Klagarge/SummerSchool2-Controller
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WIP can sender - template done

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This commit is contained in:
Rémi Heredero 2023-08-23 07:29:12 +02:00
parent d5c30dfea4
commit ff9137a026
4 changed files with 85 additions and 65 deletions
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52
306-controller_interface.X/middleware/can/can_sender.c
View File

@ -7,34 +7,56 @@
#include "can_sender.h"
void CAN_SENDER_init(CAN_SENDER* me){
void CANSENDER_init(CANSENDER* me){
me->state = STCS_INIT;
me->sendingTime = 1;
me->wait.f = NULL;
me->send.f = NULL;
}
void CAN_SENDER_startBehaviour(CAN_SENDER* me){
POST(me, &CAN_SENDER_processEvent, evCSinit, 0, 0);
void CANSENDER_startBehaviour(CANSENDER* me){
POST(me, &CANSENDER_processEvent, evCSinit, 0, 0);
}
bool CAN_SENDER_processEvent(Event* ev) {
bool CANSENDER_processEvent(Event* ev) {
bool processed = false;
CAN_SENDER* me = (CAN_SENDER*)Event_getTarget(ev);
CAN_SENDER_STATES oldState = me->state;
CANSENDER* me = (CANSENDER*)Event_getTarget(ev);
CANSENDER_STATES oldState = me->state;
evIDT evid = Event_getId(ev);
uint64_t data = Event_getData(ev);
switch (me->state) { // onState
case STCS_INIT:
if (ev->id == evCSinit) {
CANSENDER.state = STCS_WAIT;
}
break;
case STCS_WAIT:
if (ev->id == evCSsend) {
CANSENDER.state = STCS_SEND;
}
break;
case STCS_SEND:
if (ev->id == evCSdone) {
CANSENDER.state = STCS_WAIT;
}
uCAN_MSG canMsg;
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);
CANSENDER_emitDone(me, 0);
break;
}
@ -76,12 +98,12 @@ bool CAN_SENDER_processEvent(Event* ev) {
* Callbacks *
*************/
void CAN_SENDER_onWait(CAN_SENDER* me, CAN_SENDER_CALLBACK_FUNCTION f, void* p) {
void CANSENDER_onWait(CANSENDER* me, CANSENDER_CALLBACK_FUNCTION f, void* p) {
me->wait.f = f;
me->wait.p = p;
}
void CAN_SENDER_onSend(CAN_SENDER* me, CAN_SENDER_CALLBACK_FUNCTION f, void* p) {
void CANSENDER_onSend(CANSENDER* me, CANSENDER_CALLBACK_FUNCTION f, void* p) {
me->send.f = f;
me->send.p = p;
}
@ -90,18 +112,20 @@ void CAN_SENDER_onSend(CAN_SENDER* me, CAN_SENDER_CALLBACK_FUNCTION f, void* p)
* EMITTERS *
************/
void CAN_SENDER_emitSend(CAN_SENDER* me, uint16_t t) {
POST(me, &CAN_SENDER_processEvent, evCSsend, t, 0);
void CANSENDER_emitSend(CANSENDER* me, uint16_t t) {
POST(me, &CANSENDER_processEvent, evCSsend, t, 0);
}
void CAN_SENDER_emitDone(CAN_SENDER* me, uint16_t t) {
POST(me, &CAN_SENDER_processEvent, evCSdone, t, 0);
void CANSENDER_emitDone(CANSENDER* me, uint16_t t) {
POST(me, &CANSENDER_processEvent, evCSdone, t, 0);
}
CANSENDER_sendCanMsg(CANSENDER* me, uint8_t id, uint32_t data)
/***********
* SETTERS *
***********/
void CAN_SENDER_setSendingTime(CAN_SENDER* me, uint8_t v) {
void CANSENDER_setSendingTime(CANSENDER* me, uint8_t v) {
me->sendingTime = v;
}

65
306-controller_interface.X/middleware/can/can_sender.h
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@ -4,8 +4,8 @@
* @date August 2023
* @file can_sender.h
*/
#ifndef CAN_SENDER_H
#define CAN_SENDER_H
#ifndef CANSENDER_H
#define CANSENDER_H
#include "../../xf/xf.h"
@ -13,65 +13,65 @@ typedef enum {
STCS_INIT,
STCS_WAIT,
STCS_SEND
} CAN_SENDER_STATES;
} CANSENDER_STATES;
typedef enum {
evCSinit = 15, // TODO change this number (< 256)
evCSsend,
evCSdone
} CAN_SENDER_EVENTS;
} CANSENDER_EVENTS;
typedef void (*CAN_SENDER_CALLBACK_FUNCTION)(void*);
typedef void (*CANSENDER_CALLBACK_FUNCTION)(void*);
typedef struct {
CAN_SENDER_CALLBACK_FUNCTION f; // function
CANSENDER_CALLBACK_FUNCTION f; // function
void* p; // param(s)
} CAN_SENDER_CALLBACK;
} CANSENDER_CALLBACK;
typedef struct {
CAN_SENDER_STATES state;
CANSENDER_STATES state;
uint8_t sendingTime;
CAN_SENDER_CALLBACK wait;
CAN_SENDER_CALLBACK send;
} CAN_SENDER;
CANSENDER_CALLBACK wait;
CANSENDER_CALLBACK send;
} CANSENDER;
/**
* Initialize the CAN_SENDER
* @param me the CAN_SENDER itself
* Initialize the CANSENDER
* @param me the CANSENDER itself
*/
void CAN_SENDER_init(CAN_SENDER* me);
void CANSENDER_init(CANSENDER* me);
/**
* Start the CAN_SENDER state machine
* @param me the CAN_SENDER itself
* Start the CANSENDER state machine
* @param me the CANSENDER itself
*/
void CAN_SENDER_startBehaviour(CAN_SENDER* me);
void CANSENDER_startBehaviour(CANSENDER* me);
/**
* Process the event
* @param ev the event to process
* @return true if the event is processed
*/
bool CAN_SENDER_processEvent(Event* ev);
bool CANSENDER_processEvent(Event* ev);
/*************
* Callbacks *
*************/
/**
* Set the callback function to call when the CAN_SENDER is entering state wait
* @param me the CAN_SENDER itself
* Set the callback function to call when the CANSENDER is entering state wait
* @param me the CANSENDER itself
* @param f the function to call
* @param p the param(s) to pass to the function
*/
void CAN_SENDER_onWait(CAN_SENDER* me, CAN_SENDER_CALLBACK_FUNCTION f, void* p);
void CANSENDER_onWait(CANSENDER* me, CANSENDER_CALLBACK_FUNCTION f, void* p);
/**
* Set the callback function to call when the CAN_SENDER is entering state send
* @param me the CAN_SENDER itself
* Set the callback function to call when the CANSENDER is entering state send
* @param me the CANSENDER itself
* @param f the function to call
* @param p the param(s) to pass to the function
*/
void CAN_SENDER_onSend(CAN_SENDER* me, CAN_SENDER_CALLBACK_FUNCTION f, void* p);
void CANSENDER_onSend(CANSENDER* me, CANSENDER_CALLBACK_FUNCTION f, void* p);
/************
* EMITTERS *
@ -79,17 +79,21 @@ void CAN_SENDER_onSend(CAN_SENDER* me, CAN_SENDER_CALLBACK_FUNCTION f, void* p);
/**
* Emit the send event
* @param me the CAN_SENDER itself
* @param me the CANSENDER itself
* @param t time to wait in ms before triggering event
*/
void CAN_SENDER_emitSend(CAN_SENDER* me, uint16_t t);
void CANSENDER_emitSend(CANSENDER* me, uint16_t t);
/**
* Emit the done event
* @param me the CAN_SENDER itself
* @param me the CANSENDER itself
* @param t time to wait in ms before triggering event
*/
void CAN_SENDER_emitDone(CAN_SENDER* me, uint16_t t);
void CANSENDER_emitDone(CANSENDER* me, uint16_t t);
void CANSENDER_sendCanMsg(CANSENDER* me, uint8_t id, uint32_t data);
void sendCanMsg(uint32_t id, uint32_t data);
/***********
* SETTERS *
@ -100,6 +104,9 @@ void CAN_SENDER_emitSend(CAN_SENDER* me, uint16_t t);
* @param me
* @param v
*/
void CAN_SENDER_setSendingTime(CAN_SENDER* me, uint8_t v);
void CANSENDER_setSendingTime(CANSENDER* me, uint8_t v);
void CANSENDER_seSender(CANSENDER* me, uint8_t s);
void CANSENDER_setRecipient(CANSENDER* me, uint8_t r);
#endif

15
306-controller_interface.X/nbproject/configurations.xml
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@ -319,21 +319,6 @@
<property key="coverage-enable" value=""/>
<property key="stack-guidance" value="false"/>
</XC8-CO>
<XC8-config-global>
<property key="advanced-elf" value="true"/>
<property key="gcc-opt-driver-new" value="true"/>
<property key="gcc-opt-std" value="-std=c99"/>
<property key="gcc-output-file-format" value="dwarf-3"/>
<property key="omit-pack-options" value="false"/>
<property key="omit-pack-options-new" value="1"/>
<property key="output-file-format" value="-mcof,+elf"/>
<property key="stack-size-high" value="auto"/>
<property key="stack-size-low" value="auto"/>
<property key="stack-size-main" value="auto"/>
<property key="stack-type" value="compiled"/>
<property key="user-pack-device-support" value=""/>
<property key="wpo-lto" value="false"/>
</XC8-config-global>
</conf>
</confs>
</configurationDescriptor>

16
UML/can.uxf
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@ -1,5 +1,5 @@
<?xml version="1.0" encoding="UTF-8" standalone="no"?>
<diagram program="umlet" version="15.0.0">
<diagram program="umlet" version="15.1">
<zoom_level>15</zoom_level>
<element>
<id>UMLSpecialState</id>
@ -211,14 +211,18 @@ evCSdone
<coordinates>
<x>765</x>
<y>630</y>
<w>645</w>
<h>150</h>
<w>705</w>
<h>270</h>
</coordinates>
<panel_attributes>_*How to use*_
CANSENDER_send(uint32_t id, uint32_t data);
or
CANSENDER_send(CANSENDER *me, uint8_t id, uint32_t data);</panel_attributes>
*Like a static class:*
sendCanMsg(uint32_t id, uint32_t data);
*Or like an Object: *
CANSENDER_seSender(CANSENDER* me, uint8_t s);
CANSENDER_setRecipient(CANSENDER* me, uint8_t r);
CANSENDER_sendCanMsg(CANSENDER* me, uint8_t id, uint32_t data);</panel_attributes>
<additional_attributes/>
</element>
</diagram>