Kelder/obus
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Implemented discovery round

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This commit is contained in:
Timo De Waele 2020-08-10 21:23:09 +02:00
parent 91bececb39
commit 95992303ac
1 changed files with 47 additions and 9 deletions
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56
src/controller/controller.ino
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@ -13,6 +13,9 @@
#define OBUS_MSG_LENGTH 8 // Max 8 to fit in a CAN message
#define OBUS_MAX_MODULES 16
#define OBUS_DISC_DURATION 1 // Duration of discovery round in seconds
#define OBUS_MSGTYPE_C_ACK 0
#define OBUS_MSGTYPE_C_HELLO 1
#define OBUS_MSGTYPE_C_GAMESTART 2
@ -31,12 +34,19 @@
MCP2515 mcp2515(10);
uint8_t state = STATE_INACTIVE;
uint8_t connected_modules_ids[OBUS_MAX_MODULES];
uint8_t nr_connected_modules;
unsigned long hello_round_start;
void setup() {
Serial.begin(9600);
mcp2515.reset();
mcp2515.setBitrate(CAN_50KBPS);
mcp2515.setNormalMode();
nr_connected_modules = 0;
Serial.println("begin");
}
@ -53,29 +63,57 @@ uint16_t make_id(uint8_t id, bool priority, uint8_t type) {
(uint16_t) id;
}
void start_hello() {
state = STATE_HELLO;
void send_message(unsigned char* message) {
struct can_frame send_frame;
send_frame.can_id = make_id(OBUS_CONTROLLER_ID, false, OBUS_TYPE_CONTROLLER);
send_frame.can_dlc = OBUS_MSG_LENGTH;
send_frame.can_id = make_id(OBUS_CONTROLLER_ID, false, OBUS_TYPE_CONTROLLER);
send_frame.can_dlc = OBUS_MSG_LENGTH;
send_frame.data[0] = OBUS_MSGTYPE_C_HELLO;
memcpy(send_frame.data, message, OBUS_MSG_LENGTH);
mcp2515.sendMessage(&send_frame);
mcp2515.sendMessage(&send_frame);
}
void start_hello() {
state = STATE_HELLO;
hello_round_start = millis();
unsigned char message[OBUS_MSG_LENGTH];
message[0] = OBUS_MSGTYPE_C_HELLO;
send_message(message);
Serial.println("sent");
}
void send_ack() {
unsigned char message[OBUS_MSG_LENGTH];
message[0] = OBUS_MSGTYPE_C_ACK;
send_message(message);
Serial.println("Send ACK");
}
void receive_hello() {
struct can_frame receive_frame;
unsigned long current_time = millis();
if (mcp2515.readMessage(&receive_frame) == MCP2515::ERROR_OK) {
Serial.println("Received message");
if (receive_frame.data[0] == OBUS_MSGTYPE_M_HELLO) {
Serial.println("Hello");
uint8_t module_id = receive_frame.can_id;
Serial.print("Hello from module ");
Serial.println(module_id);
connected_modules_ids[nr_connected_modules] = module_id;
nr_connected_modules++;
send_ack();
} else {
Serial.println("Not implemented");
}
} else if (current_time - hello_round_start > OBUS_DISC_DURATION * 1000) {
state = STATE_GAME;
Serial.println("Initializing game");
}
}
@ -83,7 +121,7 @@ void loop() {
if (state == STATE_INACTIVE) {
start_hello();
} else if (state == STATE_HELLO) {
receive_hello();
receive_hello();
} else if (state == STATE_GAME) {
// Game loop
}