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add "incremental flooding" to CAN-USB based on STM32F0x2

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This commit is contained in:
Edward Emelianov
2023-01-31 20:09:57 +03:00
parent 17eec9bf6f
commit fecadc71f7
5 changed files with 23 additions and 11 deletions
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13
F0:F030,F042,F072/usbcan_ringbuffer/can.c
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@@ -26,7 +26,8 @@ static CAN_message messages[CAN_INMESSAGE_SIZE];
static uint8_t first_free_idx = 0; // index of first empty cell
static int8_t first_nonfree_idx = -1; // index of first data cell
static uint16_t oldspeed = 100; // speed of last init
uint32_t floodT = FLOOD_PERIOD_MS-1; // flood period in ms
uint32_t floodT = FLOOD_PERIOD_MS; // flood period in ms
static uint8_t incrflood = 0; // ==1 for incremental flooding
static uint32_t last_err_code = 0;
static CAN_status can_status = CAN_STOP;
@@ -227,9 +228,13 @@ void can_proc(){
CAN_setup(0);
}
static uint32_t lastFloodTime = 0;
if(flood_msg && (Tms - lastFloodTime) > (floodT)){ // flood every ~5ms
static uint32_t incrmessagectr = 0;
if(flood_msg && (Tms - lastFloodTime) >= (floodT)){ // send message every floodT ms
lastFloodTime = Tms;
can_send(flood_msg->data, flood_msg->length, flood_msg->ID);
}else if(incrflood && (Tms - lastFloodTime) >= floodT){ // incremental flood message
lastFloodTime = Tms;
if(CAN_OK == can_send((uint8_t*)&incrmessagectr, 4, flood_msg->ID)) ++incrmessagectr;
}
}
@@ -287,7 +292,9 @@ CAN_status can_send(uint8_t *msg, uint8_t len, uint16_t target_id){
return CAN_OK;
}
void set_flood(CAN_message *msg){
void set_flood(CAN_message *msg, int incr){
if(incr){ incrflood = 1; return; }
incrflood = 0;
if(!msg) flood_msg = NULL;
else{
#ifdef EBUG