car chassis
Dependencies: Servo mbed-rtos mbed
net.hpp@0:ce6055872f4e, 2015-08-02 (annotated)
- Committer:
- mariob
- Date:
- Sun Aug 02 12:55:33 2015 +0000
- Revision:
- 0:ce6055872f4e
first commit: new car ECU
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
mariob | 0:ce6055872f4e | 1 | #ifndef __NET_H__ |
mariob | 0:ce6055872f4e | 2 | #define __NET_H__ |
mariob | 0:ce6055872f4e | 3 | |
mariob | 0:ce6055872f4e | 4 | #include "common_types.h" |
mariob | 0:ce6055872f4e | 5 | |
mariob | 0:ce6055872f4e | 6 | #define CAN_FLAG_EMPTY 0x00 |
mariob | 0:ce6055872f4e | 7 | #define CAN_FLAG_RECEIVED 0x01 |
mariob | 0:ce6055872f4e | 8 | #define CAN_FLAG_SEND 0x02 |
mariob | 0:ce6055872f4e | 9 | |
mariob | 0:ce6055872f4e | 10 | #define CAN_THREAD_PERIOD 100 //ms |
mariob | 0:ce6055872f4e | 11 | |
mariob | 0:ce6055872f4e | 12 | /************************************************** |
mariob | 0:ce6055872f4e | 13 | * GLOBAL DEFINES |
mariob | 0:ce6055872f4e | 14 | **************************************************/ |
mariob | 0:ce6055872f4e | 15 | #define CAN_CMD_BODY_ID 0xAA |
mariob | 0:ce6055872f4e | 16 | #define CAN_STS_BODY_ID 0xAB |
mariob | 0:ce6055872f4e | 17 | #define CAN_CMD_ENGINE_ID 0x0A |
mariob | 0:ce6055872f4e | 18 | #define CAN_CMD_TIME_ID 0xBB |
mariob | 0:ce6055872f4e | 19 | #define CAN_CMD_DRIVER_ID 0x11 |
mariob | 0:ce6055872f4e | 20 | #define CAN_STS_DRIVER_ID 0x10 |
mariob | 0:ce6055872f4e | 21 | |
mariob | 0:ce6055872f4e | 22 | #define PERIOD_3s (3000/CAN_THREAD_PERIOD) |
mariob | 0:ce6055872f4e | 23 | #define PERIOD_1s (1000/CAN_THREAD_PERIOD) |
mariob | 0:ce6055872f4e | 24 | #define PERIOD_500ms (500/CAN_THREAD_PERIOD) |
mariob | 0:ce6055872f4e | 25 | #define PERIOD_400ms (400/CAN_THREAD_PERIOD) |
mariob | 0:ce6055872f4e | 26 | #define PERIOD_300ms (300/CAN_THREAD_PERIOD) |
mariob | 0:ce6055872f4e | 27 | #define PERIOD_200ms (200/CAN_THREAD_PERIOD) |
mariob | 0:ce6055872f4e | 28 | #define PERIOD_100ms (100/CAN_THREAD_PERIOD) |
mariob | 0:ce6055872f4e | 29 | |
mariob | 0:ce6055872f4e | 30 | #define CAN_STS_BODY_PERIOD PERIOD_1s |
mariob | 0:ce6055872f4e | 31 | |
mariob | 0:ce6055872f4e | 32 | |
mariob | 0:ce6055872f4e | 33 | |
mariob | 0:ce6055872f4e | 34 | #define CAN_MISSING_DETECTION PERIOD_3s |
mariob | 0:ce6055872f4e | 35 | |
mariob | 0:ce6055872f4e | 36 | #define CAN_MISSING_BODY_ID 0 |
mariob | 0:ce6055872f4e | 37 | #define CAN_MISSING_ENGINE_ID 1 |
mariob | 0:ce6055872f4e | 38 | #define CAN_MISSING_TIME_ID 2 |
mariob | 0:ce6055872f4e | 39 | |
mariob | 0:ce6055872f4e | 40 | #define CAN_RX_PERIODIC_MSG 3 |
mariob | 0:ce6055872f4e | 41 | |
mariob | 0:ce6055872f4e | 42 | /************************************************** |
mariob | 0:ce6055872f4e | 43 | * GLOBAL TYPES |
mariob | 0:ce6055872f4e | 44 | **************************************************/ |
mariob | 0:ce6055872f4e | 45 | #define CAN_CMD_PAYLOAD_BODY 4 |
mariob | 0:ce6055872f4e | 46 | #define CAN_STS_PAYLOAD_BODY 8 |
mariob | 0:ce6055872f4e | 47 | #define CAN_CMD_PAYLOAD_ENGINE 4 |
mariob | 0:ce6055872f4e | 48 | #define CAN_CMD_PAYLOAD_TIME 4 |
mariob | 0:ce6055872f4e | 49 | #define CAN_CMD_PAYLOAD_DRIVER 8 |
mariob | 0:ce6055872f4e | 50 | #define CAN_STS_PAYLOAD_DRIVER 4 |
mariob | 0:ce6055872f4e | 51 | |
mariob | 0:ce6055872f4e | 52 | typedef union can_cmd_body_payload_s { |
mariob | 0:ce6055872f4e | 53 | uint8 buf[CAN_CMD_PAYLOAD_BODY]; |
mariob | 0:ce6055872f4e | 54 | struct { |
mariob | 0:ce6055872f4e | 55 | uint32 light_r:1; |
mariob | 0:ce6055872f4e | 56 | uint32 light_c:1; |
mariob | 0:ce6055872f4e | 57 | uint32 light_l:1; |
mariob | 0:ce6055872f4e | 58 | uint32 unused:29; |
mariob | 0:ce6055872f4e | 59 | } msg; |
mariob | 0:ce6055872f4e | 60 | } can_cmd_body_payload_t; |
mariob | 0:ce6055872f4e | 61 | typedef struct can_cmd_body_s { |
mariob | 0:ce6055872f4e | 62 | can_cmd_body_payload_t payload; |
mariob | 0:ce6055872f4e | 63 | uint8 flag; |
mariob | 0:ce6055872f4e | 64 | } can_cmd_body_t; |
mariob | 0:ce6055872f4e | 65 | |
mariob | 0:ce6055872f4e | 66 | typedef union can_sts_body_payload_s { |
mariob | 0:ce6055872f4e | 67 | uint8 buf[CAN_STS_PAYLOAD_BODY]; |
mariob | 0:ce6055872f4e | 68 | struct { |
mariob | 0:ce6055872f4e | 69 | uint32 hit_front:1; |
mariob | 0:ce6055872f4e | 70 | uint32 hit_rear:1; |
mariob | 0:ce6055872f4e | 71 | uint32 hit_left:1; |
mariob | 0:ce6055872f4e | 72 | uint32 hit_right:1; |
mariob | 0:ce6055872f4e | 73 | uint32 light_sens:1; |
mariob | 0:ce6055872f4e | 74 | uint32 unused:3; |
mariob | 0:ce6055872f4e | 75 | uint32 eye_back_l:8; |
mariob | 0:ce6055872f4e | 76 | uint32 eye_back_r:8; |
mariob | 0:ce6055872f4e | 77 | uint32 eye_front:16; |
mariob | 0:ce6055872f4e | 78 | } msg; |
mariob | 0:ce6055872f4e | 79 | } can_sts_body_payload_t; |
mariob | 0:ce6055872f4e | 80 | typedef struct can_sts_body_s { |
mariob | 0:ce6055872f4e | 81 | can_sts_body_payload_t payload; |
mariob | 0:ce6055872f4e | 82 | uint8 flag; |
mariob | 0:ce6055872f4e | 83 | } can_sts_body_t; |
mariob | 0:ce6055872f4e | 84 | |
mariob | 0:ce6055872f4e | 85 | typedef union can_cmd_engine_payload_s { |
mariob | 0:ce6055872f4e | 86 | uint8 buf[CAN_CMD_PAYLOAD_BODY]; |
mariob | 0:ce6055872f4e | 87 | struct { |
mariob | 0:ce6055872f4e | 88 | uint32 steering:8; |
mariob | 0:ce6055872f4e | 89 | uint32 power:8; |
mariob | 0:ce6055872f4e | 90 | uint32 direction:1; |
mariob | 0:ce6055872f4e | 91 | uint32 breaking:1; |
mariob | 0:ce6055872f4e | 92 | uint32 unused:14; |
mariob | 0:ce6055872f4e | 93 | } msg; |
mariob | 0:ce6055872f4e | 94 | } can_cmd_engine_payload_t; |
mariob | 0:ce6055872f4e | 95 | typedef struct can_cmd_engine_s { |
mariob | 0:ce6055872f4e | 96 | can_cmd_engine_payload_t payload; |
mariob | 0:ce6055872f4e | 97 | uint8 flag; |
mariob | 0:ce6055872f4e | 98 | } can_cmd_engine_t; |
mariob | 0:ce6055872f4e | 99 | |
mariob | 0:ce6055872f4e | 100 | typedef union can_cmd_time_payload_s { |
mariob | 0:ce6055872f4e | 101 | uint8 buf[CAN_CMD_PAYLOAD_TIME]; |
mariob | 0:ce6055872f4e | 102 | struct { |
mariob | 0:ce6055872f4e | 103 | uint32 time; |
mariob | 0:ce6055872f4e | 104 | } msg; |
mariob | 0:ce6055872f4e | 105 | } can_cmd_time_payload_t; |
mariob | 0:ce6055872f4e | 106 | typedef struct can_cmd_time_s { |
mariob | 0:ce6055872f4e | 107 | can_cmd_time_payload_t payload; |
mariob | 0:ce6055872f4e | 108 | uint8 flag; |
mariob | 0:ce6055872f4e | 109 | } can_cmd_time_t; |
mariob | 0:ce6055872f4e | 110 | |
mariob | 0:ce6055872f4e | 111 | typedef union can_cmd_driver_payload_s { |
mariob | 0:ce6055872f4e | 112 | uint8 buf[CAN_CMD_PAYLOAD_DRIVER]; |
mariob | 0:ce6055872f4e | 113 | struct { |
mariob | 0:ce6055872f4e | 114 | uint32 cmd:16; |
mariob | 0:ce6055872f4e | 115 | uint32 opt:16; |
mariob | 0:ce6055872f4e | 116 | uint32 data; |
mariob | 0:ce6055872f4e | 117 | } msg; |
mariob | 0:ce6055872f4e | 118 | } can_cmd_driver_payload_t; |
mariob | 0:ce6055872f4e | 119 | typedef struct can_driver_time_s { |
mariob | 0:ce6055872f4e | 120 | can_cmd_driver_payload_t payload; |
mariob | 0:ce6055872f4e | 121 | uint8 flag; |
mariob | 0:ce6055872f4e | 122 | } can_cmd_driver_t; |
mariob | 0:ce6055872f4e | 123 | |
mariob | 0:ce6055872f4e | 124 | typedef union can_sts_driver_payload_s { |
mariob | 0:ce6055872f4e | 125 | uint8 buf[CAN_STS_PAYLOAD_DRIVER]; |
mariob | 0:ce6055872f4e | 126 | struct { |
mariob | 0:ce6055872f4e | 127 | uint32 data; |
mariob | 0:ce6055872f4e | 128 | } msg; |
mariob | 0:ce6055872f4e | 129 | } can_sts_driver_payload_t; |
mariob | 0:ce6055872f4e | 130 | typedef struct can_sts_driver_time_s { |
mariob | 0:ce6055872f4e | 131 | can_sts_driver_payload_t payload; |
mariob | 0:ce6055872f4e | 132 | uint8 flag; |
mariob | 0:ce6055872f4e | 133 | } can_sts_driver_t; |
mariob | 0:ce6055872f4e | 134 | |
mariob | 0:ce6055872f4e | 135 | /************************************************** |
mariob | 0:ce6055872f4e | 136 | * DATA STRUCTURES |
mariob | 0:ce6055872f4e | 137 | **************************************************/ |
mariob | 0:ce6055872f4e | 138 | void init_can(); |
mariob | 0:ce6055872f4e | 139 | |
mariob | 0:ce6055872f4e | 140 | bool can_msg_is_missing(uint8 msg_id); |
mariob | 0:ce6055872f4e | 141 | |
mariob | 0:ce6055872f4e | 142 | #endif //__NET_H__ |