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-rw-r--r--fw/main.c136
1 files changed, 68 insertions, 68 deletions
diff --git a/fw/main.c b/fw/main.c
index d679035..ee3d099 100644
--- a/fw/main.c
+++ b/fw/main.c
@@ -15,17 +15,17 @@
// TODO: auto baud detection
#define CAN_TIMING CAN_TIMING_10K
-// Parameters
+// Signals
typedef enum {
- TACH = 0,
- SPEED,
- AN1,
- AN2,
- AN3,
- AN4,
+ SIG_TACH = 0,
+ SIG_SPEED,
+ SIG_AN1,
+ SIG_AN2,
+ SIG_AN3,
+ SIG_AN4,
- NPARAM,
-} Param;
+ NSIGNALS,
+} Signal;
// Table Control filter.
// Used for writing/reading calibration tables.
@@ -35,7 +35,7 @@ static const CanId tblCtrlFilter = {
};
// ID Control filter.
-// Used for writing/reading the CAN ID associated with each parameter.
+// Used for writing/reading the CAN ID associated with each signal.
// See `doc/datafmt.ps'.
static const CanId idCtrlFilter = {
.isExt = true,
@@ -50,7 +50,7 @@ static const CanId rxb0Mask = {
};
// Receive buffer 1 mask.
-// RXB1 is used for receiving parameter values.
+// RXB1 is used for receiving signals.
// The mask is permissive: all messages are accepted and filtered in software.
static const CanId rxb1Mask = {
.isExt = true,
@@ -67,23 +67,23 @@ 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.
+// EEPROM address of CAN ID for each signal.
// Each of these addresses holds a U32 CAN ID.
-static const EepromAddr paramIdAddrs[NPARAM] = {
- [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),
+static const EepromAddr sigIdAddrs[NSIGNALS] = {
+ [SIG_TACH] = NSIGNALS*TAB_SIZE + 0ul*sizeof(U32), // tachometer
+ [SIG_SPEED] = NSIGNALS*TAB_SIZE + 1ul*sizeof(U32), // speedometer
+ [SIG_AN1] = NSIGNALS*TAB_SIZE + 2ul*sizeof(U32), // analog channels...
+ [SIG_AN2] = NSIGNALS*TAB_SIZE + 3ul*sizeof(U32),
+ [SIG_AN3] = NSIGNALS*TAB_SIZE + 4ul*sizeof(U32),
+ [SIG_AN4] = NSIGNALS*TAB_SIZE + 5ul*sizeof(U32),
};
-// CAN ID of each parameter
-static volatile CanId paramIds[NPARAM];
+// CAN ID of each signal
+static volatile CanId sigIds[NSIGNALS];
-// Load parameters' CAN IDs from EEPROM
+// Load signals' CAN IDs from EEPROM
static Status
-loadParamIds(void) {
+loadSigIds(void) {
U8 oldGie, k;
Status status;
@@ -91,8 +91,8 @@ loadParamIds(void) {
oldGie = INTCONbits.GIE;
INTCONbits.GIE = 0;
- for (k = 0u; k < NPARAM; k++) {
- status = eepromReadCanId(paramIdAddrs[k], (CanId*)&paramIds[k]);
+ for (k = 0u; k < NSIGNALS; k++) {
+ status = eepromReadCanId(sigIdAddrs[k], (CanId*)&sigIds[k]);
if (status != OK) {
INTCONbits.GIE = oldGie; // restore previous interrupt setting
return FAIL;
@@ -120,8 +120,8 @@ main(void) {
canInit();
eepromInit();
- // Load parameters' CAN IDs from EEPROM
- status = loadParamIds();
+ // Load signals' CAN IDs from EEPROM
+ status = loadSigIds();
if (status != OK) {
reset();
}
@@ -131,7 +131,7 @@ main(void) {
canSetMask0(&rxb0Mask); // RXB0 receives control messages
canSetFilter0(&tblCtrlFilter); // Table Control Frames
canSetFilter1(&idCtrlFilter); // ID Control Frames
- canSetMask1(&rxb1Mask); // RXB1 receives parameter values
+ canSetMask1(&rxb1Mask); // RXB1 receives signal values
// RXB1 messages are filtered in software
canIE(true); // enable interrupts on MCP2515's INT pin
canSetMode(CAN_MODE_NORMAL);
@@ -157,79 +157,79 @@ handleTblCtrlFrame(const CanFrame *frame) {
// Transmit the response to an ID Control REMOTE FRAME.
// The response is an ID Control DATA FRAME containing the CAN ID
-// of the requested parameter.
+// of the requested signal.
static Status
-respondIdCtrl(Param param) {
- CanId paramId;
+respondIdCtrl(Signal sig) {
+ CanId sigId;
CanFrame response;
- // Get parameter's CAN ID
- if ((U8)param < NPARAM) {
- paramId = paramIds[param];
+ // Get signal's CAN ID
+ if ((U8)sig < NSIGNALS) {
+ sigId = sigIds[sig];
} else {
- return FAIL; // invalid parameter
+ return FAIL; // invalid signal
}
- // Pack param ID into response's DATA FIELD
+ // Pack signal's ID into response's DATA FIELD
response.id = (CanId) {
.isExt = true,
- .eid = 0x01272100 | ((U32)param & 0x0F), // 127210Xh
+ .eid = 0x01272100 | (sig & 0x0F), // 127210Xh
};
response.rtr = false;
- if (paramId.isExt) { // extended
+ if (sigId.isExt) { // extended
response.dlc = 4u; // U32
- 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;
+ response.data[0u] = (sigId.eid>>24u) & 0x1F;
+ response.data[1u] = (sigId.eid>>16u) & 0xFF;
+ response.data[2u] = (sigId.eid>>8u) & 0xFF;
+ response.data[3u] = (sigId.eid>>0u) & 0xFF;
} else { // standard
response.dlc = 2u; // U16
- response.data[0u] = (paramId.sid>>8u) & 0x07;
- response.data[1u] = (paramId.sid>>0u) & 0xFF;
+ response.data[0u] = (sigId.sid>>8u) & 0x07;
+ response.data[1u] = (sigId.sid>>0u) & 0xFF;
}
// Transmit response
return canTx(&response);
}
-// Set the CAN ID associated with a parameter in response to an ID Control DATA FRAME.
+// Set the CAN ID associated with a signal in response to an ID Control DATA FRAME.
static Status
-setParamId(const CanFrame *frame) {
- CanId paramId;
- Param param;
+setSigId(const CanFrame *frame) {
+ CanId sigId;
+ Signal sig;
Status status;
- // Extract param ID from DATA FIELD
+ // Extract signal ID from DATA FIELD
if (frame->dlc == 4u) { // extended
- paramId.isExt = true;
- paramId.eid = ((U32)frame->data[3u] << 0u)
+ sigId.isExt = true;
+ sigId.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 = ((U16)frame->data[1u] << 0u)
+ sigId.isExt = false;
+ sigId.sid = ((U16)frame->data[1u] << 0u)
| ((U16)frame->data[0u] << 8u);
} else {
return FAIL; // invalid DLC
}
- // Set param's ID
- param = frame->id.eid & 0xF;
- if ((U8)param < NPARAM) {
+ // Set signal's ID
+ sig = frame->id.eid & 0xF;
+ if ((U8)sig < NSIGNALS) {
// Update copy in EEPROM
- status = eepromWriteCanId(paramIdAddrs[param], &paramId);
+ status = eepromWriteCanId(sigIdAddrs[sig], &sigId);
if (status != OK) {
return FAIL; // write failed
}
// Update copy in RAM
- paramIds[param] = paramId;
+ sigIds[sig] = sigId;
} else {
- return FAIL; // invalid parameter
+ return FAIL; // invalid signal
}
// TODO: remove
- respondIdCtrl(param); // echo
+ respondIdCtrl(sig); // echo
return OK;
}
@@ -238,13 +238,13 @@ setParamId(const CanFrame *frame) {
// See `doc/datafmt.ps'
static Status
handleIdCtrlFrame(const CanFrame *frame) {
- Param param;
+ Signal sig;
if (frame->rtr) { // REMOTE
- param = frame->id.eid & 0xF;
- return respondIdCtrl(param); // respond with the parameter's CAN ID
+ sig = frame->id.eid & 0xF;
+ return respondIdCtrl(sig); // respond with the signal's CAN ID
} else { // DATA
- return setParamId(frame);
+ return setSigId(frame);
}
}
@@ -262,9 +262,9 @@ echo(const CanFrame *frame) {
canTx(&out);
}
-// Handle a frame potentially holding a parameter value.
+// Handle a frame potentially holding a signal value.
static Status
-handleParamFrame(const CanFrame *frame) {
+handleSigFrame(const CanFrame *frame) {
// TODO
echo(frame);
}
@@ -281,13 +281,13 @@ __interrupt() isr(void) {
canReadRxb0(&frame);
(void)handleTblCtrlFrame(&frame);
break;
- case 1u: // RXF1: parameter ID control
+ case 1u: // RXF1: signal ID control
canReadRxb0(&frame);
(void)handleIdCtrlFrame(&frame);
break;
default: // message in RXB1
canReadRxb1(&frame);
- (void)handleParamFrame(&frame);
+ (void)handleSigFrame(&frame);
}
INTCONbits.INTF = 0; // clear flag
}
generated by cgit v1.2.3 (git 2.25.1) at 2026-02-22 20:20:34 +0000