
|
||||||
|
evACpoll</panel_attributes>
|
||||||
|
<additional_attributes>10.0;10.0;10.0;50.0</additional_attributes>
|
||||||
|
</element>
|
||||||
|
<element>
|
||||||
|
<id>UMLSpecialState</id>
|
||||||
|
<coordinates>
|
||||||
|
<x>252</x>
|
||||||
|
<y>546</y>
|
||||||
|
<w>56</w>
|
||||||
|
<h>56</h>
|
||||||
|
</coordinates>
|
||||||
|
<panel_attributes>type=decision</panel_attributes>
|
||||||
|
<additional_attributes/>
|
||||||
|
</element>
|
||||||
|
<element>
|
||||||
|
<id>Relation</id>
|
||||||
|
<coordinates>
|
||||||
|
<x>266</x>
|
||||||
|
<y>588</y>
|
||||||
|
<w>84</w>
|
||||||
|
<h>98</h>
|
||||||
|
</coordinates>
|
||||||
|
<panel_attributes>lt=->
|
||||||
|
m1=[else]</panel_attributes>
|
||||||
|
<additional_attributes>10.0;10.0;10.0;50.0</additional_attributes>
|
||||||
|
</element>
|
||||||
|
<element>
|
||||||
|
<id>UMLNote</id>
|
||||||
|
<coordinates>
|
||||||
|
<x>434</x>
|
||||||
|
<y>294</y>
|
||||||
|
<w>140</w>
|
||||||
|
<h>42</h>
|
||||||
|
</coordinates>
|
||||||
|
<panel_attributes>Reset / Init</panel_attributes>
|
||||||
|
<additional_attributes/>
|
||||||
|
</element>
|
||||||
|
<element>
|
||||||
|
<id>Relation</id>
|
||||||
|
<coordinates>
|
||||||
|
<x>294</x>
|
||||||
|
<y>420</y>
|
||||||
|
<w>182</w>
|
||||||
|
<h>196</h>
|
||||||
|
</coordinates>
|
||||||
|
<panel_attributes>lt=->
|
||||||
|
m1=[alive]</panel_attributes>
|
||||||
|
<additional_attributes>10.0;110.0;110.0;110.0;110.0;10.0;70.0;10.0</additional_attributes>
|
||||||
|
</element>
|
||||||
|
<element>
|
||||||
|
<id>Relation</id>
|
||||||
|
<coordinates>
|
||||||
|
<x>140</x>
|
||||||
|
<y>308</y>
|
||||||
|
<w>168</w>
|
||||||
|
<h>490</h>
|
||||||
|
</coordinates>
|
||||||
|
<panel_attributes>lt=->
|
||||||
|
evACborn</panel_attributes>
|
||||||
|
<additional_attributes>100.0;290.0;100.0;330.0;10.0;330.0;10.0;10.0;50.0;10.0</additional_attributes>
|
||||||
|
</element>
|
||||||
|
</diagram>
|
||||||
BIN
UML/can.pdf
Normal file
BIN
UML/can.pdf
Normal file
Binary file not shown.
96
UML/can.uxf
Normal file
96
UML/can.uxf
Normal file
@ -0,0 +1,96 @@
|
|||||||
|
<?xml version="1.0" encoding="UTF-8" standalone="no"?>
|
||||||
|
<diagram program="umlet" version="15.0.0">
|
||||||
|
<zoom_level>15</zoom_level>
|
||||||
|
<element>
|
||||||
|
<id>UMLNote</id>
|
||||||
|
<coordinates>
|
||||||
|
<x>645</x>
|
||||||
|
<y>255</y>
|
||||||
|
<w>675</w>
|
||||||
|
<h>525</h>
|
||||||
|
</coordinates>
|
||||||
|
<panel_attributes>_*How to use CAN interface*_
|
||||||
|
|
||||||
|
*In Factory_Init: *
|
||||||
|
CAN_init();
|
||||||
|
|
||||||
|
*In Factory_build: *
|
||||||
|
ECAN_SetRXBnInterruptHandler(CAN_newMsg);
|
||||||
|
CAN_onReceiveCan(&receiveCan);
|
||||||
|
CAN_setSender(idSender);
|
||||||
|
|
||||||
|
*In Factory_start:*
|
||||||
|
CAN_startBehaviour();
|
||||||
|
|
||||||
|
*Somewhere for process input can message:*
|
||||||
|
void receiveCan(uint8_t idSender, uint8_t idMsg, uint32_t canData) {
|
||||||
|
.....
|
||||||
|
}
|
||||||
|
|
||||||
|
*For send can message: *
|
||||||
|
CAN_sendCanMsg(uint8_t idRecipient, uint8_t idMsg, uint32_t data);</panel_attributes>
|
||||||
|
<additional_attributes/>
|
||||||
|
</element>
|
||||||
|
<element>
|
||||||
|
<id>Relation</id>
|
||||||
|
<coordinates>
|
||||||
|
<x>360</x>
|
||||||
|
<y>330</y>
|
||||||
|
<w>90</w>
|
||||||
|
<h>135</h>
|
||||||
|
</coordinates>
|
||||||
|
<panel_attributes>lt=->
|
||||||
|
evInit
|
||||||
|
</panel_attributes>
|
||||||
|
<additional_attributes>10.0;10.0;10.0;70.0</additional_attributes>
|
||||||
|
</element>
|
||||||
|
<element>
|
||||||
|
<id>UMLSpecialState</id>
|
||||||
|
<coordinates>
|
||||||
|
<x>360</x>
|
||||||
|
<y>315</y>
|
||||||
|
<w>30</w>
|
||||||
|
<h>30</h>
|
||||||
|
</coordinates>
|
||||||
|
<panel_attributes>type=initial</panel_attributes>
|
||||||
|
<additional_attributes/>
|
||||||
|
</element>
|
||||||
|
<element>
|
||||||
|
<id>UMLState</id>
|
||||||
|
<coordinates>
|
||||||
|
<x>240</x>
|
||||||
|
<y>435</y>
|
||||||
|
<w>270</w>
|
||||||
|
<h>90</h>
|
||||||
|
</coordinates>
|
||||||
|
<panel_attributes>STCA_PROCESS</panel_attributes>
|
||||||
|
<additional_attributes/>
|
||||||
|
</element>
|
||||||
|
<element>
|
||||||
|
<id>Relation</id>
|
||||||
|
<coordinates>
|
||||||
|
<x>450</x>
|
||||||
|
<y>465</y>
|
||||||
|
<w>180</w>
|
||||||
|
<h>180</h>
|
||||||
|
</coordinates>
|
||||||
|
<panel_attributes>lt=->
|
||||||
|
m1=evCAsend
|
||||||
|
m1=\n/sendCan()</panel_attributes>
|
||||||
|
<additional_attributes>10.0;40.0;10.0;100.0;100.0;100.0;100.0;10.0;40.0;10.0</additional_attributes>
|
||||||
|
</element>
|
||||||
|
<element>
|
||||||
|
<id>Relation</id>
|
||||||
|
<coordinates>
|
||||||
|
<x>135</x>
|
||||||
|
<y>465</y>
|
||||||
|
<w>300</w>
|
||||||
|
<h>180</h>
|
||||||
|
</coordinates>
|
||||||
|
<panel_attributes>lt=->
|
||||||
|
m1= evCAnewMsg
|
||||||
|
m1= \n/receiveCan()
|
||||||
|
</panel_attributes>
|
||||||
|
<additional_attributes>100.0;40.0;100.0;100.0;10.0;100.0;10.0;10.0;70.0;10.0</additional_attributes>
|
||||||
|
</element>
|
||||||
|
</diagram>
|
||||||
106
UML/class.uxf
Normal file
106
UML/class.uxf
Normal file
@ -0,0 +1,106 @@
|
|||||||
|
<?xml version="1.0" encoding="UTF-8" standalone="no"?>
|
||||||
|
<diagram program="umlet" version="15.0.0">
|
||||||
|
<zoom_level>7</zoom_level>
|
||||||
|
<element>
|
||||||
|
<id>UMLClass</id>
|
||||||
|
<coordinates>
|
||||||
|
<x>105</x>
|
||||||
|
<y>77</y>
|
||||||
|
<w>301</w>
|
||||||
|
<h>126</h>
|
||||||
|
</coordinates>
|
||||||
|
<panel_attributes>CAN_INTERFACE
|
||||||
|
--
|
||||||
|
-sender: uint8_t
|
||||||
|
--
|
||||||
|
CAN_init(): void
|
||||||
|
CAN_startBehaviour(): void
|
||||||
|
CAN_processEvent(ev: Event*): bool
|
||||||
|
--
|
||||||
|
CAN_onReceiveCan(f: CAN_CALLBACK): void
|
||||||
|
--
|
||||||
|
CAN_newMsg(): void
|
||||||
|
CAN_Send(idRecipient: uint8_t, idMsg: uint8_t, data: uint32_t): void
|
||||||
|
--
|
||||||
|
CAN_setSender(idSender: uint8_t): void</panel_attributes>
|
||||||
|
<additional_attributes/>
|
||||||
|
</element>
|
||||||
|
<element>
|
||||||
|
<id>UMLClass</id>
|
||||||
|
<coordinates>
|
||||||
|
<x>315</x>
|
||||||
|
<y>350</y>
|
||||||
|
<w>301</w>
|
||||||
|
<h>126</h>
|
||||||
|
</coordinates>
|
||||||
|
<panel_attributes>JOYSTICK
|
||||||
|
--
|
||||||
|
-: uint8_t
|
||||||
|
--
|
||||||
|
JOY_init(JOY* me): void
|
||||||
|
JOY_startBehaviour(JOY* me): void
|
||||||
|
JOY_processEvent(ev: Event*): bool
|
||||||
|
--
|
||||||
|
JOY_onMove(f: JOY_CALLBACK): void
|
||||||
|
--
|
||||||
|
JOY_emitMove(me: JOY*, t: uint8_t, data: uint32_t): void
|
||||||
|
--
|
||||||
|
CAN_setSender(idSender: uint8_t): void</panel_attributes>
|
||||||
|
<additional_attributes/>
|
||||||
|
</element>
|
||||||
|
<element>
|
||||||
|
<id>UMLClass</id>
|
||||||
|
<coordinates>
|
||||||
|
<x>812</x>
|
||||||
|
<y>154</y>
|
||||||
|
<w>322</w>
|
||||||
|
<h>504</h>
|
||||||
|
</coordinates>
|
||||||
|
<panel_attributes>MEMORY_CST
|
||||||
|
--
|
||||||
|
-CONTROL_STEERING_MODE: uint8_t
|
||||||
|
-CONTROL_ALIVE_TIME: uint8_t
|
||||||
|
-CONTROL_SPEED_FACTOR: uint32_t
|
||||||
|
-CONTROL_POWER_FACTOR: uint32_t
|
||||||
|
-CONTROL_STEERING_FACTOR: uint32_t
|
||||||
|
-CONTROL_MAX_SPEED_FW: uint8_t
|
||||||
|
-CONTROL_MAX_SPEED_BW: uint8_t
|
||||||
|
-JOYSTICK_ALIVE_TIME: uint8_t
|
||||||
|
-DISPLAY_ALIVE_TIME: uint8_t
|
||||||
|
-DRIVE_SPEED_TIME: uint8_t
|
||||||
|
-DRIVE_STOP_TIME: uint8_t
|
||||||
|
-DRIVE_ALIVE_TIME: uint8_t
|
||||||
|
-STEERING_ALIVE_TIME: uint8_t
|
||||||
|
-BATTERY_ALIVE_TIME: uint8_t
|
||||||
|
--
|
||||||
|
+MEM_write_CONTROL_STEERING_MODE(data: uint8_t): void
|
||||||
|
+MEM_write_CONTROL_ALIVE_TIME(data: uint8_t): void
|
||||||
|
+MEM_write_CONTROL_SPEED_FACTOR(data: uint32_t): void
|
||||||
|
+MEM_write_CONTROL_POWER_FACTOR(data: uint32_t): void
|
||||||
|
+MEM_write_CONTROL_STEERING_FACTOR(data: uint32_t): void
|
||||||
|
+MEM_write_CONTROL_MAX_SPEED_FW(data: uint8_t): void
|
||||||
|
+MEM_write_CONTROL_MAX_SPEED_BW(data: uint8_t): void
|
||||||
|
+MEM_write_JOYSTICK_ALIVE_TIME(data: uint8_t): void
|
||||||
|
+MEM_write_DISPLAY_ALIVE_TIME(data: uint8_t): void
|
||||||
|
+MEM_write_DRIVE_SPEED_TIME(data: uint8_t): void
|
||||||
|
+MEM_write_DRIVE_STOP_TIME(data: uint8_t): void
|
||||||
|
+MEM_write_DRIVE_ALIVE_TIME(data: uint8_t): void
|
||||||
|
+MEM_write_STEERING_ALIVE_TIME(data: uint8_t): void
|
||||||
|
+MEM_write_BATTERY_ALIVE_TIME(data: uint8_t): void
|
||||||
|
+MEM_read_CONTROL_STEERING_MODE(): uint8_t
|
||||||
|
+MEM_read_CONTROL_ALIVE_TIME(): uint8_t
|
||||||
|
+MEM_read_CONTROL_SPEED_FACTOR(): uint32_t
|
||||||
|
+MEM_read_CONTROL_POWER_FACTOR(): uint32_t
|
||||||
|
+MEM_read_CONTROL_STEERING_FACTOR(): uint32_t
|
||||||
|
+MEM_read_CONTROL_MAX_SPEED_FW(): uint8_t
|
||||||
|
+MEM_read_CONTROL_MAX_SPEED_BW(): uint8_t
|
||||||
|
+MEM_read_JOYSTICK_ALIVE_TIME(): uint8_t
|
||||||
|
+MEM_read_DISPLAY_ALIVE_TIME(): uint8_t
|
||||||
|
+MEM_read_DRIVE_SPEED_TIME(): uint8_t
|
||||||
|
+MEM_read_DRIVE_STOP_TIME(): uint8_t
|
||||||
|
+MEM_read_DRIVE_ALIVE_TIME(): uint8_t
|
||||||
|
+MEM_read_STEERING_ALIVE_TIME(): uint8_t
|
||||||
|
+MEM_read_BATTERY_ALIVE_TIME(): uint8_t</panel_attributes>
|
||||||
|
<additional_attributes/>
|
||||||
|
</element>
|
||||||
|
</diagram>
|
||||||
153
threewheeler.DBF
Normal file
153
threewheeler.DBF
Normal file
@ -0,0 +1,153 @@
|
|||||||
|
//******************************BUSMASTER Messages and signals Database ******************************//
|
||||||
|
|
||||||
|
[DATABASE_VERSION] 1.3
|
||||||
|
|
||||||
|
[PROTOCOL] CAN
|
||||||
|
|
||||||
|
[BUSMASTER_VERSION] [3.2.2]
|
||||||
|
|
||||||
|
[NUMBER_OF_MESSAGES] 25
|
||||||
|
|
||||||
|
[START_MSG] JOY_MEASURE,529,3,3,1,S
|
||||||
|
[START_SIGNALS] posX,8,1,0,I,127,-128,1,0.000000,1.000000,%,
|
||||||
|
[START_SIGNALS] posY,8,2,0,I,127,-128,1,0.000000,1.000000,%,
|
||||||
|
[START_SIGNALS] button,1,3,0,B,1,0,1,0.000000,1.000000,,
|
||||||
|
[VALUE_DESCRIPTION] Pressed,1
|
||||||
|
[VALUE_DESCRIPTION] Released,0
|
||||||
|
[END_MSG]
|
||||||
|
|
||||||
|
[START_MSG] DRIVE_SPEED,1040,4,1,1,S
|
||||||
|
[START_SIGNALS] Speed,32,4,0,I,2147483647,-2147483648,0,0.000000,1.000000,RPM,
|
||||||
|
[END_MSG]
|
||||||
|
|
||||||
|
[START_MSG] DRIVE_POWER,321,2,1,1,S
|
||||||
|
[START_SIGNALS] Power,16,2,0,I,32767,-32768,0,0.000000,1.000000,mA,
|
||||||
|
[END_MSG]
|
||||||
|
|
||||||
|
[START_MSG] DISPLAY_SPEED,306,2,1,1,S
|
||||||
|
[START_SIGNALS] Vehiclespeed,16,2,0,U,65535,0,0,0.000000,0.100000,km/h,
|
||||||
|
[END_MSG]
|
||||||
|
|
||||||
|
[START_MSG] CONTROL_ALIVE,271,0,0,1,S
|
||||||
|
[END_MSG]
|
||||||
|
|
||||||
|
[START_MSG] JOY_ALIVE,543,1,1,1,S
|
||||||
|
[START_SIGNALS] POWER_MODE,8,1,0,U,255,0,1,0.000000,1.000000,,
|
||||||
|
[VALUE_DESCRIPTION] ECO,0
|
||||||
|
[VALUE_DESCRIPTION] NORMAL,1
|
||||||
|
[VALUE_DESCRIPTION] RACE,2
|
||||||
|
[END_MSG]
|
||||||
|
|
||||||
|
[START_MSG] CONTROL_SETUP,16,4,2,1,S
|
||||||
|
[START_SIGNALS] AliveTime,8,4,0,U,255,0,1,0.000000,10.000000,mS,
|
||||||
|
[VALUE_DESCRIPTION] No alive message,0
|
||||||
|
[START_SIGNALS] STEERING_MODE,1,1,0,B,1,0,1,0.000000,1.000000,,
|
||||||
|
[END_MSG]
|
||||||
|
|
||||||
|
[START_MSG] CONTROL_SPEED_FACTOR,17,4,1,1,S
|
||||||
|
[START_SIGNALS] Speedfactor,32,4,0,U,4294967295,0,0,0.000000,1.000000,,
|
||||||
|
[END_MSG]
|
||||||
|
|
||||||
|
[START_MSG] CONTROL_POWER_FACTOR,18,4,1,1,S
|
||||||
|
[START_SIGNALS] PowerFactor,32,4,0,U,4294967295,0,0,0.000000,1.000000,,
|
||||||
|
[END_MSG]
|
||||||
|
|
||||||
|
[START_MSG] CONTROL_STEERING_FACTOR,19,4,1,1,S
|
||||||
|
[START_SIGNALS] SteeringFactor,32,4,0,U,4294967295,0,0,0.000000,1.000000,,
|
||||||
|
[END_MSG]
|
||||||
|
|
||||||
|
[START_MSG] CONTROL_SECURITY_PARAM,20,2,2,1,S
|
||||||
|
[START_SIGNALS] maxSpeedFw,8,1,0,U,255,0,1,0.000000,0.100000,km/h,
|
||||||
|
[START_SIGNALS] MaxSpeedBw,8,2,0,U,255,0,1,0.000000,0.100000,km/h,
|
||||||
|
[END_MSG]
|
||||||
|
|
||||||
|
[START_MSG] JOY_SETUP,288,4,4,1,S
|
||||||
|
[START_SIGNALS] mode,1,1,0,B,1,0,1,0.000000,1.000000,,
|
||||||
|
[VALUE_DESCRIPTION] Time Measure,0
|
||||||
|
[VALUE_DESCRIPTION] Delta Measure,1
|
||||||
|
[START_SIGNALS] timeMeasureOrDeltaX,8,2,0,U,255,0,1,0.000000,10.000000,msOrVal,
|
||||||
|
[START_SIGNALS] DeltaY,8,3,0,U,255,0,1,0.000000,1.000000,val,
|
||||||
|
[START_SIGNALS] aliveTime,8,4,0,U,255,0,1,0.000000,10.000000,ms,
|
||||||
|
[VALUE_DESCRIPTION] No alive message,0
|
||||||
|
[END_MSG]
|
||||||
|
|
||||||
|
[START_MSG] DISPLAY_SETUP,48,4,1,1,S
|
||||||
|
[START_SIGNALS] AliveTime,8,4,0,U,255,0,1,0.000000,10.000000,ms,
|
||||||
|
[END_MSG]
|
||||||
|
|
||||||
|
[START_MSG] DISPLAY_ALIVE,799,0,0,1,S
|
||||||
|
[END_MSG]
|
||||||
|
|
||||||
|
[START_MSG] DRIVE_SETUP,320,4,4,1,S
|
||||||
|
[START_SIGNALS] resetInit,1,1,0,B,1,0,1,0.000000,1.000000,,
|
||||||
|
[START_SIGNALS] speedTime,8,2,0,U,255,0,1,0.000000,10.000000,ms,
|
||||||
|
[START_SIGNALS] stopTime,8,3,0,U,255,0,1,0.000000,10.000000,ms,
|
||||||
|
[START_SIGNALS] aliveTime,8,4,0,U,255,0,1,0.000000,10.000000,ms,
|
||||||
|
[END_MSG]
|
||||||
|
|
||||||
|
[START_MSG] STEERING_SET,337,4,1,1,S
|
||||||
|
[START_SIGNALS] SteeringPosition,32,4,0,U,4294967295,0,0,0.000000,1.000000,qc,
|
||||||
|
[END_MSG]
|
||||||
|
|
||||||
|
[START_MSG] DRIVE_ALIVE,1055,2,10,1,S
|
||||||
|
[START_SIGNALS] STAT_RDY_SWITCH_ON,1,2,0,B,1,0,1,0.000000,1.000000,,
|
||||||
|
[START_SIGNALS] STAT_SWITCHED_ON,1,2,1,B,1,0,1,0.000000,1.000000,,
|
||||||
|
[START_SIGNALS] STAT_OPERATION_ENABLED,1,2,2,B,1,0,1,0.000000,1.000000,,
|
||||||
|
[START_SIGNALS] STAT_FAULT,1,2,3,B,1,0,1,0.000000,1.000000,,
|
||||||
|
[START_SIGNALS] STAT_VOLTAGE_ENABLED,1,2,4,B,1,0,1,0.000000,1.000000,,
|
||||||
|
[START_SIGNALS] STAT_QUICK_STOP,1,2,5,B,1,0,1,0.000000,1.000000,,
|
||||||
|
[START_SIGNALS] STAT_SWITCH_ON_DISABLED,1,2,6,B,1,0,1,0.000000,1.000000,,
|
||||||
|
[START_SIGNALS] STAT_WARNING,1,2,7,B,1,0,1,0.000000,1.000000,,
|
||||||
|
[START_SIGNALS] STAT_REMOTE,1,1,1,B,1,0,1,0.000000,1.000000,,
|
||||||
|
[START_SIGNALS] STAT_INTERNAL_LIMIT_ACTIVE,1,1,3,B,1,0,1,0.000000,1.000000,,
|
||||||
|
[END_MSG]
|
||||||
|
|
||||||
|
[START_MSG] DISPLAY_CURRENT,1586,2,1,1,S
|
||||||
|
[START_SIGNALS] BatteryCurrent,16,2,0,I,32767,-32768,0,0.000000,10.000000,mA,
|
||||||
|
[END_MSG]
|
||||||
|
|
||||||
|
[START_MSG] DISPLAY_VOLTAGE,1585,2,1,1,S
|
||||||
|
[START_SIGNALS] BatteryVoltage,16,2,0,U,65535,0,0,0.000000,0.001000,Volt,
|
||||||
|
[END_MSG]
|
||||||
|
|
||||||
|
[START_MSG] DISPLAY_ENERGY,1587,1,1,1,S
|
||||||
|
[START_SIGNALS] RemainingEnergy,8,1,0,U,255,0,1,0.000000,1.000000,%,
|
||||||
|
[END_MSG]
|
||||||
|
|
||||||
|
[START_MSG] STEERING_ALIVE,1311,2,16,1,S
|
||||||
|
[START_SIGNALS] STAT_READ_TO_SWITCH_ON,1,2,0,B,1,0,0,0.000000,1.000000,,
|
||||||
|
[START_SIGNALS] STAT_SWITCHED_ON,1,2,1,B,1,0,1,0.000000,1.000000,,
|
||||||
|
[START_SIGNALS] STAT_OPERATION_ENABLE,1,2,2,B,1,0,1,0.000000,1.000000,,
|
||||||
|
[START_SIGNALS] STAT_FAULT,1,2,3,B,1,0,1,0.000000,1.000000,,
|
||||||
|
[START_SIGNALS] STAT_VOLTAGE_ENABLED,1,2,4,B,1,0,1,0.000000,1.000000,,
|
||||||
|
[START_SIGNALS] STAT_QUICKSTOP,1,2,5,B,1,0,1,0.000000,1.000000,,
|
||||||
|
[START_SIGNALS] STAT_SWITCH_ON_DISABLE,1,2,6,B,1,0,1,0.000000,1.000000,,
|
||||||
|
[START_SIGNALS] STAT_WARNING,1,2,7,B,1,0,1,0.000000,1.000000,,
|
||||||
|
[START_SIGNALS] STAT_OFFSET_CURRENT_MEAS,1,1,0,B,1,0,1,0.000000,1.000000,,
|
||||||
|
[START_SIGNALS] STAT_REMOTE,1,1,1,B,1,0,1,0.000000,1.000000,,
|
||||||
|
[START_SIGNALS] STAT_TARGET_REACHED,1,1,2,B,1,0,1,0.000000,1.000000,,
|
||||||
|
[START_SIGNALS] STAT_INTERNAL_LIMIT_ACTIVE,1,1,3,B,1,0,1,0.000000,1.000000,,
|
||||||
|
[START_SIGNALS] STAT_HOMING_ATTAINED,1,1,4,B,1,0,1,0.000000,1.000000,,
|
||||||
|
[START_SIGNALS] STAT_HOMING_ERROR,1,1,5,B,1,0,1,0.000000,1.000000,,
|
||||||
|
[START_SIGNALS] STAT_REFRESH_POWER_STAGE,1,1,6,B,1,0,1,0.000000,1.000000,,
|
||||||
|
[START_SIGNALS] STAT_POS_REF_TO_HOME,1,1,7,B,1,0,1,0.000000,1.000000,,
|
||||||
|
[END_MSG]
|
||||||
|
|
||||||
|
[START_MSG] STEERING_SETUP,336,4,4,1,S
|
||||||
|
[START_SIGNALS] RESET,1,1,0,B,1,0,1,0.000000,1.000000,,
|
||||||
|
[START_SIGNALS] HOMING,1,2,0,B,1,0,1,0.000000,1.000000,,
|
||||||
|
[START_SIGNALS] SET_CENTER,1,3,0,B,1,0,1,0.000000,1.000000,,
|
||||||
|
[START_SIGNALS] ALIVE_TIME,8,4,0,U,255,0,1,0.000000,10.000000,ms,
|
||||||
|
[END_MSG]
|
||||||
|
|
||||||
|
[START_MSG] STEERING_CENTER,82,4,1,1,S
|
||||||
|
[START_SIGNALS] CENTER_POS,32,4,0,U,4294967295,0,0,0.000000,1.000000,qc,
|
||||||
|
[END_MSG]
|
||||||
|
|
||||||
|
[START_MSG] DISPLAY_DIRECTION,307,1,1,1,S
|
||||||
|
[START_SIGNALS] DIRECTION,8,1,0,I,127,-128,1,0.000000,1.000000,deg,
|
||||||
|
[END_MSG]
|
||||||
|
|
||||||
|
[START_MSG] STEERING_GET_POS,1298,4,1,1,S
|
||||||
|
[START_SIGNALS] POSITION,32,4,0,I,2147483647,-2147483648,0,0.000000,1.000000,qc,
|
||||||
|
[END_MSG]
|
||||||
Reference in New Issue
Block a user