HydroBot/hydrobot-sharedlibs Changeset - 8baba88b8ac9

Changeset - 8baba88b8ac9

Parent rev.

Child rev.

[Not reviewed]

default

0 0 2

matthewreed - 8 years ago 2017-03-30 10:16:54

Added protocol layer for CAN messaging.

2 files changed with 165 insertions and 0 deletions:

protocol.c

104

protocol.h

0 comments (0 inline, 0 general)

protocol.c

➞

Show inline comments

@@ new file 100644 @@
 #include "protocol.h"
 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[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;
     can_send(CAN_SEND_ID, 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);
+                }
                 break;
             case SET_OUTPUT:
+                {
                     //call set output weak function
                     result = protocol_set_output(message);
+                }
                 break;
             case GET_DATA:
+                {
                     //call get data weak function
                     result = protocol_get_data(message);
+                }
                 break;
             case CONFIG:
+                {
                     //call config weak function
                     result = protocol_config(message);
+                }
                 break;
+        }
+    }
     return result;
+}
 __weak bool protocol_estop(bool value)
+{
     return false;
+}
 __weak bool protocol_set_output(protocol_message_t* message)
+{
     return false;
+}
 __weak bool protocol_get_data(protocol_message_t* message)
+{
     return false;
+}
 __weak bool protocol_config(protocol_message_t* message)
+{
     return false;
+}

protocol.h

➞

Show inline comments

@@ new file 100644 @@
 #ifndef _PROTOCOL_H
 #define _PROTOCOL_H
 #include <stdbool.h>
 #include "config.h"
 #include "can.h"
 typedef struct {
     bool command;
     uint8_t id;
     uint16_t key;
     uint8_t sensor;
     union {
     	float float_data;
 		uint8_t byte_data[4];
     } data;
 }  protocol_message_t;
 typedef enum {
     ESTOP = 0x00,
     SILENCE_BUS = 0x01,
     SET_OUTPUT = 0X10,
     GET_DATA = 0x11,
     CONFIG = 0x12,
     CALIBRATE = 0x13,
 } protocol_command_t;
 typedef enum {
     NONE = 0x0000,
     DIGITAL_INPUT = 0x0001,
     FREQ_INPUT = 0x0002,
     ANALOG_INPUT = 0x0003,
     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;
 bool protocol_receive_message(CanRxMsgTypeDef* can_message);
 bool protocol_send_message(protocol_message_t* message);
 bool protocol_process_message(protocol_message_t* message);
 __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);
 #endif //_PROTOCOL_H

0 comments (0 inline, 0 general)