mirror of
https://github.com/eddyem/stm32samples.git
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88 lines
3.3 KiB
C
88 lines
3.3 KiB
C
/*
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* This file is part of the hallinear project.
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* Copyright 2024 Edward V. Emelianov <edward.emelianoff@gmail.com>.
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#pragma once
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#include <stm32f1.h>
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#include "can.h"
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// command parameter flag means this is a setter
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#define SETTER_FLAG (0x80)
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#define ISSETTER(data) ((data[2] & SETTER_FLAG))
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// parameter number 127 means there no parameter number at all (don't need paremeter or get all)
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#define NO_PARNO (0x7f)
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// base value of parameter (even if it is a setter)
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#define PARBASE(x) (x & 0x7f)
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// get parameter value of msg->data
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#define PARVAL(data) (data[2] & 0x7f)
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// make error for CAN answer
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#define FORMERR(m, err) do{m->data[3] = err; if(m->length < 4) m->length = 4;}while(0)
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#define SEND_TIMEOUT_MS (10)
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// error codes for answer message
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typedef enum{
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ERR_OK, // 0 - all OK
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ERR_BADPAR, // 1 - parameter is wrong
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ERR_BADVAL, // 2 - wrong value
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ERR_WRONGLEN, // 3 - wrong message length
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ERR_BADCMD, // 4 - unknown command
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ERR_CANTRUN, // 5 - can't run given command due to bad parameters or other
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ERR_AMOUNT // amount of error codes
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} errcodes;
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// set command bytes in CAN message
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#define MSG_SET_CMD(msg, cmd) do{*((uint16_t*)msg.data) = (cmd);}while(0)
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#define MSGP_SET_CMD(msg, cmd) do{*((uint16_t*)msg->data) = (cmd);}while(0)
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// set command parameter number
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#define MSG_SET_PARNO(msg, n) do{msg.data[2] = (n);}while(0)
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#define MSGP_SET_PARNO(msg, n) do{msg->data[2] = (n);}while(0)
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// set error
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#define MSG_SET_ERR(msg, err) do{msg.data[3] = (err);}while(0)
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#define MSGP_SET_ERR(msg, err) do{msg->data[3] = (err);}while(0)
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// set uint32_t data
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#define MSG_SET_U32(msg, d) do{*((uint32_t*)(&msg.data[4])) = (d);}while(0)
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#define MSGP_SET_U32(msg, d) do{*((uint32_t*)(&msg->data[4])) = (d);}while(0)
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// get uint32_t data
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#define MSG_GET_U32(msg) (*(uint32_t*)&msg.data[4])
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#define MSGP_GET_U32(msg) (*(uint32_t*)&msg->data[4])
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// CAN commands indexes
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enum{
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CMD_PING, // just ping
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CMD_RESET, // reset MCU
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CMD_TIME, // get Tms
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CMD_MCUTEMP, // get MCU temperature (*10)
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CMD_VDD, // get VDD
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CMD_ADC, // (raw * Mul) / Div
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CMD_ADCRAW, // get ADC raw values
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CMD_ADCV, // ADC voltage (*100)
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CMD_CANSPEED, // get/set CAN speed (kbps)
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CMD_CANID, // get/set CAN ID
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CMD_DIV, // get/set Div
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CMD_MUL, // get/set Mul
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CMD_SAVECONF, // save configuration
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CMD_ERASESTOR, // erase all flash storage
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// should be the last:
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CMD_AMOUNT // amount of CAN commands
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};
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void run_can_cmd(CAN_message *msg);
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void parseCANcommand(CAN_message *msg);
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