Changeset - 021012fc2f31
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matthewreed - 7 years ago 2017-05-26 22:16:53

Updated protocol features including config and fixed CAN issue.
6 files changed with 69 insertions and 23 deletions:
inc/led.h
5
2
inc/protocol.h
2
src/can.c
3
2
src/flash.c
2
src/led.c
28
17
src/protocol.c
29
2
0 comments (0 inline, 0 general)
inc/led.h
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Show inline comments
 
@@ -9,17 +9,20 @@ typedef enum {
 
    LED_STATUS = 0,
 
    LED_CAN,
 
    LED_ERROR,
 
} led_name_t;
 
 
void led_init(void);
 
void led_start(led_name_t led);
 
void led_start_time(led_name_t led, uint16_t time);
 
void led_blink(led_name_t led, uint16_t period);
 
void led_stop(led_name_t led);
 
void led_blink_once(led_name_t led, uint16_t period);
 
void led_update(led_name_t led);
 
void led_update_all(void);
 
void led_set(led_name_t led, bool value);
 
void led_toggle(led_name_t led);
 
bool led_set_brightness(uint8_t brightness);
 
 
bool gpio_set_led_brightness(uint8_t brightness);
 
bool gpio_set_led(led_name_t led, bool value);
 
bool gpio_toggle_led(led_name_t led);
 
 
#endif /* _LED_H_ */
inc/protocol.h
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Show inline comments
 
@@ -57,17 +57,19 @@ typedef enum {
 
    DATA_RATE = 0x0101,
 
    GPIO = 0x0102,
 
    LED_BRIGHTNESS = 0x0103,
 
} protocol_data_key_t;
 
 
void protocol_init(protocol_device_t device);
 
flash_settings_t* protocol_get_settings(void);
 
bool protocol_receive_message(CanRxMsgTypeDef* can_message);
 
bool protocol_send_message(protocol_message_t* message);
 
bool protocol_process_message(protocol_message_t* message);
 
bool protocol_send_data(protocol_data_key_t key, uint8_t sensor, float data);
 
bool protocol_send_test();
 
bool _protocol_config(protocol_message_t* message);
 
 
bool protocol_estop(bool value);
 
bool protocol_set_output(protocol_message_t* message);
 
bool protocol_get_data(protocol_message_t* message);
 
bool protocol_config(protocol_message_t* message);
 
src/can.c
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Show inline comments
 
@@ -122,15 +122,16 @@ bool can_silence_bus(bool value)
 
 
void HAL_CAN_RxCpltCallback(CAN_HandleTypeDef* hcan)
 
{
 
    if ((hcan->pRxMsg->StdId == can_rx_id) | (hcan->pRxMsg->StdId == can_broadcast_id))
 
    {
 
        protocol_receive_message(hcan->pRxMsg);
 
        HAL_CAN_Receive_IT(&can_handle, CAN_FIFO0);
 
    }
 
    led_start_time(LED_CAN, 500);
 
 
    led_blink_once(LED_CAN, 500);
 
    HAL_CAN_Receive_IT(&can_handle, CAN_FIFO0);
 
}
 
 
void HAL_CAN_TxCpltCallback(CAN_HandleTypeDef* hcan) {}
 
 
void HAL_CAN_ErrorCallback(CAN_HandleTypeDef* hcan)
 
{
src/flash.c
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Show inline comments
 
@@ -36,12 +36,14 @@ void flash_load_defaults(flash_settings_
 
    torestore->val.led_brightness = DEFAULT_LED_BRIGHTNESS;
 
 
}
 
 
static void __flash_write(flash_settings_t* tosave)
 
{
 
    //TODO: Check to see if anything has changed before saving
 
 
    // Erase mem
 
    HAL_FLASH_Unlock();
 
 
    // Erase the FLASH pages
 
    FLASH_EraseInitTypeDef erase;
 
    erase.TypeErase = TYPEERASE_PAGES;
src/led.c
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Show inline comments
 
#include "led.h"
 
 
#define LED_CYCLE_STATUS 2000
 
#define LED_CYCLE_CAN 0
 
#define LED_CYCLE_ERROR 0
 
 
uint16_t led_timers[3];
 
uint16_t led_thresholds[3];
 
uint16_t led_cycles[3];
 
 
void led_init(void)
 
{
 
    memset(led_timers, 0, sizeof led_timers);
 
    memset(led_thresholds, 0, sizeof led_thresholds);
 
    memset(led_cycles, 0, sizeof led_cycles);
 
 
    led_cycles[LED_STATUS] = LED_CYCLE_STATUS;
 
    led_cycles[LED_CAN] = LED_CYCLE_CAN;
 
    led_cycles[LED_ERROR] = LED_CYCLE_ERROR;
 
    memset(led_timers, 0, sizeof(led_timers));
 
    memset(led_thresholds, 0, sizeof(led_thresholds));
 
    memset(led_cycles, 0, sizeof(led_cycles));
 
}
 
 
void led_start(led_name_t led)
 
void led_blink(led_name_t led, uint16_t period)
 
{
 
    led_timers[led] = led_cycles[led];
 
    led_thresholds[led] = led_cycles[led]/2;
 
    led_timers[led] = period;
 
    led_thresholds[led] = period/2;
 
    led_cycles[led] = period;
 
}
 
 
void led_start_time(led_name_t led, uint16_t time)
 
void led_stop(led_name_t led)
 
{
 
    led_timers[led] = 0;
 
    led_thresholds[led] = 0;
 
    led_cycles[led] = 0;
 
    led_set(led, 0);
 
}
 
 
void led_blink_once(led_name_t led, uint16_t period)
 
{
 
    if (led_timers[led] == 0)
 
    {
 
        led_timers[led] = time;
 
        led_thresholds[led] = time/2;
 
        led_timers[led] = period;
 
        led_thresholds[led] = period/2;
 
    }
 
}
 
 
void led_update(led_name_t led)
 
{
 
    if (led_timers[led] > led_thresholds[led])
 
@@ -67,16 +68,26 @@ void led_set(led_name_t led, bool value)
 
 
void led_toggle(led_name_t led)
 
{
 
    gpio_toggle_led(led);
 
}
 
 
bool led_set_brightness(uint8_t brightness)
 
{
 
    return gpio_set_led_brightness(brightness);
 
}
 
 
__weak bool gpio_set_led(led_name_t led, bool value)
 
{
 
    return false;
 
}
 
 
__weak bool gpio_toggle_led(led_name_t led)
 
{
 
    return false;
 
}
 
 
__weak bool gpio_set_led_brightness(uint8_t brightness)
 
{
 
    return false;
 
}
 
src/protocol.c
➞
Show inline comments
 
@@ -8,12 +8,17 @@ void protocol_init(protocol_device_t dev
 
    protocol_device = device;
 
    flash_restore(&protocol_settings);
 
 
    can_init(protocol_settings.val.can_id, DEFAULT_BROADCAST_ID);
 
}
 
 
flash_settings_t* protocol_get_settings(void)
 
{
 
    return &protocol_settings;
 
}
 
 
bool protocol_send_test()
 
{
 
    bool result = true;
 
    can_send_test(protocol_settings.val.can_id | 0x00000001);
 
    return result;
 
}
 
@@ -87,14 +92,13 @@ bool protocol_process_message(protocol_m
 
                    //call get data weak function
 
                    result = protocol_get_data(message);
 
                }
 
                break;
 
            case CONFIG:
 
                {
 
                    //call config weak function
 
                    result = protocol_config(message);
 
                    result = _protocol_config(message);
 
                }
 
                break;
 
            default:
 
                result = false;
 
                break;
 
        }
 
@@ -116,12 +120,35 @@ bool protocol_send_data(protocol_data_ke
 
 
    result = protocol_send_message(&message);
 
 
    return result;
 
}
 
 
bool _protocol_config(protocol_message_t* message)
 
{
 
    bool result = false;
 
 
    if (message->key == LED_BRIGHTNESS)
 
    {
 
        uint8_t brightness = (uint8_t)message->data.float_data;
 
        result = led_set_brightness(brightness);
 
        protocol_settings.val.led_brightness = brightness;
 
    }
 
    else if (message->key == DATA_RATE)
 
    {
 
        uint16_t data_rate = (uint16_t) message->data.float_data;
 
        protocol_settings.val.data_rate = data_rate;
 
    }
 
    else
 
    {
 
        //call config weak function
 
        result = protocol_config(message);
 
    }
 
    return result;
 
}
 
 
__weak bool protocol_estop(bool value)
 
{
 
    return false;
 
}
 
 
__weak bool protocol_set_output(protocol_message_t* message)
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