restructuring

F0:F030,F042,F072/usbcan_relay/canproto.c

@@ -0,0 +1,179 @@
+/*
+ * This file is part of the canrelay project.
+ * Copyright 2021 Edward V. Emelianov <edward.emelianoff@gmail.com>.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include "adc.h"
+#include "buttons.h"
+#include "canproto.h"
+#include "hardware.h"
+#include "proto.h"
+
+/*
+ * Protocol (endian format depends on command!):
+ * answer will be send to `OUTPID` CAN ID, length depends on received command
+ * IN packet (sent to `CANID`) data bytes:
+ *  0 - command (any from CAN_commands), 1..7 - data
+ * To set value command should have CAN_CMD_SETFLAG == 1
+ * OUT packet depending on command:
+ * CAN_CMD_PING (or any incoming packet with zero lenght) - zero length answer
+ * other commands have data[0] equal to in command (without CAN_CMD_SETFLAG)
+ * CAN_CMD_ADC: data[1]..data[6] - 12bits*4channels RAW ADC data (ADC channels 0..3)
+ * CAN_CMD_BTNS: data[1] = button number (0..3), data[2] - state (keyevent), data[4..7] - event time (LITTLE endian!)
+ * CAN_CMD_LED: data[1] = LEDs state (bits 0..3 for LEDs number 0..3)
+ * CAN_CMD_MCU: data[2,3] = int16_t MCUT*10, data[4,5] = uint16_t Vdd*100 (LITTLE endian!)
+ * CAN_CMD_PWM: data[1..3] = pwm value for each channel (0..2)
+ * CAN_CMD_RELAY: data[1] = (bits 0 & 1) - state of relay N]
+ * CAN_CMD_TMS: data[4..7] = Tms (LITTLE endian!)
+ */
+
+// return total message length
+TRUE_INLINE uint8_t ADCget(uint8_t values[8]){
+    uint16_t v[NUMBER_OF_ADC_CHANNELS];
+    for(int i = 0; i < NUMBER_OF_ADC_CHANNELS; ++i) v[i] = getADCval(i);
+    // if NUMBER_OF_ADC_CHANNELS != 4 - need for manual refactoring!
+    values[1] = v[0] >> 4;
+    values[2] = (v[0] << 4) | ((v[1] >> 8) & 0x0f);
+    values[3] = v[1] & 0xff;
+    values[4] = v[2] >> 4;
+    values[5] = (v[2] << 4) | ((v[3] >> 8) & 0x0f);
+    values[6] = v[3] & 0xff;
+    return 7;
+}
+
+TRUE_INLINE void BTNSget(uint8_t values[8]){
+    uint32_t T;
+    uint8_t start = 0, stop = BTNSNO;
+    if(values[1] < BTNSNO){ // check only one button
+        start = values[1]; stop = start + 1;
+    }
+    for(uint8_t i = start; i < stop; ++i){
+        values[1] = i;
+        values[2] = keystate(i, &T);
+        values[3] = 0;
+        *((uint32_t*)&values[4]) = T;
+        T = Tms;
+        while(CAN_BUSY == can_send(values, 8, OUTPID)){
+            if(Tms - T > 5) break;
+        }
+    }
+}
+
+TRUE_INLINE void LEDSset(uint8_t data[8]){
+    for(int i = 0; i < LEDSNO; ++i){
+        if(data[1] & 1<<i) LED_on(i);
+        else LED_off(i);
+    }
+}
+
+TRUE_INLINE uint8_t LEDSget(uint8_t data[8]){
+    uint8_t x = 0;
+    for(int i = 0; i < LEDSNO; ++i)
+        if(LED_chk(i)) x |= 1<<i;
+    data[1] = x;
+    return 2;
+}
+
+TRUE_INLINE uint8_t MCUget(uint8_t data[8]){
+    *((int16_t*)&data[2]) = (int16_t)getMCUtemp();
+    *((uint16_t*)&data[4]) = (int16_t)getVdd();
+    return 6;
+}
+
+TRUE_INLINE void PWMset(uint8_t data[8]){
+    volatile uint32_t *reg = &TIM1->CCR1;
+    for(int i = 0; i < 3; ++i)
+        reg[i] = data[i+1];
+}
+
+TRUE_INLINE uint8_t PWMget(uint8_t data[8]){
+    volatile uint32_t *reg = &TIM1->CCR1;
+    for(int i = 0; i < 3; ++i)
+        data[i+1] = reg[i];
+    return 4;
+}
+
+TRUE_INLINE void Rset(uint8_t data[8]){
+    for(int i = 0; i < RelaysNO; ++i){
+        if(data[1] & 1<<i) Relay_ON(i);
+        else Relay_OFF(i);
+    }
+}
+
+TRUE_INLINE uint8_t Rget(uint8_t data[8]){
+    uint8_t x = 0;
+    for(int i = 0; i < RelaysNO; ++i){
+        if(Relay_chk(i)) x |= 1<<i;
+    }
+    data[1] = x;
+    return 2;
+}
+
+TRUE_INLINE uint8_t showTms(uint8_t data[8]){
+    *((uint32_t*)&data[4]) = Tms;
+    return 8;
+}
+
+void parseCANcommand(CAN_message *msg){
+    uint8_t outpdata[8], len = 0;
+#ifdef EBUG
+    SEND("Get data: ");
+    for(int i = 0; i < msg->length; ++i){
+        printuhex(msg->data[i]); bufputchar(' ');
+    }
+    NL();
+#endif
+    int N = 1000;
+    uint8_t cmd = msg->data[0] & CANCMDMASK, setter = msg->data[0] & CAN_CMD_SETFLAG;
+    if(msg->length == 0 || cmd == CAN_CMD_PING){ // no commands or ping cmd -> return empty message (ping)
+        goto sendans;
+    }
+    outpdata[0] = cmd;
+    switch(cmd){
+        case CAN_CMD_ADC:
+            len = ADCget(outpdata);
+        break;
+        case CAN_CMD_BTNS:
+            if(msg->length == 2) outpdata[1] = msg->data[1]; // check only one button
+            else outpdata[1] = BTNSNO;
+            BTNSget(outpdata);
+            return;
+        break;
+        case CAN_CMD_LED:
+            if(setter && msg->length > 1) LEDSset(msg->data);
+            len = LEDSget(outpdata);
+        break;
+        case CAN_CMD_MCU:
+            len = MCUget(outpdata);
+        break;
+        case CAN_CMD_PWM:
+            if(setter && msg->length > 3) PWMset(msg->data);
+            len = PWMget(outpdata);
+        break;
+        case CAN_CMD_RELAY:
+            if(setter && msg->length > 1) Rset(msg->data);
+            len = Rget(outpdata);
+        break;
+        case CAN_CMD_TMS:
+            len = showTms(outpdata);
+        break;
+        default: // wrong command ->
+            outpdata[0] = CAN_CMD_ERRCMD;
+            len = 1;
+    }
+sendans:
+    while(CAN_BUSY == can_send(outpdata, len, OUTPID)) if(--N == 0) break;
+}