Changeset 571 for trunk/electronics/avr

Timestamp:

10/15/09 16:58:25 (2 years ago)

Author:

auchtemm

Message:

added code for defining responses to messages. this *really* does not belong in a usb-can bridge, but it's the only can device i've got lying around so it's convenient for testing... be sure to break this out.

Location:

trunk/electronics/avr/can-bridge

Files:

• main.c (modified) (2 diffs)
• mcp.c (modified) (4 diffs)
• mcp.h (modified) (4 diffs)
• mkfile (modified) (1 diff)

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

@@ -128 +128 @@
 }
 
+void repeat_last_octet(canmsg_t *msg, can_handler_t *r)
+{
+   canmsg_t new = RTR_RESPONSE_FROM_REQUEST(msg);
+   new.data[0] = msg->addr[3];
+   can_send_message(&new);
+}
+
+void ever_increasing_response(canmsg_t *msg, can_handler_t *r)
+{
+   static uint8_t i;
+   canmsg_t new = RTR_RESPONSE_FROM_REQUEST(msg);
+   new.data[0] = i++;
+   can_send_message(&new);
+}
+
+void unknown_message(canmsg_t *msg, can_handler_t *r)
+{
+   usart_print("UNHANDLED MESSAGE!!!\n");
+}
+
+const can_handler_t handlers[] = {
+   RTR_HANDLER(0x00000000UL, ever_increasing_response),
+   RTR_HANDLER_WITH_MASK(0x1DEADC00UL, 0xFFFFFF00UL, repeat_last_octet),
+   CAN_HANDLER_WITH_MASK(0x00000000UL, 0x00000000UL, unknown_message),
+   CAN_HANDLER_LIST_END,
+};
 
 int main(void)
@@ -139 +165 @@
    usart_init(19200);
         spi_init();
-        mcp_init();
+        mcp_init(handlers);
 
         sei();
    can_bridge_fsm();
+
 
         return 0;

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

@@ -16 +16 @@
 static canmsg_t rx_queue[kRXQueueLength];
 static canmsg_t tx_queue[kTXQueueLength];
+
+static can_handler_t *handler_list = NULL;
+
+int can_handler(canmsg_t *msg, can_handler_t handler_list[])
+{
+   can_handler_t *h;
+   int i;
+   if (!handler_list) return -1;
+
+   h = handler_list;
+   // 0xFF is an invalid value for the first address byte; use this as sentinel.
+   while (h->addr[0] != 0xFF) {
+      for (i = 0; i < 4; i++) {
+         if ((h->addr[i] & h->mask[i]) != (msg->addr[i] & h->mask[i]))
+            goto next_filter;
+      }
+      if (CANMSG_TST_FLAG(msg, mCANMSG_RTR) == h->is_rtr) 
+         if (h->handler) h->handler(msg, h);
+      return 0;
+next_filter:
+      h++;
+   }
+
+   return -1;
+}
 
 
@@ -66 +91 @@
 }
 
-void mcp_init(void)
+void mcp_init(can_handler_t handlers[])
 {
    mcp_reset();
+   handler_list = handlers;
 
    mcp_set_mode(kModeConfig);
@@ -79 +105 @@
 
    mcp_set_mode(kModeLoopback);
+
 }
 
@@ -284 +311 @@
    mcp_read_rx_buffer(rxbuf, &tmp);
    can_print(&tmp);
+   // Remove this line for pure CAN-USB:
+   can_handler(&tmp, handler_list);
 }
 

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

@@ -1 @@
-void mcp_reset(void);
-void mcp_read(uint8_t addr, uint8_t len, uint8_t *buf);
-void mcp_write_byte(uint8_t addr, uint8_t data);
-void mcp_read_rxbuf(uint8_t addr, uint8_t *buf, uint8_t nbuf);
-void mcp_write(uint8_t addr, uint8_t *buf, uint8_t nbuf);
-void mcp_load_txbuf(uint8_t addr, uint8_t *buf, uint8_t nbuf);
-uint8_t mcp_read_status(void);
-uint8_t mcp_rx_stat(void);
-void mcp_rts(uint8_t bufs);
-void mcp_bit_mod(uint8_t addr, uint8_t mask, uint8_t data);
-void mcp_init(void);
+
 
 
@@ -80 +70 @@
 #define mRXBSIDL_SRR (1<<4)
 
-/*
-typedef struct {
-   uint32_t eid :18;
-   uint32_t rtr :1;
-   uint32_t exide :1;
-   uint32_t sid :11;
-   uint8_t dlc;
-   uint8_t data[8];
-} canmsg_t;
-*/
-
 typedef struct {
    uint8_t addr[4];
@@ -103 +82 @@
 #define CANMSG_SET_FLAG(msg, flag_mask) (msg)->flags |= (flag_mask)
 #define CANMSG_CLR_FLAG(msg, flag_mask) (msg)->flags &= (flag_mask)
-#define CANMSG_TST_FLAG(msg, flag_mask) ((msg)->flags & (flag_mask))
+#define CANMSG_TST_FLAG(msg, flag_mask) (!!((msg)->flags & (flag_mask)))
 
 #define CANMSG_ZERO(msg) do { \
@@ -121 +100 @@
    (msg)->flags = 0; \
 } while (0);
+
+
+typedef struct can_handler_st can_handler_t;
+typedef void (*can_handler_func)(canmsg_t *, can_handler_t *);
+
+struct can_handler_st {
+   uint8_t addr[4];
+   uint8_t mask[4];
+   uint8_t is_rtr;
+   can_handler_func handler;
+};
+
+int can_handler(canmsg_t *msg, can_handler_t handler_list[]);
+
+#define _32BIT_TO_ARRAY(x) {  (x) >> 030, \
+                             ((x) >> 020) & 0xFF, \
+                             ((x) >> 010) & 0xFF, \
+                              (x) & 0xFF\
+}
+
+#define HANDLER_WITH_MASK(_addr, _mask, _is_rtr, _rspdr) { \
+   .addr = _32BIT_TO_ARRAY(_addr), \
+   .mask = _32BIT_TO_ARRAY(_mask), \
+   .is_rtr = _is_rtr, \
+   .handler = _rspdr \
+}
+
+#define RTR_HANDLER_WITH_MASK(_addr, _mask, _rspdr) HANDLER_WITH_MASK(_addr, _mask, 1, _rspdr)
+
+#define RTR_HANDLER(_addr, _rspdr) RTR_HANDLER_WITH_MASK(_addr, 0xFFFFFFFFUL, _rspdr)
+
+#define CAN_HANDLER_WITH_MASK(_addr, _mask, _rspdr) HANDLER_WITH_MASK(_addr, _mask, 0, _rspdr)
+
+#define CAN_HANDLER(_addr, _rspdr) CAN_HANDLER_WITH_MASK(_addr, 0xFFFFFFFFUL, _rspdr)
+
+#define CAN_HANDLER_LIST_END CAN_HANDLER (0xFFFFFFFFUL, 0)
+
+#define RTR_RESPONSE_FROM_REQUEST(req) { \
+   .addr = {(req)->addr[0], (req)->addr[1], (req)->addr[2], (req)->addr[3]}, \
+   .dlc = (req)->dlc, \
+   .flags = (req)->flags &~ mCANMSG_RTR,\
+}
+
+
+
+
+void mcp_init(can_handler_t handlers[]);
+void mcp_reset(void);
+void mcp_read(uint8_t addr, uint8_t len, uint8_t *buf);
+void mcp_write_byte(uint8_t addr, uint8_t data);
+void mcp_read_rxbuf(uint8_t addr, uint8_t *buf, uint8_t nbuf);
+void mcp_write(uint8_t addr, uint8_t *buf, uint8_t nbuf);
+void mcp_load_txbuf(uint8_t addr, uint8_t *buf, uint8_t nbuf);
+uint8_t mcp_read_status(void);
+uint8_t mcp_rx_stat(void);
+void mcp_rts(uint8_t bufs);
+void mcp_bit_mod(uint8_t addr, uint8_t mask, uint8_t data);
+

trunk/electronics/avr/can-bridge/mkfile

@@ -9 +9 @@
         usart.o \
 
+
 <$RHRTELEC/avr/mkcommon