110 lines
4.0 KiB
C
110 lines
4.0 KiB
C
#include "CLS_BSP.h"
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#include "CLS.h"
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#include "CLSAddress.h"
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#include "cmsis_os2.h"
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#include "version_info.h"
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#include "CanDataHandler.h"
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osTimerId_t CLS_HeatbeatTimerId = NULL; // Timer ID
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osTimerId_t CLS_VehicleTimerId = NULL; // Timer ID
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static CLS_HeatbeatData_t cls_heatbeat_data = {0};
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static CLS_VehicleStatus_t cls_vehicle = {0};
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static uint8_t EventChangeTypeData[2] ={0};
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static CLS_Type_t newType = 0;
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static CLS_Position_t newPostion = {0};
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static bool writeNewSetting = false;
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_Static_assert(sizeof(cls_heatbeat_data) == 8, "CLS_HeatbeatData_t is not 8 bytes");
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void CLS_Heatbeat(void *argument) {
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// Code to be executed every CLS_HEARTBEAT_INTERVAL_MS
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CLS_BSP_TxHeaderType cls_hartbeat_header = CREATE_BSP_CAN_HEADER(GENERATE_CLS_ADDRESS(CLS_CODE_STATUS,gCLS_DEVICE_ADDRESS,CLS_CH_STA_HEATBEAT), CLS_BSP_DLC_BYTES_8);
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cls_heatbeat_data.counter++;
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CLS_BSP_CAN_AddMessageToSend(&cls_hartbeat_header, (uint8_t*)&cls_heatbeat_data);
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if (writeNewSetting) {
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CLS_BSP_SetDeviceType(newType);
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CLS_BSP_SetPosition(newPostion);
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writeNewSetting = false;
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}
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}
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__weak void CLS_VehicleHeatbeat(void *argument) {
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}
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void CLS_SendEventChangeTypePostion(CanDataId canid, CLS_Type_t newType, CLS_Position_t newPostion) {
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const uint16_t cls_address = GENERATE_CLS_ADDRESS(CLS_CODE_CONFIG,canid,CLS_CHANNEL7);
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EventChangeTypeData[0] = (uint8_t)newType;
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EventChangeTypeData[1] = (newPostion.p0 & 0x0F) | ((newPostion.p1 << 4) & 0xF0);
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CLS_BSP_TxHeaderType cls_hartbeat_header = CREATE_BSP_CAN_HEADER(cls_address, CLS_BSP_DLC_BYTES_2);
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CLS_BSP_CAN_AddMessageToSend(&cls_hartbeat_header, (uint8_t*)&EventChangeTypeData);
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}
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const CLS_VehicleStatus_t * CLS_GetVehicleStatus(void) {
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return &cls_vehicle;
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}
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void CLS_OnVehicleStatus(CanDataId canid, uint8_t* data, uint8_t len) {
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if(len == 8) {
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memcpy((uint8_t*)&cls_vehicle, data, 8);
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}
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}
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void CLS_OnEventChangeTypePostion(CanDataId canid, uint8_t* data, uint8_t len) {
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if(len >= 2) {
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newType = data[0];
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newPostion.p0 = (data[1] & 0x0F);
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newPostion.p1 = ((data[1] >> 4) & 0x0F);
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writeNewSetting = true;
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}
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}
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void CLS_Init(void) {
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osTimerAttr_t timerAttr;
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timerAttr.name = "CLS_Heatbeat";
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timerAttr.attr_bits = 0U;
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timerAttr.cb_mem = NULL;
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timerAttr.cb_size = 0U;
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cls_heatbeat_data.firmware_version.major = VERSION_INFO.major;
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cls_heatbeat_data.firmware_version.minor = VERSION_INFO.minor;
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cls_heatbeat_data.firmware_version.patch = VERSION_INFO.patch;
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cls_heatbeat_data.firmware_version.count = VERSION_INFO.count;
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cls_heatbeat_data.id = gCLS_DEVICE_ADDRESS;
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cls_heatbeat_data.type = CLS_BSP_GetDeviceType();
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cls_heatbeat_data.counter = 0;
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cls_heatbeat_data.position = CLS_BSP_GetPosition();
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CLS_HeatbeatTimerId = osTimerNew((osTimerFunc_t)CLS_Heatbeat, osTimerPeriodic, NULL, &timerAttr);
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if (CLS_HeatbeatTimerId != NULL) { // Timer object created
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// add gCLS_DEVICE_ADDRESS to the interval to avoid collisons
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if (osTimerStart(CLS_HeatbeatTimerId, CLS_HEARTBEAT_INTERVAL_MS + gCLS_DEVICE_ADDRESS) == osOK) { // Timer started
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// Timer started successfully
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}
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}
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if (cls_heatbeat_data.type == cls_device_Type_MASTER) {
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timerAttr.name = "CLS_Vehicle_Heatbeat";
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CLS_VehicleTimerId = osTimerNew((osTimerFunc_t)CLS_VehicleHeatbeat, osTimerPeriodic, NULL, &timerAttr);
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if (CLS_VehicleTimerId != NULL) { // Timer object created
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if (osTimerStart(CLS_VehicleTimerId, 100) == osOK) { // Timer started
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// Timer started successfully
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}
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}
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}
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uint16_t cls_address = GENERATE_CLS_ADDRESS(CLS_CODE_CONFIG,gCLS_DEVICE_ADDRESS,CLS_CHANNEL7);
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//setup endpoint for changing the Device Type/Position
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CanData_regEventMsg(cls_address, CLS_OnEventChangeTypePostion);
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uint16_t cls_vehicle_address = GENERATE_CLS_ADDRESS(CLS_CODE_STATUS,0,CLS_CH_STA_VEHICLE);
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CanData_regEventMsg(cls_vehicle_address, CLS_OnVehicleStatus);
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} |