static hal_result_t s_cmd_set_curr_tare(uint8_t *data_in, uint8_t *data_out, uint8_t *len_data_out) // CAN_CMD_SET_CURR_TARE
{
hal_result_t res = hal_res_OK;
int16_t sender_status;
adc_state_t adc_st;
//******************************************************************************
//********************* IMPORTANTE***********************************************
//ferma la spediziobne di messaggi perchè la current tare è coinvolta nei calcoli
sender_status = sender_is_running();
sender_stop();
switch(data_in[1])
{
case 0:
{
calc_current_tare_init();
} break;
case 1:
{
/* In this case I must stop adc because new tare values depend on adc values.*/
adc_st = adc_is_running();
adc_stop();
calc_current_tare_reset();
if(adc_st_started == adc_st)
{
adc_start();
}
} break;
case 2:
{
res = calc_current_tare_set_value(data_in[2], (data_in[3]<<8 | data_in[4]));
} break;
#warning -> acemor: nei default si devono mettere i break.
default:
{
res = hal_res_NOK_wrongparam;
} break;
}
if(sender_status)
{
sender_start();
}
if(hal_res_OK != res)
{
return(hal_res_NOK_wrongparam);
}
*len_data_out = 0;
return(res);
}
static hal_result_t s_cmd_set_can_data_rate(uint8_t *data_in, uint8_t *data_out, uint8_t *len_data_out) // CAN_CMD_SET_CANDATARATE: // set datarate for transmission in milliseconds
{
uint16_t sender_status;
if( (data_in[1] < 1) || (data_in[1] > 210) ) //Todo: rivedere tempo massimo
{
return(hal_res_NOK_wrongparam);
}
parser_data.ee_data_is_saved = 0;
sender_status = sender_is_running();
sender_stop();
CFG_6SG_EEDATA.can_msg_datarate = data_in[1];
#ifdef _TIMER_HW_
sender_config_datarate();
#endif
if(sender_status)
{
sender_start();
}
*len_data_out = 0;
return(hal_res_OK);
}
static hal_result_t s_cmd_set_matrix_rc(uint8_t *data_in, uint8_t *data_out, uint8_t *len_data_out) // CAN_CMD_SET_MATRIX_RC: //set i,j value of transform. matrix:
{
int16_t sender_status;
if( (data_in[1] >= AN_CHANNEL_NUM) || (data_in[2] >= AN_CHANNEL_NUM) )
{
return(hal_res_NOK_wrongparam);
}
parser_data.ee_data_is_saved = 0;
sender_status = sender_is_running();
sender_stop();
CFG_6SG_EEDATA.tr_matrix[data_in[1]][data_in[2]] = data_in[3]<<8 | data_in[4];
if(sender_status)
{
sender_start();
}
*len_data_out = 0;
return(hal_res_OK);
}
static hal_result_t s_cmd_set_tx_mode(uint8_t *data_in, uint8_t *data_out, uint8_t *len_data_out) // CAN_CMD_SET_TXMODE: // set continuous or on demand tx 0x205 len 2 data 7 0/1
{
sender_stop();
adc_stop();
switch(data_in[1])
{
case 0://transmit calibrated data
{
CFG_6SG_BEHAV.tx_outMsg_mode = tx_outMsg_torqueData_on;
s_tx_mode_check();
adc_start();
sender_start();
} break;
case 1: //do acquisition, but do not transmit
{
CFG_6SG_BEHAV.tx_outMsg_mode = tx_outMsg_readOnly;
adc_start();
} break;
case 2: //debug mode
{
CFG_6SG_BEHAV.tx_outMsg_mode = tx_outMsg_off;
} break;
case 3: //TODO: transmit not calibrated data
{
CFG_6SG_BEHAV.tx_outMsg_mode = tx_outMsg_uncalibData_on;
sendAmsg = 1;
sendBmsg = 1;
adc_start();
sender_start();
} break;
case 4: //TODO: transmit calibrated and not calibrated
{
} break;
}
*len_data_out = 0;
return(hal_res_OK);
}
void allocator_stop_senders(struct allocator *allocator)
{
struct le *le;
if (!allocator)
return;
tmr_cancel(&allocator->tmr_ui);
tmr_cancel(&allocator->tmr_pace);
for (le = allocator->allocl.head; le; le = le->next) {
struct allocation *alloc = le->data;
sender_stop(alloc->sender);
}
}
static hal_result_t s_cmd_set_calib_tare(uint8_t *data_in, uint8_t *data_out, uint8_t *len_data_out) // CAN_CMD_SET_CALIB_TARE:
{
uint8_t i;
int16_t ch_values[AN_CHANNEL_NUM];
hal_result_t res = hal_res_OK;
int16_t sender_status;
adc_state_t adc_st;
sender_status = sender_is_running();
sender_stop();
switch(data_in[1])
{
case 0:
{
memset( CFG_6SG_EEDATA.calibration_tare, 0, (sizeof(uint16_t)*AN_CHANNEL_NUM) );
} break;
case 1:
{
adc_st =adc_is_running();
adc_stop();
adc_get_data(ch_values);
;
if(adc_st_started == adc_st)
{
adc_start();
}
for (i=0; i<AN_CHANNEL_NUM; i++)
{
CFG_6SG_EEDATA.calibration_tare[i]= -(ch_values[i]);
}
} break;
case 2:
{
if(data_in[2] >= AN_CHANNEL_NUM)
{
res= hal_res_NOK_wrongparam;
break;
}
CFG_6SG_EEDATA.calibration_tare[data_in[2]] = (data_in[3]<<8) | data_in[4];
} break;
default:
{
res= hal_res_NOK_wrongparam;
} break;
}
if(sender_status)
{
sender_start();
}
if(hal_res_OK != res)
{
parser_data.ee_data_is_saved = 0;
}
*len_data_out = 0;
return(res);
}
static hal_result_t s_parse_can_loaderMsg(uint8_t *data_in, uint8_t *data_out, uint8_t *len_data_out)
{
uint8_t num_msg;
static uint8_t addinfo_part=0;
hal_can_frame_t frame;
hal_result_t res = hal_res_OK;
srcCode_version_info_t* src_ver_ptr = &(parser_data.SIXsg_config_ptr->gen_ee_data.verinfo);
switch (data_in[0])
{
#warning -> acemor: qui al CMD_BROADCAST si risponde con tre bytes: version, release, build mentre nel bootloader con due. ???
case CMD_BROADCAST:
{
CFG_6SG_BEHAV.tx_outMsg_mode = tx_outMsg_off;
sender_stop();
adc_stop();
data_out[0] = CMD_BROADCAST;
data_out[1] = BOARD_TYPE_6SG;
data_out[2] = src_ver_ptr->exe_file.major; //Firmware version number for BOOTLOADER
data_out[3] = src_ver_ptr->exe_file.minor;
data_out[4] = 0;
// data_out[4] = src_ver_ptr->exe_file.build; //Firmware build number.
#warning VALE: --> cosa metto nel ver build???
*len_data_out = 5;
} break;
case CMD_BOARD:
{
hal_sys_systemreset();
//asm ("reset"); // Jump to bootloader code
} break;
case CMD_GET_ADDITIONAL_INFO:
{
frame.id = CAN_MSG_CLASS_LOADER | ( CFG_GEN_EEDATA.board_address << 4 ) | (0);;
frame.id_type = hal_can_frameID_std;
frame.frame_type = hal_can_frame_data;
frame.size = 6;
#warning -> acemor: cosa e' la additional info? sta nella parte rw comune sia a bootloader che ad applicazione?
frame.data[0] = CMD_GET_ADDITIONAL_INFO;
//since additional_info's length is 32 bytes and in each message write 4 bytes of additional_info,
// i have to send 8 message
for (num_msg = 0; num_msg< 8; num_msg++)
{
frame.data[1] = num_msg;
memcpy(&frame.data[2], &CFG_6SG_EEDATA.additional_info[num_msg*4], 4);
res = hal_can_put(hal_can_port1, &frame, hal_can_send_normprio_now);
while(hal_res_NOK_busy == res)
{
res = hal_can_put(hal_can_port1, &frame, hal_can_send_normprio_now);
}
}
*len_data_out = 255;
} break;
case CMD_SET_ADDITIONAL_INFO:
{
addinfo_part = data_in[1];
memcpy(&(CFG_6SG_EEDATA.additional_info[addinfo_part*4]), &data_in[2], 4);
if (7 == addinfo_part)
{
addinfo_part=0;
SIXsg_config_save_to_eeprom(parser_data.SIXsg_config_ptr);
}
else
{
addinfo_part++;
}
*len_data_out = 0;
} break;
default:
{
return(hal_res_NOK_wrongparam);
} break;
} //end switch
return(res);
}
