static void handle_res_packet(unsigned char *data, unsigned char len) {
COMM_RES_PACKET_ID car_res_packet;
uint8_t buffer2[256];
int32_t index;
(void)len;
car_res_packet = data[0];
data++;
len--;
switch (car_res_packet) {
case COMM_READ_VALUES:
index = 0;
buffer2[index++] = COMM_READ_VALUES;
buffer_append_int16(buffer2, (int16_t)(NTC_TEMP(ADC_IND_TEMP_MOS1) * 10.0), &index);
buffer_append_int16(buffer2, (int16_t)(NTC_TEMP(ADC_IND_TEMP_MOS2) * 10.0), &index);
buffer_append_int16(buffer2, (int16_t)(NTC_TEMP(ADC_IND_TEMP_MOS3) * 10.0), &index);
buffer_append_int16(buffer2, (int16_t)(NTC_TEMP(ADC_IND_TEMP_MOS4) * 10.0), &index);
buffer_append_int16(buffer2, (int16_t)(NTC_TEMP(ADC_IND_TEMP_MOS5) * 10.0), &index);
buffer_append_int16(buffer2, (int16_t)(NTC_TEMP(ADC_IND_TEMP_MOS6) * 10.0), &index);
buffer_append_int16(buffer2, (int16_t)(NTC_TEMP(ADC_IND_TEMP_PCB) * 10.0), &index);
buffer_append_int32(buffer2, (int32_t)(mcpwm_read_reset_avg_motor_current() * 100.0), &index);
buffer_append_int32(buffer2, (int32_t)(mcpwm_read_reset_avg_input_current() * 100.0), &index);
buffer_append_int16(buffer2, (int16_t)(mcpwm_get_duty_cycle_now() * 1000.0), &index);
buffer_append_int32(buffer2, (int32_t)mcpwm_get_rpm(), &index);
buffer_append_int16(buffer2, (int16_t)(GET_INPUT_VOLTAGE() * 10.0), &index);
packet_send_packet(buffer2, index);
break;
default:
break;
}
}
void comm_sendmsg(uint8_t id, uint8_t *data, uint8_t len) {
#if COMM_USE_CAN
if (len > 8) {
len = 8;
}
TxMessage.StdId = id;
TxMessage.DLC = len;
int i;
for (i = 0;i < len;i++) {
TxMessage.Data[i] = data[i];
}
CAN_Transmit(CAN1, &TxMessage);
#else
uint8_t buf[len + 1];
buf[0] = PACKET_INT_CMD_CLOCK;
int i = 0;
for (i = 0;i < len;i++) {
buf[i + 1] = data[i];
}
packet_send_packet(buf, len + 1, 0);
#endif
}
void comm_send_rotor_pos(float rotor_pos) {
uint8_t buffer[5];
int32_t index = 0;
buffer[index++] = COMM_ROTOR_POSITION;
buffer_append_int32(buffer, (int32_t)(rotor_pos * 100000.0), &index);
packet_send_packet(buffer, index);
}
void comm_send_samples(uint8_t *data, int len) {
uint8_t buffer[len + 1];
int index = 0;
buffer[index++] = COMM_SEND_SAMPLES;
for (int i = 0;i < len;i++) {
buffer[index++] = data[i];
}
packet_send_packet(buffer, index);
}
void comm_print(char* str) {
static char print_buffer[255];
int i;
print_buffer[0] = COMM_PRINT;
for (i = 0;i < 255;i++) {
if (str[i] == '\0') {
break;
}
print_buffer[i + 1] = str[i];
}
packet_send_packet((unsigned char*)print_buffer, i + 1);
return;
}
void comm_send_experiment_samples(float *samples, int len) {
if ((len * 4 + 1) > 256) {
return;
}
uint8_t buffer[len * 4 + 1];
int32_t index = 0;
buffer[index++] = COMM_EXPERIMENT_SAMPLE;
for (int i = 0;i < len;i++) {
buffer_append_int32(buffer, (int32_t)(samples[i] * 10000.0), &index);
}
packet_send_packet(buffer, index);
}
static void send_packet_wrapper(unsigned char *data, unsigned int len) {
chMtxLock(&send_mutex);
packet_send_packet(data, len, PACKET_HANDLER);
chMtxUnlock(&send_mutex);
}
static void send_packet_wrapper(unsigned char *data, unsigned char len) {
packet_send_packet(data, len, PACKET_HANDLER);
}
