304 lines
9.5 KiB
C
304 lines
9.5 KiB
C
/**
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* @author R<>mi Heredero
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* @version 1.0.0
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* @date August 2023
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* @file can_interface.c
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*/
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#include "can_interface.h"
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#include "../mcc_generated_files/ecan.h"
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typedef union {
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struct {
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uint8_t sender;
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uint8_t recipient;
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uint8_t message;
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uint32_t data;
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} full;
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struct {
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uint8_t sender;
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uint8_t recipient;
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uint8_t message;
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uint8_t data0;
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uint8_t data1;
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uint8_t data2;
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uint8_t data3;
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} separate;
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} CAN_MESSAGE;
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typedef union {
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struct {
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uint8_t byte0;
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uint8_t byte1;
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uint8_t byte2;
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uint8_t byte3;
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} separate;
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uint32_t full;
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} CAN_4_BYTES;
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void CAN_init(){
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CAN_myself.state = STCA_INIT;
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CAN_myself.receiveCan = NULL;
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CAN_myself.sender = 0;
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}
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void CAN_startBehaviour(){
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POST(&CAN_myself, &CAN_processEvent, evCAinit, 0, 0);
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}
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bool CAN_processEvent(Event* ev) {
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bool processed = false;
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CAN* me = (CAN*)Event_getTarget(ev);
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CAN_STATES oldState = me->state;
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evIDT evid = Event_getId(ev);
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uint64_t data = Event_getData(ev);
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CAN_4_BYTES tmpData;
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uCAN_MSG canMsg;
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uint32_t canData = (uint32_t) data;
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uint8_t idMsg;
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uint8_t idRecipient;
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uint8_t idSender;
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switch (me->state) { // onState
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case STCA_INIT:
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if (ev->id == evCAinit) {
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me->state = STCA_PROCESS;
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}
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break;
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case STCA_PROCESS:
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// New message arrive
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if (ev->id == evCAnewMsg) {
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if (me->receiveCan != NULL) {
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data = data>>32;
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tmpData.full = data;
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idMsg = tmpData.separate.byte0;
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idMsg = idMsg >> 4;
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idMsg = idMsg & 0xF;
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idRecipient = tmpData.separate.byte1;
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idRecipient = idRecipient & 0xF;
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idSender = tmpData.separate.byte1;
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idSender = idSender >> 4;
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me->receiveCan(idSender, idMsg, false, canData);
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}
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}
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if (ev->id == evCAnewRTR) {
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if (me->receiveCan != NULL) {
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data = data>>32;
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tmpData.full = data;
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idMsg = tmpData.separate.byte0;
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idMsg = idMsg >> 4;
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idMsg = idMsg & 0xF;
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idRecipient = tmpData.separate.byte1;
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idRecipient = idRecipient & 0xF;
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idSender = tmpData.separate.byte1;
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idSender = idSender >> 4;
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me->receiveCan(idSender, idMsg, true, canData);
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}
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}
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// Send a message
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if (ev->id == evCAsend4) {
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canMsg.frame.idType = dSTANDARD_CAN_MSG_ID_2_0B; // standard
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canMsg.frame.dlc = 4; // 4 bytes to send
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canMsg.frame.rtr = 0; // no remote frame
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canMsg.frame.data0 = (uint8_t) data;
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data = data >> 8;
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canMsg.frame.data1 = (uint8_t) data;
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data = data >> 8;
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canMsg.frame.data2 = (uint8_t) data;
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data = data >> 8;
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canMsg.frame.data3 = (uint8_t) data;
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data = data >> 8;
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canMsg.frame.id = (uint32_t) data;
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CAN_transmit(&canMsg);
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}
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if (ev->id == evCAsend2) {
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canMsg.frame.idType = dSTANDARD_CAN_MSG_ID_2_0B; // standard
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canMsg.frame.dlc = 2; // 4 bytes to send
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canMsg.frame.rtr = 0; // no remote frame
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canMsg.frame.data0 = (uint8_t) data;
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data = data >> 8;
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canMsg.frame.data1 = (uint8_t) data;
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data = data >> 8;
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canMsg.frame.data2 = (uint8_t) data;
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data = data >> 8;
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canMsg.frame.data3 = (uint8_t) data;
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data = data >> 8;
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canMsg.frame.id = (uint32_t) data;
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CAN_transmit(&canMsg);
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}
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if (ev->id == evCAsend1) {
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canMsg.frame.idType = dSTANDARD_CAN_MSG_ID_2_0B; // standard
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canMsg.frame.dlc = 1; // 4 bytes to send
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canMsg.frame.rtr = 0; // no remote frame
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canMsg.frame.data0 = (uint8_t) data;
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data = data >> 8;
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canMsg.frame.data1 = (uint8_t) data;
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data = data >> 8;
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canMsg.frame.data2 = (uint8_t) data;
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data = data >> 8;
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canMsg.frame.data3 = (uint8_t) data;
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data = data >> 8;
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canMsg.frame.id = (uint32_t) data;
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CAN_transmit(&canMsg);
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}
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if (ev->id == evCAsend0) {
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canMsg.frame.idType = dSTANDARD_CAN_MSG_ID_2_0B; // standard
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canMsg.frame.dlc = 0; // 4 bytes to send
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canMsg.frame.rtr = 0; // no remote frame
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canMsg.frame.data0 = (uint8_t) data;
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data = data >> 8;
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canMsg.frame.data1 = (uint8_t) data;
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data = data >> 8;
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canMsg.frame.data2 = (uint8_t) data;
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data = data >> 8;
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canMsg.frame.data3 = (uint8_t) data;
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data = data >> 8;
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canMsg.frame.id = (uint32_t) data;
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CAN_transmit(&canMsg);
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}
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if (ev->id == evCAsendRTR) {
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canMsg.frame.idType = dSTANDARD_CAN_MSG_ID_2_0B; // standard
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canMsg.frame.dlc = 0; // 4 bytes to send
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canMsg.frame.rtr = 1; // no remote frame
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canMsg.frame.data0 = (uint8_t) data;
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data = data >> 8;
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canMsg.frame.data1 = (uint8_t) data;
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data = data >> 8;
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canMsg.frame.data2 = (uint8_t) data;
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data = data >> 8;
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canMsg.frame.data3 = (uint8_t) data;
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data = data >> 8;
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canMsg.frame.id = (uint32_t) data;
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CAN_transmit(&canMsg);
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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 (oldState) { // onExit
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case STCA_INIT:
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break;
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case STCA_PROCESS:
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break;
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}
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switch (me->state) { // onEntry
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case STCA_INIT:
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break;
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case STCA_PROCESS:
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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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* Callbacks *
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*************/
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void CAN_onReceiveCan(CAN_CALLBACK f) {
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CAN_myself.receiveCan = f;
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}
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/************
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* EMITTERS *
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************/
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void CAN_newMsg() {
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uint64_t data;
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uCAN_MSG canMsg;
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CAN_receive(&canMsg);
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data = canMsg.frame.id;
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data = data<<12;
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data = data | canMsg.frame.data3;
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data = data<<8;
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data = data | canMsg.frame.data2;
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data = data<<8;
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data = data | canMsg.frame.data1;
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data = data<<8;
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data = data | canMsg.frame.data0;
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if(canMsg.frame.rtr) {
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POST(&CAN_myself, &CAN_processEvent, evCAnewRTR, 0, data);
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} else {
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POST(&CAN_myself, &CAN_processEvent, evCAnewMsg, 0, data);
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}
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}
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void CAN_Send(uint8_t idRecipient, uint8_t idMsg, uint32_t data) {
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uint64_t tmpData = CAN_myself.sender;
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tmpData = (tmpData<<4) | idRecipient;
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tmpData = (tmpData<<4) | idMsg;
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tmpData = (tmpData<<32) | data;
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POST(&CAN_myself, &CAN_processEvent, evCAsend4, 0, tmpData);
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}
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void CAN_send_4_bytes(uint8_t idRecipient, uint8_t idMsg, uint8_t byte0, uint8_t byte1, uint8_t byte2, uint8_t byte3) {
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uint64_t tmpData = CAN_myself.sender;
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tmpData = (tmpData<<4) | idRecipient;
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tmpData = (tmpData<<4) | idMsg;
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tmpData = (tmpData<<8) | byte3;
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tmpData = (tmpData<<8) | byte2;
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tmpData = (tmpData<<8) | byte1;
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tmpData = (tmpData<<8) | byte0;
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POST(&CAN_myself, &CAN_processEvent, evCAsend4, 0, tmpData);
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}
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void CAN_send_2_bytes(uint8_t idRecipient, uint8_t idMsg, uint16_t data) {
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uint64_t tmpData = CAN_myself.sender;
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tmpData = (tmpData<<4) | idRecipient;
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tmpData = (tmpData<<4) | idMsg;
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tmpData = (tmpData<<32) | data;
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POST(&CAN_myself, &CAN_processEvent, evCAsend2, 0, tmpData);
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}
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void CAN_send_1_byte(uint8_t idRecipient, uint8_t idMsg, uint8_t data) {
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uint64_t tmpData = CAN_myself.sender;
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tmpData = (tmpData<<4) | idRecipient;
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tmpData = (tmpData<<4) | idMsg;
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tmpData = (tmpData<<32) | data;
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POST(&CAN_myself, &CAN_processEvent, evCAsend1, 0, tmpData);
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}
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void CAN_send_0_byte(uint8_t idRecipient, uint8_t idMsg) {
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uint64_t tmpData = CAN_myself.sender;
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tmpData = (tmpData<<4) | idRecipient;
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tmpData = (tmpData<<4) | idMsg;
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tmpData = tmpData<<32;
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POST(&CAN_myself, &CAN_processEvent, evCAsend0, 0, tmpData);
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}
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void CAN_send_rtr(uint8_t idRecipient, uint8_t idMsg) {
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uint64_t tmpData = CAN_myself.sender;
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tmpData = (tmpData<<4) | idRecipient;
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tmpData = (tmpData<<4) | idMsg;
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tmpData = tmpData<<32;
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POST(&CAN_myself, &CAN_processEvent, evCAsendRTR, 0, tmpData);
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}
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/***********
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* SETTERS *
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***********/
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void CAN_setSender(uint8_t idSender) {
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CAN_myself.sender = idSender;
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}
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