HydroBot/hydrobot-sharedlibs Changeset - 8b77baddb5ab

Changeset - 8b77baddb5ab

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matthewreed - 7 years ago 2017-05-13 18:13:04

Updates to leds and protocol bug fixes

4 files changed with 13 insertions and 12 deletions:

inc/led.h

inc/protocol.h

src/led.c

src/protocol.c

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inc/led.h

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 #ifndef _LED_H_
 #define _LED_H_
 #include "stm32f0xx_hal.h"
 #include <stdbool.h>
 #include <string.h>
 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_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);
 __weak bool gpio_set_led(led_name_t led, bool value);
 __weak bool gpio_toggle_led(led_name_t led);
 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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@@ @@ -45,30 +45,30 @@ typedef enum { @@
     DIGITAL_OUTPUT = 0x0004,
     FREQ_OUTPUT = 0x0005,
     ANALOG_OUTPUT = 0x0006,
     AIR_TEMP = 0x0007,
     AIR_HUMIDITY = 0x0008,
     AIR_PRESSURE = 0x0009,
     AMBIENT_LIGHT = 0x000A,
     WATER_TEMP = 0x000B,
     WATER_LEVEL = 0x000C,
     WATER_CONDUCTIVITY = 0x000D,
     WATER_PH = 0x000E,
     CAN_ID = 0x0100,
     DATA_RATE = 0x0101,
     GPIO = 0x0102,
     LED_BRIGHTNESS = 0x0103,
 } protocol_data_key_t;
 void protocol_init(protocol_device_t device);
 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();
 __weak bool protocol_estop(bool value);
 __weak bool protocol_set_output(protocol_message_t* message);
 __weak bool protocol_get_data(protocol_message_t* message);
 __weak 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);
 #endif //_PROTOCOL_H_

src/led.c

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@@ @@ -25,49 +25,50 @@ void led_start(led_name_t led) @@
     led_thresholds[led] = led_cycles[led]/2;
+}
 void led_start_time(led_name_t led, uint16_t time)
+{
     if (led_timers[led] == 0)
+    {
         led_timers[led] = time;
         led_thresholds[led] = time/2;
+    }
+}
 void led_update(led_name_t led)
+{
     if (led_timers[led] > led_thresholds[led])
+    {
         led_set(led, 1);
         led_timers[led]--;
+    }
     else if (led_timers[led] > 0)
+    {
         led_set(led, 0);
         led_timers[led]--;
+    }
     else {
     else if (led_cycles[led] > 0)
+    {
         led_set(led, 0);
         led_timers[led] = led_cycles[led];
+    }
+}
 void led_update_all(void)
+{
     led_update(LED_STATUS);
     led_update(LED_CAN);
     led_update(LED_ERROR);
+}
 void led_set(led_name_t led, bool value)
+{
     gpio_set_led(led, value);
+}
 void led_toggle(led_name_t led)
+{
     gpio_toggle_led(led);
+}
 __weak bool gpio_set_led(led_name_t led, bool value)
+{

src/protocol.c

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@@ @@ -21,56 +21,56 @@ bool protocol_send_test() @@
 bool protocol_receive_message(CanRxMsgTypeDef* can_message)
+{
     bool result = true;
     protocol_message_t message;
     message.command = can_message->Data[0] & 0x80;
     message.id = can_message->Data[0] & 0x7F;
     message.key = (can_message->Data[1] << 8) & can_message->Data[2];
     message.sensor = can_message->Data[3];
     message.data.byte_data[0] = can_message->Data[4];
     message.data.byte_data[1] = can_message->Data[5];
     message.data.byte_data[2] = can_message->Data[6];
     message.data.byte_data[3] = can_message->Data[7];
     protocol_process_message(&message);
     return result;
+}
 bool protocol_send_message(protocol_message_t* message)
+{
     bool result = true;
     uint8_t data[8];
-    data[0] = (message->command & 0x80) & (message->id & 0x7F);
+    data[0] = (message->command & 0x80) | (message->id & 0x7F);
     data[1] = (message->key >> 8) & 0xFF;
     data[2] = (message->key >> 0) & 0xFF;
     data[3] = message->sensor;
     data[4] = (message->data.byte_data[0] >> 24) & 0xFF;
     data[5] = (message->data.byte_data[1] >> 16) & 0xFF;
     data[6] = (message->data.byte_data[2] >> 8) & 0xFF;
     data[7] = (message->data.byte_data[3] >> 0) & 0xFF;
     data[4] = message->data.byte_data[0];
     data[5] = message->data.byte_data[1];
     data[6] = message->data.byte_data[2];
     data[7] = message->data.byte_data[3];
     can_send(protocol_settings.val.can_id | 0x00000001, CAN_ID_STD, 8, data);
     return result;
+}
 bool protocol_process_message(protocol_message_t* message)
+{
     bool result = true;
     if (message->command)
+    {
         switch(message->id)
+        {
             case ESTOP:
+                {
                     //call estop weak function
                     result = protocol_estop(message->data.float_data!=0.0f);
+                }
                 break;
             case SILENCE_BUS:
+                {
                     //silence can bus
                     result = can_silence_bus(message->data.float_data!=0.0f);

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