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add spi, not tested yet

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This commit is contained in:
Edward Emelianov
2024-03-07 19:40:21 +03:00
parent 4a6086a182
commit 8ea835d80f
17 changed files with 433 additions and 49 deletions
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77
F3:F303/CANbus4BTA/commonfunctions.c
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@@ -19,9 +19,11 @@
#include "adc.h"
#include "can.h"
#include "commonfunctions.h"
#include "encoder.h"
#include "flash.h"
#include "gpio.h"
#include "proto.h"
#include "spi.h"
#include "usb.h"
#define FIXDL(m) do{m->length = 8;}while(0)
@@ -64,16 +66,6 @@ static errcodes adcv(CAN_message *msg){
*(uint32_t*)&msg->data[4] = (uint32_t) v; // or float??
return ERR_OK;
}
// get/set CAN speed
static errcodes canspeed(CAN_message *msg){
if(ISSETTER(msg->data)){
uint32_t spd = *(uint32_t*)&msg->data[4];
CAN_reinit(spd);
the_conf.CANspeed = CAN_speed();
}else FIXDL(msg);
*(uint32_t*)&msg->data[4] = CAN_speed();
return ERR_OK;
}
// get/set CAN ID
static errcodes canid(CAN_message *msg){
if(ISSETTER(msg->data)){
@@ -128,12 +120,56 @@ static errcodes esw(CAN_message *msg){
*(uint32_t*)&msg->data[4] = getESW(no);
return ERR_OK;
}
// bounce constant, ms
static errcodes bounce(CAN_message *msg){
// init SPI2
static errcodes initspi2(CAN_message _U_ *msg){
spi_setup(2);
return ERR_OK;
}
// send/read 1..4 bytes
static errcodes sendspi2(CAN_message *msg){
int n = msg->length - 4;
if(n < 1) return ERR_BADVAL;
if(spi_writeread(2, msg->data + 4, n)) return ERR_OK;
return ERR_CANTRUN;
}
// read encoder value and send over CAN
static errcodes encget(CAN_message *msg){
FIXDL(msg);
if(read_encoder(msg->data + 4)) return ERR_OK;
return ERR_CANTRUN;
}
// common uint32_t setter/getter
static errcodes u32setget(CAN_message *msg){
uint16_t idx = *(uint16_t*)msg->data;
uint32_t *ptr = NULL;
switch(idx){
case CMD_CANSPEED: ptr = &the_conf.CANspeed; break;
case CMD_BOUNCE: ptr = &the_conf.bounce_ms; break;
case CMD_USARTSPEED: ptr = &the_conf.usartspeed; break;
default: break;
}
if(!ptr) return ERR_CANTRUN; // unknown error
if(ISSETTER(msg->data)){
the_conf.bounce_ms = *(uint32_t*)&msg->data[4];
*ptr = *(uint32_t*)&msg->data[4];
}else FIXDL(msg);
*(uint32_t*)&msg->data[4] = the_conf.bounce_ms;
*(uint32_t*)&msg->data[4] = *ptr;
return ERR_OK;
}
// common bitflag setter/getter
static errcodes flagsetget(CAN_message *msg){
uint16_t idx = *(uint16_t*)msg->data;
uint8_t bit = 32;
switch(idx){
case CMD_ENCISSSI: bit = FLAGBIT(ENC_IS_SSI); break;
default: break;
}
if(bit > 31) return ERR_CANTRUN; // unknown error
if(ISSETTER(msg->data)){
if(msg->data[4]) the_conf.flags |= 1<<bit;
else the_conf.flags &= ~(1<<bit);
}else FIXDL(msg);
*(uint32_t*)&msg->data[4] = (the_conf.flags & (1<<bit)) ? 1 : 0;
return ERR_OK;
}
/************ END of all common functions list (for `funclist`) ************/
@@ -143,7 +179,7 @@ typedef struct{
errcodes (*fn)(CAN_message *msg); // function to run with can packet `msg`
int32_t minval; // minimal/maximal values of *(int32_t*)(&data[4]) - if minval != maxval
int32_t maxval;
uint8_t datalen; // nominal data length
uint8_t datalen; // minimal data length (full CAN packet, bytes)
} commonfunction;
// list of common (CAN/USB) functions
@@ -154,7 +190,7 @@ static const commonfunction funclist[CMD_AMOUNT] = {
[CMD_MCUTEMP] = {mcut, 0, 0, 0},
[CMD_ADCRAW] = {adcraw, 0, 0, 3}, // need parno: 0..4
[CMD_ADCV] = {adcv, 0, 0, 3}, // need parno: 0..3
[CMD_CANSPEED] = {canspeed, CAN_MIN_SPEED, CAN_MAX_SPEED, 0},
[CMD_CANSPEED] = {u32setget, CAN_MIN_SPEED, CAN_MAX_SPEED, 0},
[CMD_CANID] = {canid, 1, 0x7ff, 0},
[CMD_ADCMUL] = {adcmul, 0, 0, 3}, // at least parno
[CMD_SAVECONF] = {saveconf, 0, 0, 0},
@@ -162,7 +198,12 @@ static const commonfunction funclist[CMD_AMOUNT] = {
[CMD_RELAY] = {relay, 0, 1, 0},
[CMD_GETESW_BLK] = {eswblk, 0, 0, 3},
[CMD_GETESW] = {esw, 0, 0, 3},
[CMD_BOUNCE] = {bounce, 0, 300, 0},
[CMD_BOUNCE] = {u32setget, 0, 300, 0},
[CMD_USARTSPEED] = {u32setget, 1200, 3000000, 0},
[CMD_ENCISSSI] = {flagsetget, 0, 0, 0},
[CMD_SPIINIT] = {initspi2, 0, 0, 0},
[CMD_SPISEND] = {sendspi2, 0, 0, 5},
[CMD_ENCGET] = {encget, 0, 0, 0},
};
@@ -196,7 +237,7 @@ void run_can_cmd(CAN_message *msg){
if(idx >= CMD_AMOUNT || funclist[idx].fn == NULL){ // bad command index
FORMERR(msg, ERR_BADCMD); return;
}
// check minimal length (2 or 3)
// check minimal length
if(funclist[idx].datalen > datalen){
FORMERR(msg, ERR_WRONGLEN); return;
}