Changeset 566 for trunk/electronics/avr

Timestamp:

10/15/09 03:01:48 (2 years ago)

Author:

auchtemm

Message:

changed the way the ID field works, so instead of mapping directly to the MCP2515, it's a 29-bit value (so eid can be between 0x00000000 and 0x1FFFFFFF)

Location:

trunk/electronics/avr/can-bridge

Files:

• main.c (modified) (3 diffs)
• mcp.c (modified) (3 diffs)
• mcp.h (modified) (3 diffs)

trunk/electronics/avr/can-bridge/main.c

@@ -42 +42 @@
       READ_DATA,
       ERROR,
+      VALID,
       END_OF_FRAME,
       SEND_FRAME,
@@ -68 +69 @@
       case READ_EID:
          next_state = ERROR;
-         if ((tmp = read_ascii_byte()) == -1) break;
-         msg.sidh = tmp;
-         if ((tmp = read_ascii_byte()) == -1) break;
-         msg.sidl = tmp;
-         if ((tmp = read_ascii_byte()) == -1) break;
-         msg.eid8 = tmp;
-         if ((tmp = read_ascii_byte()) == -1) break;
-         msg.eid0 = tmp;
+         for (int i = 0; i < 4; i++) {
+            if ((tmp = read_ascii_byte()) == -1) goto reerror;
+            msg.addr[i] = tmp;
+         }
          next_state = READ_DLC;
-         break;
+reerror: break;
       case READ_DLC:
          next_state = ERROR;
@@ -111 +108 @@
          //can_print(&msg);
          can_send_message(&msg);
+         next_state = VALID;
+         break;
+      case VALID:
+         usart_put('Z');
+         usart_put('\r');
          next_state = WAIT_TAG;
          CANMSG_ZERO(&msg);

trunk/electronics/avr/can-bridge/mcp.c

@@ -138 +138 @@
 {
    uint8_t i;
+   uint8_t tmp;
    _setcs(kCSLow);
    spi_send(kCmdReadRXBuffer | rxbuf);
 
-   msg->sidh = spi_recv();
-   msg->sidl = spi_recv();
-   msg->sidl &= ~0x18;
-   msg->eid8 = spi_recv();
-   msg->eid0 = spi_recv();
+   tmp = spi_recv();
+   msg->addr[0] = tmp >> 3;
+   msg->addr[1] = ((tmp & 0x07) << 5);
+   tmp = spi_recv();
+   msg->addr[1] |= ((tmp & 0xE0) >> 3) | (tmp & 0x03);
+   msg->addr[2] = spi_recv();
+   msg->addr[3] = spi_recv();
+
+   
+   //msg->sidh = spi_recv();
+   //msg->sidl = spi_recv();
+   //msg->sidl &= ~0x18;
+   //msg->eid8 = spi_recv();
+   //msg->eid0 = spi_recv();
 
    msg->dlc = spi_recv() & 0x0F;
@@ -159 +169 @@
    uint8_t i;
    usart_put('T');
-   usart_print_hex(msg->sidh);
-   usart_print_hex(msg->sidl);
-   usart_print_hex(msg->eid8);
-   usart_print_hex(msg->eid0);
+
+   for (i = 0; i < 4; i++)
+      usart_print_hex(msg->addr[i]);
+
+   //usart_print_hex(msg->sidh);
+   //usart_print_hex(msg->sidl);
+   //usart_print_hex(msg->eid8);
+   //usart_print_hex(msg->eid0);
+
    usart_print_hex_nibble(msg->dlc);
    for (i = 0; i < (msg->dlc & 0x0F); i++)
@@ -178 +193 @@
    spi_send(kCmdLoadTXBuffer | txbuf);
 
-   spi_send(msg->sidh);
-   spi_send(msg->sidl | ((msg->flags & mCANMSG_EX) ? 0x08 : 0x00));
-   spi_send(msg->eid8);
-   spi_send(msg->eid0);
+   spi_send((msg->addr[0] << 3) | (msg->addr[1] >> 5));
+   spi_send( ((msg->addr[1] & 0x1C) << 3) | (msg->addr[1] & 0x03)
+         | ((msg->flags & mCANMSG_EX) ? 0x08 : 0x00));
+   spi_send(msg->addr[2]);
+   spi_send(msg->addr[3]);
+
+
+   //spi_send(msg->sidh);
+   //spi_send(msg->sidl | ((msg->flags & mCANMSG_EX) ? 0x08 : 0x00));
+   //spi_send(msg->eid8);
+   //spi_send(msg->eid0);
+
    spi_send(msg->dlc);
 

trunk/electronics/avr/can-bridge/mcp.h

@@ -85 +85 @@
 
 typedef struct {
-   uint8_t sidh;
-   uint8_t sidl;
-   uint8_t eid8;
-   uint8_t eid0;
+   uint8_t addr[4];
    uint8_t dlc;
    uint8_t data[8];
@@ -107 +104 @@
 
 #define CANMSG_ZERO(msg) do { \
-   (msg)->sidh = 0;    \
-   (msg)->sidl = 0;    \
-   (msg)->eid8 = 0;    \
-   (msg)->eid0 = 0;    \
    (msg)->dlc = 0;     \
    (msg)->data[0] = 0; \
@@ -120 +113 @@
    (msg)->data[6] = 0; \
    (msg)->data[7] = 0; \
+   (msg)->addr[0] = 0; \
+   (msg)->addr[1] = 0; \
+   (msg)->addr[2] = 0; \
+   (msg)->addr[3] = 0; \
    (msg)->flags = 0; \
 } while (0);