YShuvakin/CuboBmsFirmware
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Moved firmware to subfoler firmware

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This commit is contained in:
Yury Shuvakin
2023-03-29 19:11:33 +03:00
parent fb819e50a1
commit 4561bcc255
231 changed files with 46 additions and 2 deletions
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170
firmware/Core/Src/libPacket.c Normal file
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/*
Copyright 2016 Benjamin Vedder benjamin@vedder.se
This file is part of the VESC firmware.
The VESC firmware 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.
The VESC firmware 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/>.
*/
#include <string.h>
#include "libPacket.h"
#include "libCRC.h"
typedef struct {
volatile unsigned char rx_state;
volatile unsigned char rx_timeout;
void(*send_func)(unsigned char *data, unsigned int len);
void(*process_func)(unsigned char *data, unsigned int len);
unsigned int payload_length;
unsigned char rx_buffer[PACKET_MAX_PL_LEN];
unsigned char tx_buffer[PACKET_MAX_PL_LEN + 6];
unsigned int rx_data_ptr;
unsigned char crc_low;
unsigned char crc_high;
} PACKET_STATE_t;
static PACKET_STATE_t libPacketHandlerStates[PACKET_HANDLERS];
void libPacketInit(void (*s_func)(unsigned char *data, unsigned int len),
void (*p_func)(unsigned char *data, unsigned int len), int handler_num) {
libPacketHandlerStates[handler_num].send_func = s_func;
libPacketHandlerStates[handler_num].process_func = p_func;
}
void libPacketSendPacket(unsigned char *data, unsigned int len, int handler_num) {
if (len > PACKET_MAX_PL_LEN) {
return;
}
int b_ind = 0;
if (len <= 256) {
libPacketHandlerStates[handler_num].tx_buffer[b_ind++] = 2;
libPacketHandlerStates[handler_num].tx_buffer[b_ind++] = len;
} else {
libPacketHandlerStates[handler_num].tx_buffer[b_ind++] = 3;
libPacketHandlerStates[handler_num].tx_buffer[b_ind++] = len >> 8;
libPacketHandlerStates[handler_num].tx_buffer[b_ind++] = len & 0xFF;
}
memcpy(libPacketHandlerStates[handler_num].tx_buffer + b_ind, data, len);
b_ind += len;
unsigned short crc = libCRCCalcCRC16(data, len);
libPacketHandlerStates[handler_num].tx_buffer[b_ind++] = (uint8_t)(crc >> 8);
libPacketHandlerStates[handler_num].tx_buffer[b_ind++] = (uint8_t)(crc & 0xFF);
libPacketHandlerStates[handler_num].tx_buffer[b_ind++] = 3;
if (libPacketHandlerStates[handler_num].send_func) {
libPacketHandlerStates[handler_num].send_func(libPacketHandlerStates[handler_num].tx_buffer, b_ind);
}
}
/**
* Call this function every millisecond.
*/
void libPacketTimerFunc(void) {
uint8_t a;
for (int i = 0;i < PACKET_HANDLERS;i++) {
if (libPacketHandlerStates[i].rx_timeout!=0) {
libPacketHandlerStates[i].rx_timeout--;
}
else {
// if(libPacketHandlerStates[i].rx_state==6){
// libPacketHandlerStates[i].rx_state = 0;
// }
// libPacketHandlerStates[i].rx_timeout=0;
// a=0;
libPacketHandlerStates[i].rx_state = 0;
}
}
}
void libPacketProcessByte(uint8_t rx_data, int handler_num) {
switch (libPacketHandlerStates[handler_num].rx_state) {
case 0:
if (rx_data == 2) {
// 1 byte PL len
libPacketHandlerStates[handler_num].rx_state += 2;
libPacketHandlerStates[handler_num].rx_timeout = PACKET_RX_TIMEOUT;
libPacketHandlerStates[handler_num].rx_data_ptr = 0;
libPacketHandlerStates[handler_num].payload_length = 0;
} else if (rx_data == 3) {
// 2 byte PL len
libPacketHandlerStates[handler_num].rx_state++;
libPacketHandlerStates[handler_num].rx_timeout = PACKET_RX_TIMEOUT;
libPacketHandlerStates[handler_num].rx_data_ptr = 0;
libPacketHandlerStates[handler_num].payload_length = 0;
} else {
libPacketHandlerStates[handler_num].rx_state = 0;
}
break;
case 1:
libPacketHandlerStates[handler_num].payload_length = (unsigned int)rx_data << 8;
libPacketHandlerStates[handler_num].rx_state++;
libPacketHandlerStates[handler_num].rx_timeout = PACKET_RX_TIMEOUT;
break;
case 2:
libPacketHandlerStates[handler_num].payload_length |= (unsigned int)rx_data;
if (libPacketHandlerStates[handler_num].payload_length > 0 &&
libPacketHandlerStates[handler_num].payload_length <= PACKET_MAX_PL_LEN) {
libPacketHandlerStates[handler_num].rx_state++;
libPacketHandlerStates[handler_num].rx_timeout = PACKET_RX_TIMEOUT;
} else {
libPacketHandlerStates[handler_num].rx_state = 0;
}
break;
case 3:
libPacketHandlerStates[handler_num].rx_buffer[libPacketHandlerStates[handler_num].rx_data_ptr++] = rx_data;
if (libPacketHandlerStates[handler_num].rx_data_ptr == libPacketHandlerStates[handler_num].payload_length) {
libPacketHandlerStates[handler_num].rx_state++;
}
libPacketHandlerStates[handler_num].rx_timeout = PACKET_RX_TIMEOUT;
break;
case 4:
libPacketHandlerStates[handler_num].crc_high = rx_data;
libPacketHandlerStates[handler_num].rx_state++;
libPacketHandlerStates[handler_num].rx_timeout = PACKET_RX_TIMEOUT;
break;
case 5:
libPacketHandlerStates[handler_num].crc_low = rx_data;
libPacketHandlerStates[handler_num].rx_state++;
libPacketHandlerStates[handler_num].rx_timeout = PACKET_RX_TIMEOUT;
break;
case 6:
if (rx_data == 3) {
if (libCRCCalcCRC16(libPacketHandlerStates[handler_num].rx_buffer, libPacketHandlerStates[handler_num].payload_length)
== ((unsigned short)libPacketHandlerStates[handler_num].crc_high << 8
| (unsigned short)libPacketHandlerStates[handler_num].crc_low)) {
// Packet received!
if (libPacketHandlerStates[handler_num].process_func) {
libPacketHandlerStates[handler_num].process_func(libPacketHandlerStates[handler_num].rx_buffer,
libPacketHandlerStates[handler_num].payload_length);
}
}
}
libPacketHandlerStates[handler_num].rx_state = 0;
break;
default:
libPacketHandlerStates[handler_num].rx_state = 0;
break;
}
}