fixed PCB, add pre-alpha code

F1:F103/Hall_linear/canproto.h

@@ -0,0 +1,87 @@
+/*
+ * This file is part of the hallinear 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        (0x7f)
+// base value of parameter (even if it is a setter)
+#define PARBASE(x)      (x & 0x7f)
+// get parameter value of msg->data
+#define PARVAL(data)    (data[2] & 0x7f)
+
+// make error for CAN answer
+#define FORMERR(m, err) do{m->data[3] = err; if(m->length < 4) m->length = 4;}while(0)
+
+#define SEND_TIMEOUT_MS (10)
+
+// error codes for answer message
+typedef enum{
+    ERR_OK,         // 0 - all OK
+    ERR_BADPAR,     // 1 - parameter is wrong
+    ERR_BADVAL,     // 2 - wrong 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;
+
+// set command bytes in CAN message
+#define MSG_SET_CMD(msg, cmd)       do{*((uint16_t*)msg.data) = (cmd);}while(0)
+#define MSGP_SET_CMD(msg, cmd)      do{*((uint16_t*)msg->data) = (cmd);}while(0)
+// set command parameter number
+#define MSG_SET_PARNO(msg, n)       do{msg.data[2] = (n);}while(0)
+#define MSGP_SET_PARNO(msg, n)      do{msg->data[2] = (n);}while(0)
+// set error
+#define MSG_SET_ERR(msg, err)       do{msg.data[3] = (err);}while(0)
+#define MSGP_SET_ERR(msg, err)      do{msg->data[3] = (err);}while(0)
+// set uint32_t data
+#define MSG_SET_U32(msg, d)         do{*((uint32_t*)(&msg.data[4])) = (d);}while(0)
+#define MSGP_SET_U32(msg, d)        do{*((uint32_t*)(&msg->data[4])) = (d);}while(0)
+// get uint32_t data
+#define MSG_GET_U32(msg)            (*(uint32_t*)&msg.data[4])
+#define MSGP_GET_U32(msg)           (*(uint32_t*)&msg->data[4])
+
+// CAN commands indexes
+enum{
+    CMD_PING,       // just ping
+    CMD_RESET,      // reset MCU
+    CMD_TIME,       // get Tms
+    CMD_MCUTEMP,    // get MCU temperature (*10)
+    CMD_VDD,        // get VDD
+    CMD_ADC,        // (raw * Mul) / Div
+    CMD_ADCRAW,     // get ADC raw values
+    CMD_ADCV,       // ADC voltage (*100)
+    CMD_CANSPEED,   // get/set CAN speed (kbps)
+    CMD_CANID,      // get/set CAN ID
+    CMD_DIV,        // get/set Div
+    CMD_MUL,        // get/set Mul
+    CMD_SAVECONF,   // save configuration
+    CMD_ERASESTOR,  // erase all flash storage
+    // should be the last:
+    CMD_AMOUNT     // amount of CAN commands
+};
+
+void run_can_cmd(CAN_message *msg);
+void parseCANcommand(CAN_message *msg);