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-rw-r--r--fw/can.c28
-rw-r--r--fw/dac.c14
-rw-r--r--fw/eeprom.c36
-rw-r--r--fw/main.c66
-rw-r--r--fw/table.c21
-rw-r--r--fw/table.h5
-rw-r--r--fw/types.c53
-rw-r--r--fw/types.h43
8 files changed, 108 insertions, 158 deletions
diff --git a/fw/can.c b/fw/can.c
index 6adb423..45340bf 100644
--- a/fw/can.c
+++ b/fw/can.c
@@ -241,14 +241,14 @@ static void
packId(CanId *id, U8 sidh, U8 sidl, U8 eid8, U8 eid0) {
if (sidl & IDE) { // extended ID
id->isExt = true;
- id->eid[0u] = eid0; // id[7:0]
- id->eid[1u] = eid8; // idi[15:8]
- id->eid[2u] = (sidh & 0x7) | (sidl & 0x3) | (sidl >> 3u); // id[23:21], id[20:18], id[17:16]
- id->eid[3u] = (sidh >> 3u); // id[28:24]
+ id->eid = ((U32)eid0 << 0u) // id[7:0]
+ | ((U32)eid8 << 8u) // id[15:8]
+ | ((U32)((sidh & 0x7) | (sidl & 0x3) | (sidl >> 3u)) << 16u) // id[23:21], id[20:18], id[17:16]
+ | ((U32)(sidh >> 3u) << 24u); // id[28:24]
} else { // standard ID
id->isExt = false;
- id->sid.lo = (U8)(sidh << 3u) | (U8)(sidl >> 5u); // sid[7:0]
- id->sid.hi = sidh >> 5u; // sid[10:8]
+ id->sid = ((U16)((sidh << 3u) | (sidl >> 5u)) << 0u) // sid[7:0]
+ | ((U16)(sidh >> 5u) << 8u); // sid[10:8]
}
}
@@ -296,15 +296,15 @@ canReadRxb1(CanFrame *frame) {
static void
writeId(const CanId *id, Reg sidh, Reg sidl, Reg eid8, Reg eid0) {
if (id->isExt) { // extended
- write(eid0, id->eid[0u]); // id[7:0]
- write(eid8, id->eid[1u]); // id[15:8]
- write(sidl, ((id->eid[2u] << 3u) & 0xE0) | IDE | (id->eid[2u] & 0x3)); // id[20:18], IDE, id[17:16]
- write(sidh, (U8)((id->eid[3u] & 0x1F) << 3u) | (id->eid[2u] >> 5u)); // id[28:24], id[23:21]
+ write(eid0, id->eid & 0xFF); // id[7:0]
+ write(eid8, (id->eid >> 8u) & 0xFF); // id[15:8]
+ write(sidl, ((id->eid >> 13u) & 0xE0) | IDE | ((id->eid >> 16u) & 0x03)); // id[20:18], IDE, id[17:16]
+ write(sidh, (id->eid >> 21u) & 0xFF); // id[28:21]
} else { // standard
- write(sidh, (U8)(id->sid.hi << 5u) | (U8)(id->sid.lo >> 3u));
- write(sidl, (U8) (id->sid.lo << 5u));
- write(eid8, 0x00);
- write(eid0, 0x00);
+ write(sidh, (id->sid >> 3u) & 0xFF);
+ write(sidl, (id->sid << 5u) & 0xE0);
+ write(eid8, 0u);
+ write(eid0, 0u);
}
}
diff --git a/fw/dac.c b/fw/dac.c
index aa83602..bfea8c8 100644
--- a/fw/dac.c
+++ b/fw/dac.c
@@ -11,8 +11,8 @@
// Configuration bits:
// buffered, gain=1x, mode=active
typedef enum {
- CONFA = 0x70, // DAC A
- CONFB = 0xF0, // DAC B
+ CONFA = 0x7000, // DAC A
+ CONFB = 0xF000, // DAC B
} Conf;
void
@@ -22,7 +22,7 @@ dacInit(void) {
DAC1_CS = 1;
DAC2_CS = 1;
- U16 level = {0u, 0u};
+ U16 level = 0u;
dacSet1a(level);
dacSet1b(level);
dacSet2a(level);
@@ -31,8 +31,8 @@ dacInit(void) {
static void
set(U8 dacNum, Conf conf, U16 level) {
- level = lshiftU16(level, 2u); // D0 at bit 2
- level.hi = (U8)conf | (level.hi & 0x0F); // set config bits
+ level <<= 2u; // D0 at bit 2
+ level = ((U16)conf & 0xF000) | (level & 0x0FFF); // set config bits
if (dacNum == 1u) {
DAC1_CS = 0;
@@ -41,8 +41,8 @@ set(U8 dacNum, Conf conf, U16 level) {
}
_delay(1);
- (void)spiTx(level.hi);
- (void)spiTx(level.lo);
+ (void)spiTx((level>>8u) & 0xFF); // MSB
+ (void)spiTx((level>>0u) & 0xFF); // LSB
if (dacNum == 1u) {
DAC1_CS = 1;
diff --git a/fw/eeprom.c b/fw/eeprom.c
index 1754885..2cc7807 100644
--- a/fw/eeprom.c
+++ b/fw/eeprom.c
@@ -2,7 +2,6 @@
#include <stdbool.h>
#include <stdint.h>
-#include <string.h>
#include "system.h"
#include "types.h"
@@ -88,13 +87,13 @@ waitForWrite(void) {
static void
spiTxAddr(U16 addr) {
- (void)spiTx(addr.hi);
- (void)spiTx(addr.lo);
+ (void)spiTx((addr>>8u) & 0xFF); // MSB
+ (void)spiTx((addr>>0u) & 0xFF); // LSB
}
static bool
isPageStart(U16 addr) {
- return (addr.lo % PAGE_SIZE) == 0;
+ return (addr % PAGE_SIZE) == 0;
}
Status
@@ -120,7 +119,7 @@ eepromWrite(U16 addr, U8 *data, U8 size) {
while (size--) {
(void)spiTx(*data);
data++;
- addr = addU16U8(addr, 1u);
+ addr++;
// Check if write crosses page boundary
if (isPageStart(addr) && size) {
@@ -178,13 +177,16 @@ eepromWriteCanId(U16 addr, const CanId *id) {
// Copy ID to buffer
if (id->isExt) { // extended
- memmove(buf, id->eid, sizeof(buf));
- buf[3u] = (buf[3u] & 0x1F) | 0x80; // set EID flag: bit 31
+ buf[0u] = (id->eid>>0u) & 0xFF;
+ buf[1u] = (id->eid>>8u) & 0xFF;
+ buf[2u] = (id->eid>>16u) & 0xFF;
+ buf[3u] = (id->eid>>24u) & 0x1F;
+ buf[3u] |= 0x80; // set EID flag in bit 31
} else { // standard
- buf[0u] = id->sid.lo;
- buf[1u] = id->sid.hi & 0x7;
+ buf[0u] = (id->sid>>0u) & 0xFF;
+ buf[1u] = (id->sid>>8u) & 0x07;
buf[2u] = 0u;
- buf[3u] = 0u;
+ buf[3u] = 0u; // clear EID flag in bit 32
}
return eepromWrite(addr, buf, sizeof(buf));
@@ -195,22 +197,26 @@ eepromWriteCanId(U16 addr, const CanId *id) {
// Bit 31 indicates standard/extended: 0=>std, 1=>ext.
Status
eepromReadCanId(U16 addr, CanId *id) {
+ U8 buf[sizeof(U32)];
Status status;
// Read
- status = eepromRead(addr, id->eid, sizeof(id->eid));
+ status = eepromRead(addr, buf, sizeof(buf));
if (status != OK) {
return FAIL;
}
// Unpack
- if (id->eid[3u] & 0x80) { // bit 31 is standard/extended flag
+ if (buf[3u] & 0x80) { // bit 31 is standard/extended flag
id->isExt = true; // extended
- id->eid[3u] &= 0x1F;
+ id->eid = ((U32)buf[0u] << 0u)
+ | ((U32)buf[1u] << 8u)
+ | ((U32)buf[2u] << 16u)
+ | (((U32)buf[3u] & 0x1F) << 24u);
} else {
id->isExt = false; // standard
- id->sid.lo = id->eid[0u];
- id->sid.hi = id->eid[1u] & 0x7;
+ id->sid = ((U16)buf[0u] << 0u)
+ | (((U16)buf[1u] & 0x07) << 8u);
}
return OK;
diff --git a/fw/main.c b/fw/main.c
index 81db05d..d679035 100644
--- a/fw/main.c
+++ b/fw/main.c
@@ -31,7 +31,7 @@ typedef enum {
// Used for writing/reading calibration tables.
static const CanId tblCtrlFilter = {
.isExt = true,
- .eid = {0x00, 0x20, 0x27, 0x01}, // 12720XXh
+ .eid = 0x01272000, // 112720XXh
};
// ID Control filter.
@@ -39,14 +39,14 @@ static const CanId tblCtrlFilter = {
// See `doc/datafmt.ps'.
static const CanId idCtrlFilter = {
.isExt = true,
- .eid = {0x00, 0x21, 0x27, 0x01}, // 127210Xh
+ .eid = 0x01272100, // 127210Xh
};
// Receive buffer 0 mask.
// RXB0 receives Table and ID Control Frames.
static const CanId rxb0Mask = {
.isExt = true,
- .eid = {0x00, 0xFF, 0xFF, 0x1F}, // all but LSB
+ .eid = 0x1FFFFF00, // all buf LSB
};
// Receive buffer 1 mask.
@@ -54,28 +54,28 @@ static const CanId rxb0Mask = {
// The mask is permissive: all messages are accepted and filtered in software.
static const CanId rxb1Mask = {
.isExt = true,
- .eid = {0u, 0u, 0u, 0u}, // accept all messages
+ .eid = 0u, // accept all messages
};
// Calibration tables in EEPROM:
// Each is 2*sizeof(U32)*TAB_ROWS = 256B -- too big for an 8-bit word.
// That's why the offsets are hard-coded.
-static const Table tachTbl = {{0x00, 0x00}}; // tachometer
-static const Table speedTbl = {{0x01, 0x00}}; // speedometer
-static const Table an1Tbl = {{0x02, 0x00}}; // analog channels...
-static const Table an2Tbl = {{0x03, 0x00}};
-static const Table an3Tbl = {{0x04, 0x00}};
-static const Table an4Tbl = {{0x05, 0x00}};
+static const Table tachTbl = {0ul*TAB_SIZE}; // tachometer
+static const Table speedTbl = {1ul*TAB_SIZE}; // speedometer
+static const Table an1Tbl = {2ul*TAB_SIZE}; // analog channels...
+static const Table an2Tbl = {3ul*TAB_SIZE};
+static const Table an3Tbl = {4ul*TAB_SIZE};
+static const Table an4Tbl = {5ul*TAB_SIZE};
// EEPROM address of CAN ID for each parameter.
// Each of these addresses holds a U32 CAN ID.
static const EepromAddr paramIdAddrs[NPARAM] = {
- [TACH] = {0x06, 0x00}, // tachometer
- [SPEED] = {0x06, 0x04}, // speedometer
- [AN1] = {0x06, 0x08}, // analog channels...
- [AN2] = {0x06, 0x0C},
- [AN3] = {0x06, 0x10},
- [AN4] = {0x06, 0x14},
+ [TACH] = NPARAM*TAB_SIZE + 0ul*sizeof(U32), // tachometer
+ [SPEED] = NPARAM*TAB_SIZE + 1ul*sizeof(U32), // speedometer
+ [AN1] = NPARAM*TAB_SIZE + 2ul*sizeof(U32), // analog channels...
+ [AN2] = NPARAM*TAB_SIZE + 3ul*sizeof(U32),
+ [AN3] = NPARAM*TAB_SIZE + 4ul*sizeof(U32),
+ [AN4] = NPARAM*TAB_SIZE + 5ul*sizeof(U32),
};
// CAN ID of each parameter
@@ -173,20 +173,19 @@ respondIdCtrl(Param param) {
// Pack param ID into response's DATA FIELD
response.id = (CanId) {
.isExt = true,
- .eid = {param & 0xF, 0x21, 0x27, 0x01}, // 127210Xh
+ .eid = 0x01272100 | ((U32)param & 0x0F), // 127210Xh
};
response.rtr = false;
if (paramId.isExt) { // extended
response.dlc = 4u; // U32
- // BE <- LE
- response.data[0u] = paramId.eid[3u] & 0x1F;
- response.data[1u] = paramId.eid[2u];
- response.data[2u] = paramId.eid[1u];
- response.data[3u] = paramId.eid[0u];
+ response.data[0u] = (paramId.eid>>24u) & 0x1F;
+ response.data[1u] = (paramId.eid>>16u) & 0xFF;
+ response.data[2u] = (paramId.eid>>8u) & 0xFF;
+ response.data[3u] = (paramId.eid>>0u) & 0xFF;
} else { // standard
response.dlc = 2u; // U16
- response.data[0u] = paramId.sid.hi & 0x7;
- response.data[1u] = paramId.sid.lo;
+ response.data[0u] = (paramId.sid>>8u) & 0x07;
+ response.data[1u] = (paramId.sid>>0u) & 0xFF;
}
// Transmit response
@@ -202,22 +201,21 @@ setParamId(const CanFrame *frame) {
// Extract param ID from DATA FIELD
if (frame->dlc == 4u) { // extended
- paramId.isExt = true;
- // LE <- BE
- paramId.eid[0u] = frame->data[3u];
- paramId.eid[1u] = frame->data[2u];
- paramId.eid[2u] = frame->data[1u];
- paramId.eid[3u] = frame->data[0u] & 0x1F;
+ paramId.isExt = true;
+ paramId.eid = ((U32)frame->data[3u] << 0u)
+ | ((U32)frame->data[2u] << 8u)
+ | ((U32)frame->data[1u] << 16u)
+ | (((U32)frame->data[0u] & 0x1F) << 24u);
} else if (frame->dlc == 2u) { // standard
paramId.isExt = false;
- paramId.sid.lo = frame->data[1u];
- paramId.sid.hi = frame->data[0u] & 0x7;
+ paramId.sid = ((U16)frame->data[1u] << 0u)
+ | ((U16)frame->data[0u] << 8u);
} else {
return FAIL; // invalid DLC
}
// Set param's ID
- param = frame->id.eid[0u] & 0xF;
+ param = frame->id.eid & 0xF;
if ((U8)param < NPARAM) {
// Update copy in EEPROM
status = eepromWriteCanId(paramIdAddrs[param], &paramId);
@@ -243,7 +241,7 @@ handleIdCtrlFrame(const CanFrame *frame) {
Param param;
if (frame->rtr) { // REMOTE
- param = frame->id.eid[0u] & 0xF;
+ param = frame->id.eid & 0xF;
return respondIdCtrl(param); // respond with the parameter's CAN ID
} else { // DATA
return setParamId(frame);
diff --git a/fw/table.c b/fw/table.c
index fd16353..14f7090 100644
--- a/fw/table.c
+++ b/fw/table.c
@@ -15,8 +15,10 @@ tabWrite(const Table *tab, U8 k, U16 key, U16 val) {
return FAIL;
}
- U16 addr = addU16U8(tab->offset, k*TAB_ROW_SIZE);
- U8 row[4u] = {key.lo, key.hi, val.lo, val.hi};
+ U16 addr = tab->offset + k*TAB_ROW_SIZE;
+ U8 row[4u] = {
+ (key>>0u)&0xFF, (key>>8u)&0xFF,
+ (val>>0u)&0xFF, (val>>8u)&0xFF};
return eepromWrite(addr, row, sizeof(row));
}
@@ -30,10 +32,10 @@ tabRead(const Table *tab, U8 k, U16 *key, U16 *val) {
return FAIL;
}
- addr = addU16U8(tab->offset, k*TAB_ROW_SIZE);
+ addr = tab->offset + k*TAB_ROW_SIZE;
status = eepromRead(addr, row, sizeof(row));
- *key = (U16){.lo=row[0u], .hi=row[1u]};
- *val = (U16){.lo=row[2u], .hi=row[3u]};
+ *key = ((U16)row[0u]<<0u) | ((U16)row[1u]<<8u);
+ *val = ((U16)row[2u]<<0u) | ((U16)row[3u]<<8u);
return status;
}
@@ -42,7 +44,6 @@ tabLookup(const Table *tab, U16 key, U16 *val) {
U8 k;
U16 tkey, tval1, tval2;
Status status;
- I8 ord;
// Search for key
for (k = 0u; (k < TAB_ROWS-1u); k++) {
@@ -50,17 +51,15 @@ tabLookup(const Table *tab, U16 key, U16 *val) {
if (status != OK) {
return FAIL;
}
- ord = cmpU16(key, tkey);
- if (ord == 0u) { // found exact key
+ if (key == tkey) { // found exact key
*val = tval1;
return OK;
- } else if (ord > 0u) { // interpolate
+ } else if (key > tkey) { // interpolate
status = tabRead(tab, k+1u, &tkey, &tval2);
if (status != OK) {
return FAIL;
}
- // Mean: (tval1+tval2)/2
- *val = rshiftU16(addU16(tval1, tval2), 1u);
+ *val = (tval1 + tval2) / 2u;
return OK;
} else { // less
// continue
diff --git a/fw/table.h b/fw/table.h
index 37d1a9d..cba263d 100644
--- a/fw/table.h
+++ b/fw/table.h
@@ -21,10 +21,11 @@
*/
enum {
- TAB_KEY_SIZE = 4, // U32
- TAB_VAL_SIZE = 4, // U32
+ TAB_KEY_SIZE = sizeof(U32),
+ TAB_VAL_SIZE = sizeof(U32),
TAB_ROWS = 32,
TAB_ROW_SIZE = TAB_KEY_SIZE + TAB_VAL_SIZE,
+ TAB_SIZE = TAB_ROWS * TAB_ROW_SIZE,
};
typedef struct {
diff --git a/fw/types.c b/fw/types.c
deleted file mode 100644
index 1064379..0000000
--- a/fw/types.c
+++ /dev/null
@@ -1,53 +0,0 @@
-#include <xc.h>
-
-#include <stdint.h>
-
-#include "types.h"
-
-U16
-addU16(U16 a, U16 b) {
- a.hi += b.hi;
- a.lo += b.lo;
- if (STATUSbits.C) {
- a.hi++;
- }
- return a;
-}
-
-U16
-addU16U8(U16 a, U8 b) {
- a.lo += b;
- if (STATUSbits.C) {
- a.hi++;
- }
- return a;
-}
-
-U16
-lshiftU16(U16 a, U8 b) {
- a.hi = (U8)(a.hi << b) | (a.lo >> (8u-b));
- a.lo <<= b;
- return a;
-}
-
-U16
-rshiftU16(U16 a, U8 b) {
- a.lo = (U8)((a.hi >> (8u-b)) << (8u-b)) | (U8)(a.lo >> b);
- a.hi >>= b;
- return a;
-}
-
-I8
-cmpU16(U16 a, U16 b) {
- if (a.hi > b.hi) {
- return 1;
- } else if (a.hi < b.hi) {
- return -1;
- } else if (a.lo > b.lo) {
- return 1;
- } else if (a.lo < b.lo) {
- return -1;
- } else {
- return 0;
- }
-}
diff --git a/fw/types.h b/fw/types.h
index 7532c6b..55a17f6 100644
--- a/fw/types.h
+++ b/fw/types.h
@@ -13,28 +13,27 @@ typedef enum {
} Status;
typedef uint8_t U8;
+typedef uint16_t U16;
+typedef uint32_t U32;
+
typedef int8_t I8;
+typedef int16_t I16;
+typedef int32_t I32;
+// Number
typedef struct {
- U8 hi, lo;
-} U16;
-
-// Little-endian 32-bit unsigned integer.
-typedef U8 U32[4];
-
-// a + b
-U16 addU16(U16 a, U16 b);
-
-// a + b
-U16 addU16U8(U16 a, U8 b);
-
-// a << b
-U16 lshiftU16(U16 a, U8 b);
-
-// a >> b
-U16 rshiftU16(U16 a, U8 b);
-
-// -1 if a < b
-// 0 if a == b
-// +1 if a > b
-I8 cmpU16(U16 a, U16 b);
+ enum {
+ NUM_U8,
+ NUM_U16,
+ NUM_U32,
+ NUM_I8,
+ NUM_I16,
+ NUM_I32,
+ } type;
+ U8 u8;
+ U16 u16;
+ U32 u32;
+ I8 i8;
+ I16 i16;
+ I32 i32;
+} Number;
generated by cgit v1.2.3 (git 2.25.1) at 2026-02-22 11:54:51 +0000