diff options
Diffstat (limited to 'fw')
| -rw-r--r-- | fw/main.c | 113 |
1 files changed, 25 insertions, 88 deletions
@@ -7,9 +7,11 @@ #include "system.h" #include "types.h" #include "spi.h" +#include "eeprom.h" #include "dac.h" #include "can.h" -#include "eeprom.h" +#include "signal.h" +#include "serial.h" #include "table.h" // TODO: auto baud detection @@ -57,9 +59,7 @@ static const CanId rxb1Mask = { .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. +// Calibration tables in EEPROM 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... @@ -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 signal. -// Each of these addresses holds a U32 CAN ID. -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), +// EEPROM address of encoding format structure for each signal. +// Each of these addresses point to a SigFmt structure in the EEPROM. +static const EepromAddr sigFmtAddrs[NSIGNALS] = { + [SIG_TACH] = NSIGNALS*TAB_SIZE + 0ul*SER_SIGFMT_SIZE, // tachometer + [SIG_SPEED] = NSIGNALS*TAB_SIZE + 1ul*SER_SIGFMT_SIZE, // speedometer + [SIG_AN1] = NSIGNALS*TAB_SIZE + 2ul*SER_SIGFMT_SIZE, // analog channels... + [SIG_AN2] = NSIGNALS*TAB_SIZE + 3ul*SER_SIGFMT_SIZE, + [SIG_AN3] = NSIGNALS*TAB_SIZE + 4ul*SER_SIGFMT_SIZE, + [SIG_AN4] = NSIGNALS*TAB_SIZE + 5ul*SER_SIGFMT_SIZE, }; -// CAN ID of each signal -static volatile CanId sigIds[NSIGNALS]; +// Encoding format and CAN ID of each signal +static volatile SigFmt sigFmts[NSIGNALS]; -// Load signals' CAN IDs from EEPROM +// Load signals' encoding formats and CAN IDs from EEPROM static Status -loadSigIds(void) { +loadSigFmts(void) { U8 oldGie, k; Status status; @@ -92,7 +92,7 @@ loadSigIds(void) { INTCONbits.GIE = 0; for (k = 0u; k < NSIGNALS; k++) { - status = eepromReadCanId(sigIdAddrs[k], (CanId*)&sigIds[k]); + status = serReadSigFmt(sigFmtAddrs[k], (SigFmt*)&sigFmts[k]); if (status != OK) { INTCONbits.GIE = oldGie; // restore previous interrupt setting return FAIL; @@ -116,12 +116,12 @@ main(void) { sysInit(); spiInit(); + eepromInit(); dacInit(); canInit(); - eepromInit(); - // Load signals' CAN IDs from EEPROM - status = loadSigIds(); + // Load signals' encoding formats and CAN IDs from EEPROM + status = loadSigFmts(); if (status != OK) { reset(); } @@ -160,78 +160,13 @@ handleTblCtrlFrame(const CanFrame *frame) { // of the requested signal. static Status respondIdCtrl(Signal sig) { - CanId sigId; - CanFrame response; - - // Get signal's CAN ID - if ((U8)sig < NSIGNALS) { - sigId = sigIds[sig]; - } else { - return FAIL; // invalid signal - } - - // Pack signal's ID into response's DATA FIELD - response.id = (CanId) { - .isExt = true, - .eid = 0x01272100 | (sig & 0x0F), // 127210Xh - }; - response.rtr = false; - if (sigId.isExt) { // extended - response.dlc = 4u; // U32 - 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] = (sigId.sid>>8u) & 0x07; - response.data[1u] = (sigId.sid>>0u) & 0xFF; - } - - // Transmit response - return canTx(&response); + // TODO: "ID Control" will likely have to be renamed to "Signal Control" or "Encoding Control" or similar. It will carry a SigFmt structure instead of just a CAN ID. The datafmt doc will have to be updated too. } // Set the CAN ID associated with a signal in response to an ID Control DATA FRAME. static Status setSigId(const CanFrame *frame) { - CanId sigId; - Signal sig; - Status status; - - // Extract signal ID from DATA FIELD - if (frame->dlc == 4u) { // extended - 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 - sigId.isExt = false; - sigId.sid = ((U16)frame->data[1u] << 0u) - | ((U16)frame->data[0u] << 8u); - } else { - return FAIL; // invalid DLC - } - - // Set signal's ID - sig = frame->id.eid & 0xF; - if ((U8)sig < NSIGNALS) { - // Update copy in EEPROM - status = eepromWriteCanId(sigIdAddrs[sig], &sigId); - if (status != OK) { - return FAIL; // write failed - } - // Update copy in RAM - sigIds[sig] = sigId; - } else { - return FAIL; // invalid signal - } - - // TODO: remove - respondIdCtrl(sig); // echo - - return OK; + // TODO: this will likely have to be renamed to setSigFmt or similar. See above comment on updating datafmt doc. } // Handle an ID Control Frame. @@ -240,6 +175,7 @@ static Status handleIdCtrlFrame(const CanFrame *frame) { Signal sig; + // TODO: update datafmt doc to transceive entire signal encoding format instead of just the ID. if (frame->rtr) { // REMOTE sig = frame->id.eid & 0xF; return respondIdCtrl(sig); // respond with the signal's CAN ID @@ -282,6 +218,7 @@ __interrupt() isr(void) { (void)handleTblCtrlFrame(&frame); break; case 1u: // RXF1: signal ID control + // TODO: see above TODOs on updating datafmt doc canReadRxb0(&frame); (void)handleIdCtrlFrame(&frame); break; |