Gobot RPC Stack
This commit is contained in:
AlexanderHD27
@@ -0,0 +1,75 @@
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#include "canTP.hpp"
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#include <math.h>
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#include <cstring>
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void onRxHandlerWrapper(void *arg) {
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SocketCANTP *socket = (SocketCANTP *)arg;
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socket->onRxHandler();
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}
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void SocketCANTP::onRxHandler() {
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uint8_t tmpBuffer[8];
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rx_info info = mcp2521->get_rx_id(MCP2521_RX_BUFFER::RXB0);
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mcp2521->read_rx_buf(MCP2521_RX_BUFFER::RXB0, MCP2521_BUFFER_TYPE::DATA, tmpBuffer, info.length);
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CANTP_FRAME_TYPE ft = static_cast<CANTP_FRAME_TYPE>((tmpBuffer[0] & 0xF0) >> 4);
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switch (ft) {
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case CANTP_FRAME_TYPE::SINGLE_FRAME:
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if (userHandler) {
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userHandler(tmpBuffer + 1, info.length - 1, userArg);
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}
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break;
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case CANTP_FRAME_TYPE::FIRST_FRAME:
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int sizeTotal = ((tmpBuffer[0] & 0x0F) << 8 | tmpBuffer[1]) - 6;
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consecitonFrameCounter = ceil(((float)(sizeTotal)) / 7.0);
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memcpy(rxBuffer, tmpBuffer + 1, 6);
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sendFlowControl(CANTP_FLOW_STATUS::CLEAR_TO_SEND, blockSizes, 0);
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break;
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case CANTP_FRAME_TYPE::CONSECUTIVE_FRAME:
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consecitonFrameCounter--;
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if(consecitonFrameCounter == 0) {
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if (userHandler) {
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userHandler(rxBuffer, rxLength, userArg);
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}
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}
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break;
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case CANTP_FRAME_TYPE::FLOW_CONTROL:
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break;
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}
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}
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SocketCANTP::SocketCANTP(
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MCP2521 *mcp2521,
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uint32_t address,
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bool is_extended,
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uint8_t blockSizes
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) {
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this->mcp2521 = mcp2521;
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this->address = address;
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this->is_extended = is_extended;
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this->rxLength = 0;
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this->consecitonFrameCounter = 0;
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this->blockSizes = 0;
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mcp2521->register_rx0_handler(onRxHandlerWrapper, this);
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}
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void SocketCANTP::send(uint8_t *data, uint8_t length) {
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mcp2521->prepare_tx(
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MCP2521_TX_BUFFER::TXB0, address, data, length, is_extended, false);
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mcp2521->request_to_send(MCP2521_TX_BUFFER::TXB0);
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}
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void SocketCANTP::register_rx_handler(rx_handler handler, void *arg) {
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userHandler = handler;
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userArg = arg;
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}
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@@ -0,0 +1,556 @@
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<diagram name="Page-1" id="VLDBnTalcAr4j7jpmEzg">
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<root>
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<mxCell id="0" />
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<mxCell id="1" parent="0" />
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<mxPoint x="121" y="1019.79" as="sourcePoint" />
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<mxPoint x="161" y="1019.79" as="targetPoint" />
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</mxGeometry>
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<mxCell id="VN9_mGhUesFHwJ--pmr3-262" value="" style="endArrow=none;html=1;rounded=0;exitX=0;exitY=0;exitDx=0;exitDy=0;" edge="1" parent="1">
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<mxGeometry width="50" height="50" relative="1" as="geometry">
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<mxPoint x="121" y="1060" as="sourcePoint" />
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<mxPoint x="161" y="1060" as="targetPoint" />
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</mxGeometry>
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</mxCell>
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<mxCell id="VN9_mGhUesFHwJ--pmr3-263" value="Release Motors" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
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<mxGeometry x="160" y="1120" width="120" height="40" as="geometry" />
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</mxCell>
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<mxCell id="VN9_mGhUesFHwJ--pmr3-264" value="Drop Stone" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
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<mxGeometry x="158.57" y="1160" width="120" height="40" as="geometry" />
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</mxCell>
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<mxCell id="VN9_mGhUesFHwJ--pmr3-266" value="Get Stone Status" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
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<mxGeometry x="161" y="1200" width="120" height="40" as="geometry" />
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</mxCell>
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<mxCell id="VN9_mGhUesFHwJ--pmr3-267" value="Mov Z-Axis" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
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<mxGeometry x="160" y="1240" width="120" height="40" as="geometry" />
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</mxCell>
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<mxCell id="VN9_mGhUesFHwJ--pmr3-269" value="Set Vacum" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
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<mxCell id="VN9_mGhUesFHwJ--pmr3-270" value="Up (0) / Down (1)" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
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<mxCell id="VN9_mGhUesFHwJ--pmr3-271" value="Off (0) / On (1)" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
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<mxCell id="VN9_mGhUesFHwJ--pmr3-273" value="" style="endArrow=none;html=1;rounded=0;exitX=0;exitY=0;exitDx=0;exitDy=0;" edge="1" parent="1">
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<mxCell id="VN9_mGhUesFHwJ--pmr3-276" value="" style="endArrow=none;html=1;rounded=0;exitX=0;exitY=0;exitDx=0;exitDy=0;" edge="1" parent="1">
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<mxCell id="VN9_mGhUesFHwJ--pmr3-277" value="" style="endArrow=none;html=1;rounded=0;exitX=0;exitY=0;exitDx=0;exitDy=0;" edge="1" parent="1">
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<mxCell id="VN9_mGhUesFHwJ--pmr3-282" value="" style="endArrow=none;html=1;rounded=0;exitX=0;exitY=0;exitDx=0;exitDy=0;" edge="1" parent="1">
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@@ -0,0 +1,51 @@
|
||||
#pragma once
|
||||
#include "mcp2521_toplevel.hpp"
|
||||
|
||||
typedef void (*rx_handler)(uint8_t *data, uint8_t length, void *arg);
|
||||
|
||||
enum CANTP_FRAME_TYPE {
|
||||
SINGLE_FRAME = 0b00,
|
||||
FIRST_FRAME = 0b01,
|
||||
CONSECUTIVE_FRAME = 0b10,
|
||||
FLOW_CONTROL = 0b11
|
||||
};
|
||||
|
||||
enum CANTP_FLOW_STATUS {
|
||||
CLEAR_TO_SEND = 0b0000,
|
||||
WAIT = 0b0001,
|
||||
OVERLOAD = 0b0010
|
||||
};
|
||||
|
||||
enum CAN_MULTI_FRAME_STATES {
|
||||
WAITING_FOR_FIRST_FRAME,
|
||||
WAITING_FOR_CONSECUTIVE_FRAME,
|
||||
}
|
||||
|
||||
class SocketCANTP {
|
||||
private:
|
||||
rx_handler userHandler;
|
||||
void *userArg;
|
||||
|
||||
MCP2521 *mcp2521;
|
||||
uint32_t address;
|
||||
bool is_extended;
|
||||
|
||||
uint8_t rxBuffer[4096];
|
||||
uint8_t txBuffer[4096];
|
||||
|
||||
size_t rxLength;
|
||||
|
||||
int consecitonFrameCounter;
|
||||
uint8_t blockSizes;
|
||||
|
||||
protected:
|
||||
void sendFlowControl(CANTP_FLOW_STATUS status, uint8_t blockSize, uint8_t separationTime);
|
||||
|
||||
public:
|
||||
SocketCANTP(MCP2521 *mcp2521, uint32_t address, bool is_extended, uint8_t blockSizes);
|
||||
|
||||
void send(uint8_t *data, uint8_t length);
|
||||
void register_rx_handler(rx_handler handler, void *arg);
|
||||
|
||||
void onRxHandler();
|
||||
}
|
||||
Reference in New Issue
Block a user