FX3U: test CAN bus communications

F1:F103/FX3U/canproto.h

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+/*
+ * This file is part of the fx3u project.
+ * Copyright 2024 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/>.
+ */
+
+#pragma once
+
+#include <stm32f1.h>
+#include "can.h"
+
+// command parameter flag means this is a setter
+#define SETTER_FLAG     (0x80)
+#define ISSETTER(data)  ((data[2] & SETTER_FLAG))
+// parameter number 127 means there no parameter number at all (don't need paremeter or get all)
+#define NO_PARNO        (0x1f)
+// base value of parameter (even if it is a setter)
+#define PARBASE(x)      (x & 0x7f)
+
+// make error for CAN answer
+#define FORMERR(m, err) do{m->data[3] = err; if(m->length < 4) m->length = 4;}while(0)
+
+// error codes for answer message
+typedef enum{
+    ERR_OK,         // 0 - all OK
+    ERR_BADPAR,     // 1 - parameter's value is wrong
+    ERR_BADVAL,     // 2 - wrong parameter's value
+    ERR_WRONGLEN,   // 3 - wrong message length
+    ERR_BADCMD,     // 4 - unknown command
+    ERR_CANTRUN,    // 5 - can't run given command due to bad parameters or other
+    ERR_AMOUNT      // amount of error codes
+} errcodes;
+
+// CAN commands indexes
+enum{
+    CMD_RESET,      // 0 - reset MCU
+    CMD_TIME,       // 1 - get/set Tms
+    CMD_MCUTEMP,    // 2 - get MCU temperature (*10)
+    CMD_ADCRAW,     // 3 - get ADC raw values
+    CMD_ADCV,       // 4 - get ADC voltage (*100)
+    CMD_CANSPEED,   // 5 - get/set CAN speed (kbps)
+    CMD_CANID,      // 6 - get/set CAN ID
+    CMD_ADCMUL,     // 7 - get/set ADC multipliers 0..4
+    CMD_SAVECONF,   // 8 - save configuration
+    CMD_ERASESTOR,  // 9 - erase all flash storage
+    CMD_RELAY,      // 10 - switch relay ON/OFF
+    CMD_GETESW_BLK, // 11 - blocking read of ESW
+    CMD_GETESW,     // 12 - current ESW state, bounce-free
+    CMD_BOUNCE,     // 13 - get/set bounce constant (ms)
+    CMD_USARTSPEED, // 14 - get/set USART1 speed (if encoder on RS-422)
+    CMD_ENCISSSI,   // 15 - encoder is SSI (1) or RS-422 (0)
+    CMD_SPIINIT,    // 16 - init SPI2
+    CMD_SPISEND,    // 17 - send 1..4 bytes over SPI
+    CMD_ENCGET,     // 18 - get encoder value
+    CMD_EMULPEP,    // 19 - emulate (1) / not (0) PEP
+    CMD_ENCREINIT,  // 20 - reinit encoder
+    CMD_TIMESTAMP,  // 21 - 2mks 24-bit timestamp
+    CMD_SPIDEINIT,  // 22 - turn off SPI2
+    // should be the last:
+    CMD_AMOUNT     // amount of CAN commands
+};
+
+void run_can_cmd(CAN_message *msg);