Kelder/obus
33
0
Fork 0
Code Issues 3 Pull requests Projects Releases Packages Wiki Activity

Correct module ID handling: ID only unique per type

Browse source
This commit is contained in:
Midgard 2020-08-18 17:52:33 +02:00
parent ea1d0900cb
commit 71df9f71b9
Signed by: midgard
GPG key ID: 511C112F1331BBB4
2 changed files with 41 additions and 22 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

33
src/controller/controller.ino
View file

@ -1,7 +1,7 @@
#include <mcp2515.h>
#include <assert.h>
#include "../shared/defs.hpp"
#include "../shared/shared.hpp"
#define STATE_INACTIVE 0
#define STATE_HELLO 1
@ -26,23 +26,19 @@ uint16_t hello_round_start;
uint16_t game_start;
uint16_t last_update;
struct module this_module = (struct module) {
.type = OBUS_TYPE_CONTROLLER;
.id = OBUS_CONTROLLER_ID;
};
void setup() {
Serial.begin(9600);
mcp2515.reset();
mcp2515.setBitrate(CAN_50KBPS);
mcp2515.setNormalMode();
}
struct module get_module_info(uint16_t can_id) {
uint8_t module_type = can_id & 0x0300;
uint8_t module_id = can_id & 0x00FF;
struct module module_info;
module_info.type = module_type;
module_info.id = module_id;
return module_info;
state = STATE_INACTIVE;
}
@ -73,9 +69,12 @@ void solve_module_in_bit_vector(uint8_t module_id) {
void send_message(uint8_t* message, uint8_t length) {
send_message(message, length, false);
}
void send_message(uint8_t* message, uint8_t length, bool priority) {
struct can_frame send_frame;
send_frame.can_id = make_id(OBUS_CONTROLLER_ID, false, OBUS_TYPE_CONTROLLER);
send_frame.can_id = encode_can_id(this_module, priority);
send_frame.can_dlc = length;
memcpy(send_frame.data, message, OBUS_MSG_LENGTH);
@ -117,14 +116,14 @@ void receive_hello() {
if (mcp2515.readMessage(&receive_frame) == MCP2515::ERROR_OK) {
if (receive_frame.data[0] == OBUS_MSGTYPE_M_HELLO) {
struct module new_module = get_module_info(receive_frame.can_id);
struct module new_module = decode_can_id(receive_frame.can_id);
Serial.print("Registered module ");
Serial.println(new_module.id);
Serial.println(full_module_id(new_module));
connected_modules_ids[nr_connected_modules] = new_module;
nr_connected_modules++;
if (new_module.type == OBUS_TYPE_PUZZLE) {
add_module_to_bit_vector(new_module.id);
add_module_to_bit_vector(full_module_id(new_module));
}
send_ack();
@ -169,8 +168,8 @@ void receive_module_update() {
if (receive_frame.data[0] == OBUS_MSGTYPE_M_STRIKE) {
strikeouts++;
} else if (receive_frame.data[0] == OBUS_MSGTYPE_M_SOLVED) {
struct module module_info = get_module_info(receive_frame.can_id);
solve_module_in_bit_vector(module_info.id);
uint16_t module_id = full_module_id(decode_can_id(receive_frame.can_id));
solve_module_in_bit_vector(module_id);
}
}
}

30
src/shared/shared.hpp
View file

@ -28,14 +28,18 @@
#define CAN_DOMINANT 0
#define CAN_RECESSIVE 1
#define OBUS_MASK_PRIORITY = 0b10000000000
#define OBUS_MASK_TYPE = 0b01100000000
#define OBUS_MASK_ID = 0b00011111111
struct module {
uint8_t id;
uint8_t type;
uint8_t id;
};
uint16_t make_id(uint8_t id, bool priority, uint8_t type) {
assert(type <= 0x11);
uint16_t encode_can_id(struct module mod, bool priority) {
assert(mod.type <= 0b11);
/* b bb bbbbbbbb
* ↓ type module ID
@ -43,8 +47,24 @@ uint16_t make_id(uint8_t id, bool priority, uint8_t type) {
*/
return \
((uint16_t) (priority ? CAN_DOMINANT : CAN_RECESSIVE) << 10) | \
((uint16_t) type << 8) | \
(uint16_t) id;
((uint16_t) mod.type << 8) | \
(uint16_t) mod.id;
}
uint16_t full_module_id(struct module mod) {
return \
((uint16_t) mod.type << 8) | \
(uint16_t) mod.id;
}
struct module decode_can_id(uint16_t can_id) {
struct module mod;
mod.type = (can_id & OBUS_MASK_TYPE) >> 8;
mod.id = can_id & OBUS_MASK_ID;
assert(mod.type <= 0x11);
return mod;
}
#endif /* end of include guard: OBUS_DEFS_H */