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3steppers next stage

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This commit is contained in:
Edward Emelianov
2021-10-24 22:29:43 +03:00
parent 9ece1bd91e
commit 9b4bb6c02f
49 changed files with 466 additions and 107 deletions
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10
F0-nolib/3steppersLB/can.c
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@@ -308,7 +308,7 @@ static void formerr(CAN_message *msg, errcodes err){
* @brief parseCANcommand - parser
* @param msg - incoming message @ my CANID
* FORMAT:
* 0 1 2 3 4 5 6 7
* 0 1 2 3 4 5 6 7
* [CMD][PAR][errcode][VALUE]
* CMD - uint16_t, PAR - uint8_t, errcode - one of CAN_errcodes, VALUE - int32_t
* `errcode` of incoming message doesn't matter
@@ -330,14 +330,14 @@ TRUE_INLINE void parseCANcommand(CAN_message *msg){
goto sendmessage;
}
msg->data[3] = ERR_OK;
uint8_t *par = (uint8_t *)(&msg->data[2]);
if(*par & 0x80){
uint8_t par = msg->data[2];
if(par & 0x80){
formerr(msg, ERR_BADPAR);
goto sendmessage;
}
int32_t *val = (int32_t *)(&msg->data[4]);
if(msg->length == 8) *par |= 0x80;
else if(msg->length == 2) *par = CANMESG_NOPAR; // no parameter
if(msg->length == 8) par |= 0x80;
else if(msg->length == 2) par = CANMESG_NOPAR; // no parameter
else if(msg->length != 3){ // wrong length
formerr(msg, ERR_WRONGLEN);
goto sendmessage;