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Check initialization of CAN module (untested)

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redfast00 2021-07-31 22:21:48 +02:00
parent 5b63d93df3
commit 124e0bb43a
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GPG key ID: 5946E0E34FD0553C
3 changed files with 32 additions and 17 deletions
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17
lib/obus_can.cpp
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@ -76,11 +76,24 @@ uint8_t payload_type(uint8_t module_type, uint8_t module_id, uint8_t msg_type) {
}
void init() {
bool init() {
is_init = true;
mcp2515.reset();
mcp2515.setBitrate(CAN_50KBPS);
mcp2515.setNormalMode();
mcp2515.setLoopbackMode();
struct can_frame test_msg;
test_msg.can_id = 0x01;
test_msg.can_dlc = 1;
test_msg.data[0] = 0x23;
mcp2515.sendMessage(&test_msg);
struct can_frame recv_msg;
delay(50);
if (mcp2515.readMessage(&recv_msg) == MCP2515::ERROR_OK && recv_msg.can_id == 0x01 && recv_msg.can_dlc == 1 && recv_msg.data[0] == 0x23) {
mcp2515.setNormalMode();
return true;
} else {
return false;
}
}

4
lib/obus_can.h
View file

@ -91,8 +91,10 @@ uint8_t payload_type(uint8_t module_type, uint8_t message_type);
/**
* Initialize the CAN controller for OBUS messaging
*
* @return true if initialization and self-test succeeded, false otherwise
*/
void init();
bool init();
/**
* Receive a message
*

28
lib/obus_module.cpp
View file

@ -76,6 +76,16 @@ void _setLedBlink(struct color color, uint16_t delay) {
_ledLoop();
}
void blink_error(String message) {
bool blink = false;
while (true) {
digitalWrite(PIN_LED_RED, blink);
digitalWrite(PIN_LED_GREEN, blink);
blink = !blink;
delay(blink ? BLINK_DELAY_SLOW : BLINK_DELAY_FAST);
Serial.println(message);
}
}
void _resetState() {
strike_count = 0;
@ -93,10 +103,11 @@ void _resetState() {
void setup(uint8_t type, uint8_t id) {
this_module.type = type;
this_module.id = id;
obus_can::init();
_resetState();
if (!obus_can::init()) {
blink_error(F("CAN init failed"));
}
}
void empty_callback_info(uint8_t info_id, uint8_t infomessage[7]) {
@ -113,17 +124,6 @@ void empty_callback_state(uint32_t time_left, uint8_t strikes, uint8_t max_strik
(void)puzzle_modules_left;
}
void blink_error(String message) {
bool blink = false;
while (true) {
digitalWrite(PIN_LED_RED, blink);
digitalWrite(PIN_LED_GREEN, blink);
blink = !blink;
delay(blink ? BLINK_DELAY_SLOW : BLINK_DELAY_FAST);
Serial.println(message);
}
}
bool loopPuzzle(obus_can::message* message, void (*callback_game_start)(uint8_t puzzle_modules), void (*callback_game_stop)(), void (*callback_info)(uint8_t info_id, uint8_t infomessage[7]), void (*callback_state)(uint32_t time_left, uint8_t strikes, uint8_t max_strikes, uint8_t puzzle_modules_left)) {
// TODO this can be more efficient by only enabling error interrupts and
// reacting to the interrupt instead of checking if the flag is set in a loop