238 lines
6.6 KiB
C
238 lines
6.6 KiB
C
/**
|
|
* @author Rémi Heredero
|
|
* @version 1.0.0
|
|
* @date August 2023
|
|
* @file can_message.c
|
|
*/
|
|
|
|
#include "can_message.h"
|
|
#include "car.h"
|
|
#include "../app/factory/factory.h"
|
|
#include "../middleware/can_interface.h"
|
|
|
|
typedef union {
|
|
struct {
|
|
uint8_t byte0;
|
|
uint8_t byte1;
|
|
uint8_t byte2;
|
|
uint8_t byte3;
|
|
} separate;
|
|
struct {
|
|
uint32_t bytes;
|
|
} full;
|
|
} BYTES_4;
|
|
|
|
void CM_processIncome(uint8_t idSender, uint8_t idMsg, uint32_t data){
|
|
switch(idSender){
|
|
|
|
/*********************
|
|
* BROADCAST / DEBUG *
|
|
*********************/
|
|
case 0:
|
|
if(idMsg == 0x0) { // CONTROL_SETUP
|
|
// steeringMode eraseMemory - controlAliveTime
|
|
BYTES_4 tmpData;
|
|
tmpData.full.bytes = data;
|
|
if (tmpData.separate.byte1) {
|
|
MEM_reset();
|
|
}
|
|
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);
|
|
ALIVE_setAliveTime(ALcontroller(), 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 - -
|
|
|
|
}
|
|
|
|
if(idMsg == 0x6) { // CONTROL_SETUP_PARAM_JOY
|
|
// joystickMode joystickParam1 joystickParam2 joystickAliveTime
|
|
BYTES_4 tmpData;
|
|
tmpData.full.bytes = data;
|
|
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_setAliveTime(ALjoy(), 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;
|
|
|
|
|
|
/************
|
|
* JOYSTICK *
|
|
************/
|
|
case 2:
|
|
if(idMsg == 0x1) { // JOY_MESURE
|
|
// posX posY button -
|
|
|
|
}
|
|
|
|
if(idMsg == 0xF) { // JOY_ALIVE
|
|
// - - - -
|
|
ALIVE_ISALIVE(ALjoy());
|
|
if(ALjoy()->state == STAL_DEAD){
|
|
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_setAliveTime(ALjoy(), CAR_CST.JOYSTICK_ALIVE_TIME);
|
|
ALIVE_emitBorn(ALjoy(), 0, 0);
|
|
ALIVE_emitReady(ALjoy(), 100, 0);
|
|
}
|
|
}
|
|
break;
|
|
|
|
|
|
/***********
|
|
* DISPLAY *
|
|
***********/
|
|
case 3:
|
|
if(idMsg == 0xF) { // DISPLAY_ALIVE
|
|
// powerMode - - -
|
|
|
|
}
|
|
break;
|
|
|
|
|
|
/*********
|
|
* DRIVE *
|
|
*********/
|
|
case 4:
|
|
if(idMsg == 0x0) { // DRIVE_SPEED
|
|
// speedHH speedH speedL speedLL
|
|
|
|
}
|
|
|
|
if(idMsg == 0xF) { // DRIVE_ALIVE
|
|
// statusH statusL - -
|
|
|
|
}
|
|
break;
|
|
|
|
|
|
/************
|
|
* 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;
|
|
|
|
|
|
/**********
|
|
* SUPPLY *
|
|
**********/
|
|
case 6:
|
|
if(idMsg == 0xF) { // BATTERY_ALIVE
|
|
// - - - -
|
|
|
|
}
|
|
break;
|
|
|
|
|
|
/*************
|
|
* UNDEFINED *
|
|
*************/
|
|
case 7:
|
|
break;
|
|
}
|
|
}
|
|
|
|
void CM_CONTROLLER_ALIVE(void* p) {
|
|
CAN_Send(0x0, 0xF, 0);
|
|
}
|
|
|
|
void CM_JOY_SETUP(void* p) {
|
|
BYTES_4 joy;
|
|
joy.separate.byte0 = CAR_CST.JOYSTICK_MODE;
|
|
joy.separate.byte1 = CAR_CST.JOYSTICK_PARAM1;
|
|
joy.separate.byte2 = CAR_CST.JOYSTICK_PARAM2;
|
|
joy.separate.byte3 = CAR_CST.JOYSTICK_ALIVE_TIME;
|
|
CAN_Send(2, 0, joy.full.bytes);
|
|
|
|
}
|
|
void CM_DISPLAY_SETUP(void* p) {
|
|
|
|
}
|
|
|
|
void CM_DISPLAY_SPEED(void* p) {
|
|
|
|
}
|
|
|
|
void CM_DISPLAY_DIRECTION(void* p) {
|
|
|
|
}
|
|
|
|
void CM_DRIVE_SETUP(void* p) {
|
|
|
|
}
|
|
|
|
void CM_DRIVE_POWER(void* p) {
|
|
|
|
}
|
|
|
|
void CM_STEERING_SETUP(void* p) {
|
|
|
|
}
|
|
|
|
void CM_STEERING_SET(void* p) {
|
|
|
|
}
|
|
|
|
void CM_SETUP_CONTROL(void* p) {
|
|
|
|
}
|