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-rw-r--r--fw/main.c36
-rw-r--r--fw/serial.c46
-rw-r--r--fw/serial.h18
-rw-r--r--fw/table.c16
-rw-r--r--fw/table.h4
5 files changed, 69 insertions, 51 deletions
diff --git a/fw/main.c b/fw/main.c
index 2452d78..b7b1efd 100644
--- a/fw/main.c
+++ b/fw/main.c
@@ -202,23 +202,15 @@ handleTblCtrlFrame(const CanFrame *frame) {
.eid = TAB_CTRL_CAN_ID | ((tab << 5u) & 0xE0) | (row & 0x1F)};
response.rtr = false;
response.dlc = 6u;
- response.data[0u] = (key >> 24u) & 0xFF;
- response.data[1u] = (key >> 16u) & 0xFF;
- response.data[2u] = (key >> 8u) & 0xFF;
- response.data[3u] = (key >> 0u) & 0xFF;
- response.data[4u] = (val >> 8u) & 0xFF;
- response.data[5u] = (val >> 0u) & 0xFF;
+ serU32Be(response.data, key);
+ serU16Be(response.data+4u, val);
return canTx(&response);
} else { // DATA
if (frame->dlc != 6u) {
return ERR;
}
- key = ((U32)frame->data[0u] << 24u)
- | ((U32)frame->data[1u] << 16u)
- | ((U32)frame->data[2u] << 8u)
- | ((U32)frame->data[3u] << 0u);
- val = ((U16)frame->data[4u] << 8u)
- | ((U16)frame->data[5u] << 0u);
+ key = deserU32Be(frame->data);
+ val = deserU16Be(frame->data+4u);
return tabWrite(&tbls[tab], row, key, val);
}
}
@@ -245,15 +237,11 @@ respondSigCtrl(Signal sig) {
// SigId
if (sigFmt->id.isExt) { // extended
- response.data[0u] = 0x80 | ((sigFmt->id.eid >> 24u) & 0x1F); // EXIDE=1
- response.data[1u] = (sigFmt->id.eid >> 16u) & 0xFF;
- response.data[2u] = (sigFmt->id.eid >> 8u) & 0xFF;
- response.data[3u] = (sigFmt->id.eid >> 0u) & 0xFF;
+ serU32Be(response.data, sigFmt->id.eid & 0x1FFFFFFF);
+ response.data[0u] |= 0x80; // EXIDE=1
+
} else { // standard
- response.data[0u] = 0u; // EXIDE=0
- response.data[1u] = 0u;
- response.data[2u] = (sigFmt->id.sid >> 8u) & 0x07;
- response.data[3u] = (sigFmt->id.sid >> 0u) & 0xFF;
+ serU32Be(response.data, sigFmt->id.sid & 0x7FF);
}
// Encoding
@@ -288,15 +276,11 @@ setSigFmt(const CanFrame *frame) {
if (frame->data[0u] & 0x80) { // EXIDE
// Extended
sigFmt.id.isExt = true;
- sigFmt.id.eid = (((U32)frame->data[0u] & 0x1F) << 24u)
- | ((U32)frame->data[1u] << 16u)
- | ((U32)frame->data[2u] << 8u)
- | ((U32)frame->data[3u] << 0u);
+ sigFmt.id.eid = deserU32Be(frame->data) & 0x1FFFFFFF;
} else {
// Standard
sigFmt.id.isExt = false;
- sigFmt.id.sid = (((U16)frame->data[2u] & 0x07) << 8u)
- | ((U16)frame->data[3u] << 0u);
+ sigFmt.id.sid = deserU16Be(frame->data+2u) & 0x7FF;
}
// Unpack Encoding
diff --git a/fw/serial.c b/fw/serial.c
index d0fc762..fd60bcd 100644
--- a/fw/serial.c
+++ b/fw/serial.c
@@ -8,22 +8,44 @@
#include "serial.h"
+void
+serU16Be(U8 buf[2u], U16 n) {
+ buf[0u] = (n >> 8u) & 0xFF;
+ buf[1u] = (n >> 0u) & 0xFF;
+}
+
+U16
+deserU16Be(const U8 buf[2u]) {
+ return ((U16)buf[0u] << 8u)
+ | ((U16)buf[1u] << 0u);
+}
+
+void
+serU32Be(U8 buf[4u], U32 n) {
+ buf[0u] = (n >> 24u) & 0xFF;
+ buf[1u] = (n >> 16u) & 0xFF;
+ buf[2u] = (n >> 8u) & 0xFF;
+ buf[3u] = (n >> 0u) & 0xFF;
+}
+
+U32
+deserU32Be(const U8 buf[4u]) {
+ return ((U32)buf[0u] << 24u)
+ | ((U32)buf[1u] << 16u)
+ | ((U32)buf[2u] << 8u)
+ | ((U32)buf[3u] << 0u);
+}
+
Status
serWriteCanId(U16 addr, const CanId *id) {
U8 buf[4u];
// Copy ID to buffer
if (id->isExt) { // extended
- buf[0u] = (id->eid>>0u) & 0xFF;
- buf[1u] = (id->eid>>8u) & 0xFF;
- buf[2u] = (id->eid>>16u) & 0xFF;
- buf[3u] = (id->eid>>24u) & 0x1F;
+ serU32Be(buf, id->eid & 0x1FFFFFFF);
buf[3u] |= 0x80; // set EID flag in bit 31
} else { // standard
- buf[0u] = (id->sid>>0u) & 0xFF;
- buf[1u] = (id->sid>>8u) & 0x07;
- buf[2u] = 0u;
- buf[3u] = 0u; // clear EID flag in bit 31
+ serU32Be(buf, id->sid & 0x7FF);
}
return eepromWrite(addr, buf, sizeof(buf));
@@ -43,14 +65,10 @@ serReadCanId(U16 addr, CanId *id) {
// Unpack
if (buf[3u] & 0x80) { // bit 31 is standard/extended flag
id->isExt = true; // extended
- id->eid = ((U32)buf[0u] << 0u)
- | ((U32)buf[1u] << 8u)
- | ((U32)buf[2u] << 16u)
- | (((U32)buf[3u] & 0x1F) << 24u);
+ id->eid = deserU32Be(buf) & 0x1FFFFFFF;
} else {
id->isExt = false; // standard
- id->sid = ((U16)buf[0u] << 0u)
- | (((U16)buf[1u] & 0x07) << 8u);
+ id->sid = deserU32Be(buf) & 0x7FF;
}
return OK;
diff --git a/fw/serial.h b/fw/serial.h
index b071038..093b40c 100644
--- a/fw/serial.h
+++ b/fw/serial.h
@@ -20,19 +20,31 @@ enum {
SER_SIGFMT_SIZE = 8,
};
+// Serialize a U16 into a big-endian array of bytes.
+void serU16Be(U8 buf[2u], U16 n);
+
+// Deserialize a big-endian array of bytes into a U16.
+U16 deserU16Be(const U8 buf[2u]);
+
+// Serialize a U32 into a big-endian array of bytes.
+void serU32Be(U8 buf[4u], U32 n);
+
+// Deserialize a big-endian array of bytes into a U32.
+U32 deserU32Be(const U8 buf[4u]);
+
// Write a CAN ID to the EEPROM.
-// CAN IDs are stored in the lower 11 or 29 bits of a little-endian U32.
+// CAN IDs are stored in the lower 11 or 29 bits of a big-endian U32.
// Bit 31 indicates standard/extended: 0=>std, 1=>ext.
Status serWriteCanId(EepromAddr addr, const CanId *id);
// Read a CAN ID from the EEPROM.
-// CAN IDs are stored in the lower 11 or 29 bits of a little-endian U32.
+// CAN IDs are stored in the lower 11 or 29 bits of a big-endian U32.
// Bit 31 indicates standard/extended: 0=>std, 1=>ext.
Status serReadCanId(EepromAddr addr, CanId *id);
// Write a SigFmt to the EEPROM.
// SigFmts use 8 bytes of space.
-// The ID is stored little-endian in the first 4 bytes: 0--3.
+// The ID is stored in the first 4 bytes: 0--3.
// Start and Size occupy bytes 4 and 5.
// The Byte-order and Signedness flags are bits 7 and 6 of byte 6, respectively.
// Byte order: [6][7] = {0=>LE, 1=>BE}.
diff --git a/fw/table.c b/fw/table.c
index 47a3ab9..c78d5e8 100644
--- a/fw/table.c
+++ b/fw/table.c
@@ -4,19 +4,23 @@
#include "types.h"
#include "can.h"
#include "eeprom.h"
+#include "signal.h"
+#include "serial.h"
#include "table.h"
Status
tabWrite(const Table *tab, U8 k, U32 key, U16 val) {
+ U16 addr;
+ U8 row[sizeof(key) + sizeof(val)];
+
if (k >= TAB_ROWS) {
return FAIL;
}
- U16 addr = tab->offset + k*TAB_ROW_SIZE;
- U8 row[sizeof(key) + sizeof(val)] = {
- (key>>0u)&0xFF, (key>>8u)&0xFF, (key>>16u)&0xFF, (key>>24u)&0xFF, // LE
- (val>>0u)&0xFF, (val>>8u)&0xFF}; // LE
+ addr = tab->offset + k*TAB_ROW_SIZE;
+ serU32Be(row, key);
+ serU16Be(row+sizeof(key), val);
return eepromWrite(addr, row, sizeof(row));
}
@@ -32,8 +36,8 @@ tabRead(const Table *tab, U8 k, U32 *key, U16 *val) {
addr = tab->offset + k*TAB_ROW_SIZE;
status = eepromRead(addr, row, sizeof(row));
- *key = ((U32)row[0u]<<0u) | ((U32)row[1u]<<8u) | ((U32)row[2u]<<16u) | ((U32)row[3u]<<24u); // LE
- *val = ((U16)row[4u]<<0u) | ((U16)row[5u]<<8u); // LE
+ *key = deserU32Be(row);
+ *val = deserU16Be(row+sizeof(U32));
return status;
}
diff --git a/fw/table.h b/fw/table.h
index da9baa0..c1cc03d 100644
--- a/fw/table.h
+++ b/fw/table.h
@@ -9,9 +9,9 @@
*
* Values are unsigned 16-bit integers.
*
- * Numbers are stored little-endian.
+ * Numbers are stored big-endian.
*
- * See also: doc/datafmt.pdf
+ * See also: `doc/datafmt.pdf'
*
* Device: PIC16F1459
* Compiler: XC8 v3.00
generated by cgit v1.2.3 (git 2.25.1) at 2026-02-22 12:18:55 +0000