Klagarge/SummerSchool2-Controller
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implement memory init for EEPROM

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This commit is contained in:
Rémi Heredero 2023-08-28 12:57:16 +02:00
parent 9bd3e9b4da
commit f60b9166ca
6 changed files with 232 additions and 66 deletions
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130
306-controller_interface.X/app/can_message.c
View File

@ -6,9 +6,9 @@
*/
#include "can_message.h"
#include "../middleware/can_interface.h"
#include "car.h"
#include "../app/factory/factory.h"
#include "../middleware/can_interface.h"
typedef union {
struct {
@ -24,40 +24,44 @@ typedef union {
void CM_processIncome(uint8_t idSender, uint8_t idMsg, uint32_t data){
switch(idSender){
case 0: // Broadcast / Debug
/*
S R M
0 1 0 CONTROL_SETUP steeringMode - - controlAliveTime
0 1 1 CONTROL_SPEED_FACTOR valHH valH valL valLL
0 1 2 CONTROL_POWER_FACTOR valHH valH valL valLL
0 1 3 CONTROL_STEERING_FACTOR valHH valH valL valLL
0 1 4 CONTROL_SECURITY_PARAM maxSpeedFw maxSpeedBw - -
0 1 5 CONTROL_SETUP_PARAM displayAliveTime steeringAliveTime
0 1 6 CONTROL_SETUP_PARAM_JOY joystickMode joystickParam1 joystickParam2 joystickAliveTime
0 1 7 CONTROL_SETUP_PARAM_DRIVE driveAliveTime driveSpeedTime driveStopTime
0 1 8 CONTROL_SETUP_PARAM_BATTERY batteryVoltTime batteryCurrentTime batteryEnergyTime batteryAliveTime
*/
/*********************
* BROADCAST / DEBUG *
*********************/
case 0:
if(idMsg == 0x0) { // CONTROL_SETUP
// steeringMode - - controlAliveTime
BYTES_4 tmpData;
tmpData.full.bytes = data;
CAR_CST.CONTROL_STEERING_MODE = tmpData.separate.byte0;
CAR_CST.CONTROL_ALIVE_TIME = tmpData.separate.byte3;
MEM_write_1_byte(MEMADD_CONTROL_STEERING_MODE, CAR_CST.CONTROL_STEERING_MODE);
MEM_write_1_byte(MEMADD_CONTROL_ALIVE_TIME, CAR_CST.CONTROL_ALIVE_TIME);
WATCHDOG_setTime(WDcontroller(), CAR_CST.CONTROL_ALIVE_TIME);
}
if(idMsg == 0x1) { // CONTROL_SPEED_FACTOR
// valHH valH valL valLL
}
if(idMsg == 0x2) { // CONTROL_POWER_FACTOR
// valHH valH valL valLL
}
if(idMsg == 0x3) { // CONTROL_STEERING_FACTOR
// valHH valH valL valLL
}
if(idMsg == 0x4) { // CONTROL_SECURITY_PARAM
// maxSpeedFw maxSpeedBw - -
}
if(idMsg == 0x5) { // CONTROL_SETUP_PARAM
// displayAliveTime steeringAliveTime - -
}
@ -65,41 +69,50 @@ void CM_processIncome(uint8_t idSender, uint8_t idMsg, uint32_t data){
// joystickMode joystickParam1 joystickParam2 joystickAliveTime
BYTES_4 tmpData;
tmpData.full.bytes = data;
MEM_write_one_byte(MEMADD_JOYSTICK_MODE, tmpData.separate.byte0);
MEM_write_one_byte(MEMADD_JOYSTICK_PARAM1, tmpData.separate.byte1);
MEM_write_one_byte(MEMADD_JOYSTICK_PARAM2, tmpData.separate.byte2);
MEM_write_one_byte(MEMADD_JOYSTICK_ALIVE_TIME, tmpData.separate.byte3);
CAR_CST.JOYSTICK_MODE = MEM_read_one_byte(MEMADD_JOYSTICK_MODE);
CAR_CST.JOYSTICK_PARAM1 = MEM_read_one_byte(MEMADD_JOYSTICK_PARAM1);
CAR_CST.JOYSTICK_PARAM2 = MEM_read_one_byte(MEMADD_JOYSTICK_PARAM2);
CAR_CST.JOYSTICK_ALIVE_TIME = MEM_read_one_byte(MEMADD_JOYSTICK_ALIVE_TIME);
CAR_CST.JOYSTICK_MODE = tmpData.separate.byte0;
CAR_CST.JOYSTICK_PARAM1 = tmpData.separate.byte1;
CAR_CST.JOYSTICK_PARAM2 = tmpData.separate.byte2;
CAR_CST.JOYSTICK_ALIVE_TIME = tmpData.separate.byte3;
MEM_write_1_byte(MEMADD_JOYSTICK_MODE, CAR_CST.JOYSTICK_MODE);
MEM_write_1_byte(MEMADD_JOYSTICK_PARAM1, CAR_CST.JOYSTICK_PARAM1);
MEM_write_1_byte(MEMADD_JOYSTICK_PARAM2, CAR_CST.JOYSTICK_PARAM2);
MEM_write_1_byte(MEMADD_JOYSTICK_ALIVE_TIME, CAR_CST.JOYSTICK_ALIVE_TIME);
ALIVE_CHECKER_setAliveTime(ACjoy(), CAR_CST.JOYSTICK_ALIVE_TIME);
CM_JOY_SETUP(NULL);
}
if(idMsg == 0x7) { // CONTROL_SETUP_PARAM_DRIVE
// driveAliveTime driveSpeedTime driveStopTime -
}
if(idMsg == 0x8) { // CONTROL_SETUP_PARAM_BATTERY
// batteryVoltTime batteryCurrentTime batteryEnergyTime batteryAliveTime
}
break;
case 2: // Joystick
/************
* JOYSTICK *
************/
case 2:
if(idMsg == 0x1) { // JOY_MESURE
// posX posY button -
}
if(idMsg == 0xF) { // JOY_ALIVE
// - - - -
ALIVE_CHECKER_ISALIVE(ACjoy());
if(ACjoy()->state == STAC_DEAD){
CAR_CST.JOYSTICK_MODE = MEM_read_one_byte(MEMADD_JOYSTICK_MODE);
CAR_CST.JOYSTICK_PARAM1 = MEM_read_one_byte(MEMADD_JOYSTICK_PARAM1);
CAR_CST.JOYSTICK_PARAM2 = MEM_read_one_byte(MEMADD_JOYSTICK_PARAM2);
CAR_CST.JOYSTICK_ALIVE_TIME = MEM_read_one_byte(MEMADD_JOYSTICK_ALIVE_TIME);
CAR_CST.JOYSTICK_MODE = MEM_read_1_byte(MEMADD_JOYSTICK_MODE);
CAR_CST.JOYSTICK_PARAM1 = MEM_read_1_byte(MEMADD_JOYSTICK_PARAM1);
CAR_CST.JOYSTICK_PARAM2 = MEM_read_1_byte(MEMADD_JOYSTICK_PARAM2);
CAR_CST.JOYSTICK_ALIVE_TIME = MEM_read_1_byte(MEMADD_JOYSTICK_ALIVE_TIME);
ALIVE_CHECKER_setAliveTime(ACjoy(), CAR_CST.JOYSTICK_ALIVE_TIME);
ALIVE_CHECKER_emitBorn(ACjoy(), 0, 0);
ALIVE_CHECKER_emitReady(ACjoy(), 100, 0);
@ -107,19 +120,70 @@ void CM_processIncome(uint8_t idSender, uint8_t idMsg, uint32_t data){
}
break;
case 3: // Display
/***********
* DISPLAY *
***********/
case 3:
if(idMsg == 0xF) { // DISPLAY_ALIVE
// powerMode - - -
}
break;
case 4: // Drive
/*********
* DRIVE *
*********/
case 4:
if(idMsg == 0x0) { // DRIVE_SPEED
// speedHH speedH speedL speedLL
}
if(idMsg == 0xF) { // DRIVE_ALIVE
// statusH statusL - -
}
break;
case 5: // Steering
/************
* STEERING *
************/
case 5:
if(idMsg == 0x1) { // STEERING_GET_CENTER
// valHH valH valL valLL
}
if(idMsg == 0x2) { // STEERING_GET_POSITION
// valHH valH valL valLL
}
if(idMsg == 0xF) { // STEERING_ALIVE
// statusH statusL - -
}
break;
case 6: // Supply
/**********
* SUPPLY *
**********/
case 6:
if(idMsg == 0xF) { // BATTERY_ALIVE
// - - - -
}
break;
case 7: // Undefined
/*************
* UNDEFINED *
*************/
case 7:
break;
}
}

19
306-controller_interface.X/app/car.h
View File

@ -34,12 +34,15 @@
#define MEMADD_JOYSTICK_PARAM1 0x12
#define MEMADD_JOYSTICK_PARAM2 0x13
#define MEMADD_JOYSTICK_ALIVE_TIME 0x14
#define MEMADD_DISPLAY_ALIVE_TIME 0x
#define MEMADD_DRIVE_SPEED_TIME 0x
#define MEMADD_DRIVE_STOP_TIME 0x
#define MEMADD_DRIVE_ALIVE_TIME 0x
#define MEMADD_STEERING_ALIVE_TIME 0x
#define MEMADD_BATTERY_ALIVE_TIME 0x
#define MEMADD_DISPLAY_ALIVE_TIME 0x15
#define MEMADD_DRIVE_SPEED_TIME 0x16
#define MEMADD_DRIVE_STOP_TIME 0x17
#define MEMADD_DRIVE_ALIVE_TIME 0x18
#define MEMADD_STEERING_ALIVE_TIME 0x19
#define MEMADD_BATTERY_VOLT_TIME 0x1A
#define MEMADD_BATTERY_CURRENT_TIME 0x1B
#define MEMADD_BATTERY_ENERGY_TIME 0x1C
#define MEMADD_BATTERY_ALIVE_TIME 0x1D
typedef struct {
uint8_t CONTROL_STEERING_MODE;
@ -49,7 +52,6 @@ typedef struct {
uint32_t CONTROL_STEERING_FACTOR;
uint8_t CONTROL_MAX_SPEED_FW;
uint8_t CONTROL_MAX_SPEED_BW;
uint8_t JOYSTICK_MODE;
uint8_t JOYSTICK_PARAM1;
uint8_t JOYSTICK_PARAM2;
@ -59,6 +61,9 @@ typedef struct {
uint8_t DRIVE_STOP_TIME;
uint8_t DRIVE_ALIVE_TIME;
uint8_t STEERING_ALIVE_TIME;
uint8_t BATTERY_VOLT_TIME;
uint8_t BATTERY_CURRENT_TIME;
uint8_t BATTERY_ENERGY_TIME;
uint8_t BATTERY_ALIVE_TIME;
} CAR_CST_TYPE;
CAR_CST_TYPE CAR_CST;

12
306-controller_interface.X/app/factory/factory.c
View File

@ -64,22 +64,12 @@ void Factory_init() {
LED_off(l1());
// TODO init EPROM interface
MEM_init();
// TODO init watchdog with EPROM CST
WATCHDOG_init(WDcontroller());
MEM_write_one_byte(MEMADD_CONTROL_ALIVE_TIME, 10);
CAR_CST.CONTROL_ALIVE_TIME = MEM_read_one_byte(MEMADD_CONTROL_ALIVE_TIME);
WATCHDOG_setTime(WDcontroller(), CAR_CST.CONTROL_ALIVE_TIME);
MEM_write_one_byte(MEMADD_JOYSTICK_MODE, 0);
MEM_write_one_byte(MEMADD_JOYSTICK_PARAM1, 100);
MEM_write_one_byte(MEMADD_JOYSTICK_PARAM2, 1);
MEM_write_one_byte(MEMADD_JOYSTICK_ALIVE_TIME, CAR_CST.CONTROL_ALIVE_TIME);
CAR_CST.JOYSTICK_MODE = MEM_read_one_byte(MEMADD_JOYSTICK_MODE);
CAR_CST.JOYSTICK_PARAM1 = MEM_read_one_byte(MEMADD_JOYSTICK_PARAM1);
CAR_CST.JOYSTICK_PARAM2 = MEM_read_one_byte(MEMADD_JOYSTICK_PARAM2);
CAR_CST.JOYSTICK_ALIVE_TIME = MEM_read_one_byte(MEMADD_JOYSTICK_ALIVE_TIME);
ALIVE_CHECKER_init(ACjoy());
}

119
306-controller_interface.X/middleware/eeprom_interface.c
View File

@ -6,6 +6,7 @@
*/
#include "eeprom_interface.h"
#include "../app/car.h"
typedef union {
struct {
@ -14,23 +15,121 @@ typedef union {
uint8_t byte2;
uint8_t byte3;
} separate;
struct {
uint32_t bytes;
} full;
uint32_t full;
uint8_t array[4];
} BYTES_4;
void MEM_write_one_byte(uint8_t addresse, uint8_t data) {
DATAEE_WriteByte(addresse, data);
void MEM_init(){
uint8_t check = MEM_read_1_byte(0x0);
if(check != 0x42){
CAR_CST.CONTROL_STEERING_MODE = 0;
CAR_CST.CONTROL_ALIVE_TIME = 50;
CAR_CST.CONTROL_SPEED_FACTOR = 0;
CAR_CST.CONTROL_POWER_FACTOR = 0;
CAR_CST.CONTROL_STEERING_FACTOR = 0;
CAR_CST.CONTROL_MAX_SPEED_FW = 0;
CAR_CST.CONTROL_MAX_SPEED_BW = 0;
CAR_CST.JOYSTICK_MODE = 0;
CAR_CST.JOYSTICK_PARAM1 = 100;
CAR_CST.JOYSTICK_PARAM2 = 1;
CAR_CST.JOYSTICK_ALIVE_TIME = 50;
CAR_CST.DISPLAY_ALIVE_TIME = 0;
CAR_CST.DRIVE_SPEED_TIME = 0;
CAR_CST.DRIVE_STOP_TIME = 0;
CAR_CST.DRIVE_ALIVE_TIME = 0;
CAR_CST.STEERING_ALIVE_TIME = 0;
CAR_CST.BATTERY_VOLT_TIME = 0;
CAR_CST.BATTERY_CURRENT_TIME = 0;
CAR_CST.BATTERY_ENERGY_TIME = 0;
CAR_CST.BATTERY_ALIVE_TIME = 0;
MEM_write_1_byte(MEMADD_CONTROL_STEERING_MODE, CAR_CST.CONTROL_STEERING_MODE);
MEM_write_1_byte(MEMADD_CONTROL_ALIVE_TIME, CAR_CST.CONTROL_ALIVE_TIME);
MEM_write_4_byte(MEMADD_CONTROL_SPEED_FACTOR, CAR_CST.CONTROL_SPEED_FACTOR);
MEM_write_4_byte(MEMADD_CONTROL_POWER_FACTOR, CAR_CST.CONTROL_POWER_FACTOR);
MEM_write_4_byte(MEMADD_CONTROL_STEERING_FACTOR, CAR_CST.CONTROL_STEERING_FACTOR);
MEM_write_1_byte(MEMADD_CONTROL_MAX_SPEED_FW, CAR_CST.CONTROL_MAX_SPEED_FW);
MEM_write_1_byte(MEMADD_CONTROL_MAX_SPEED_BW, CAR_CST.CONTROL_MAX_SPEED_BW);
MEM_write_1_byte(MEMADD_JOYSTICK_MODE, CAR_CST.JOYSTICK_MODE);
MEM_write_1_byte(MEMADD_JOYSTICK_PARAM1, CAR_CST.JOYSTICK_PARAM1);
MEM_write_1_byte(MEMADD_JOYSTICK_PARAM2, CAR_CST.JOYSTICK_PARAM2);
MEM_write_1_byte(MEMADD_JOYSTICK_ALIVE_TIME, CAR_CST.JOYSTICK_ALIVE_TIME);
MEM_write_1_byte(MEMADD_DISPLAY_ALIVE_TIME, CAR_CST.DISPLAY_ALIVE_TIME);
MEM_write_1_byte(MEMADD_DRIVE_SPEED_TIME, CAR_CST.DRIVE_SPEED_TIME);
MEM_write_1_byte(MEMADD_DRIVE_STOP_TIME, CAR_CST.DRIVE_STOP_TIME);
MEM_write_1_byte(MEMADD_DRIVE_ALIVE_TIME, CAR_CST.DRIVE_ALIVE_TIME);
MEM_write_1_byte(MEMADD_STEERING_ALIVE_TIME, CAR_CST.STEERING_ALIVE_TIME);
MEM_write_1_byte(MEMADD_BATTERY_VOLT_TIME, CAR_CST.BATTERY_VOLT_TIME);
MEM_write_1_byte(MEMADD_BATTERY_CURRENT_TIME, CAR_CST.BATTERY_CURRENT_TIME);
MEM_write_1_byte(MEMADD_BATTERY_ENERGY_TIME, CAR_CST.BATTERY_ENERGY_TIME);
MEM_write_1_byte(MEMADD_BATTERY_ALIVE_TIME, CAR_CST.BATTERY_ALIVE_TIME);
MEM_write_1_byte(0x0, 0x42);
} else {
CAR_CST.CONTROL_STEERING_MODE = MEM_read_1_byte(MEMADD_CONTROL_STEERING_MODE);
CAR_CST.CONTROL_ALIVE_TIME = MEM_read_1_byte(MEMADD_CONTROL_ALIVE_TIME);
CAR_CST.CONTROL_SPEED_FACTOR = MEM_read_1_byte(MEMADD_CONTROL_SPEED_FACTOR);
CAR_CST.CONTROL_POWER_FACTOR = MEM_read_1_byte(MEMADD_CONTROL_POWER_FACTOR);
CAR_CST.CONTROL_STEERING_FACTOR = MEM_read_1_byte(MEMADD_CONTROL_STEERING_FACTOR);
CAR_CST.CONTROL_MAX_SPEED_FW = MEM_read_1_byte(MEMADD_CONTROL_MAX_SPEED_FW);
CAR_CST.CONTROL_MAX_SPEED_BW = MEM_read_1_byte(MEMADD_CONTROL_MAX_SPEED_BW);
CAR_CST.JOYSTICK_MODE = MEM_read_1_byte(MEMADD_JOYSTICK_MODE);
CAR_CST.JOYSTICK_PARAM1 = MEM_read_1_byte(MEMADD_JOYSTICK_PARAM1);
CAR_CST.JOYSTICK_PARAM2 = MEM_read_1_byte(MEMADD_JOYSTICK_PARAM2);
CAR_CST.JOYSTICK_ALIVE_TIME = MEM_read_1_byte(MEMADD_JOYSTICK_ALIVE_TIME);
CAR_CST.DISPLAY_ALIVE_TIME = MEM_read_1_byte(MEMADD_DISPLAY_ALIVE_TIME);
CAR_CST.DRIVE_SPEED_TIME = MEM_read_1_byte(MEMADD_DRIVE_SPEED_TIME);
CAR_CST.DRIVE_STOP_TIME = MEM_read_1_byte(MEMADD_DRIVE_STOP_TIME);
CAR_CST.DRIVE_ALIVE_TIME = MEM_read_1_byte(MEMADD_DRIVE_ALIVE_TIME);
CAR_CST.STEERING_ALIVE_TIME = MEM_read_1_byte(MEMADD_STEERING_ALIVE_TIME);
CAR_CST.BATTERY_VOLT_TIME = MEM_read_1_byte(MEMADD_BATTERY_VOLT_TIME);
CAR_CST.BATTERY_CURRENT_TIME = MEM_read_1_byte(MEMADD_BATTERY_CURRENT_TIME);
CAR_CST.BATTERY_ENERGY_TIME = MEM_read_1_byte(MEMADD_BATTERY_ENERGY_TIME);
CAR_CST.BATTERY_ALIVE_TIME = MEM_read_1_byte(MEMADD_BATTERY_ALIVE_TIME);
}
}
void MEM_write_four_byte(uint8_t addresse, uint32_t data) {
void MEM_write_1_byte(uint8_t address, uint8_t data) {
DATAEE_WriteByte(address, data);
}
void MEM_write_4_byte(uint8_t address, uint32_t data) {
BYTES_4 tmpData;
tmpData.full = data;
for(uint8_t i = 0; i<4;i++) {
uint8_t add = address;
add += i;
MEM_write_1_byte(add, tmpData.array[i]);
}
}
uint8_t MEM_read_one_byte(uint8_t adresse) {
return DATAEE_ReadByte(adresse);
uint8_t MEM_read_1_byte(uint8_t address) {
return DATAEE_ReadByte(address);
}
uint32_t MEM_read_four_byte(uint8_t adresse) {
uint32_t MEM_read_4_byte(uint8_t address) {
BYTES_4 tmpData;
for(uint8_t i = 0; i<4;i++) {
uint8_t add = address;
add += i;
tmpData.array[i] = MEM_read_1_byte(add);
}
return tmpData.full;
}

9
306-controller_interface.X/middleware/eeprom_interface.h
View File

@ -11,10 +11,11 @@
#include <stdbool.h> // usage of boolean types
#include "../mcc_generated_files/mcc.h"
void MEM_write_one_byte(uint8_t addresse, uint8_t data);
void MEM_write_four_byte(uint8_t adresse, uint32_t data);
uint8_t MEM_read_one_byte(uint8_t adresse);
uint32_t MEM_read_four_byte(uint8_t adresse);
void MEM_init();
void MEM_write_1_byte(uint8_t address, uint8_t data);
void MEM_write_4_byte(uint8_t address, uint32_t data);
uint8_t MEM_read_1_byte(uint8_t address);
uint32_t MEM_read_4_byte(uint8_t address);
// void MEM_write_CONTROL_STEERING_MODE(uint8_t data);
#endif /* EEPROM_INTERFACE_H */

9
threewheeler.DBF
View File

@ -6,7 +6,7 @@
[BUSMASTER_VERSION] [3.2.2]
[NUMBER_OF_MESSAGES] 25
[NUMBER_OF_MESSAGES] 26
[START_MSG] JOY_MEASURE,529,3,3,1,S
[START_SIGNALS] posX,8,1,0,I,127,-128,1,0.000000,1.000000,%,
@ -150,4 +150,11 @@
[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]
[START_MSG] CONTROL_SETUP_PARAM_JOY,22,4,4,1,S
[START_SIGNALS] mode,1,1,0,B,1,0,1,0.000000,1.000000,,
[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,
[END_MSG]