int CAN_device_init(uint8_t channel, uint32_t baud)
{
pr_info("Initializing CAN");
pr_info_int(channel);
pr_info_int_msg(" with baud rate ", baud);
if (!initQueues()) {
pr_info("CAN init queues failed\r\n");
return 0;
}
switch (channel) {
case 0:
CAN_device_init_1(baud);
break;
case 1:
CAN_device_init_2(baud);
break;
default:
pr_info("CAN init device failed\r\n");
return 0;
}
/* Clear out all filter values except 0. It accepts all. */
CAN_device_set_filter(channel, 0, 1, 0, 0, true);
for (size_t i = 1; i < CAN_FILTER_COUNT; ++i)
CAN_device_set_filter(channel, i, 0, 0, 0, false);
pr_info("CAN init success!\r\n");
return 1;
}
static void lapstats_setup(const GpsSnapshot *gps_snapshot)
{
/*
* I am not a fan of this method. Really this track config stuff should
* get moved over into its own file with its own separate testing. It
* should generate an event when a track is detected so that we can listen
* and act accordingly. For now it stays here.
*/
const LoggerConfig *config = getWorkingLoggerConfig();
const GeoPoint *gp = &gps_snapshot->sample.point;
const Track *track = NULL;
const TrackConfig *trackConfig = &(config->TrackConfigs);
if (trackConfig->auto_detect) {
track = auto_configure_track(NULL, gp);
if (track)
pr_info_int_msg("track: detected track ",
track->trackId);
} else {
track = &trackConfig->track;
pr_info("track: using fixed config");
}
const float gc_radius = degrees_to_meters(config->TrackConfigs.radius);
lapstats_setup_internals(track, gc_radius, trackConfig->auto_detect);
}
enum script_add_result flashScriptPage(const unsigned int page,
const char *data,
const enum script_add_mode mode)
{
if (page >= MAX_SCRIPT_PAGES) {
pr_error("lua: invalid script index\r\n");
return SCRIPT_ADD_RESULT_FAIL;
}
switch (mode) {
case SCRIPT_ADD_MODE_IN_PROGRESS:
case SCRIPT_ADD_MODE_COMPLETE:
/* Valid cases. Carry on */
break;
default:
pr_error_int_msg("lua: Unknown script_add_mode: ", mode);
return SCRIPT_ADD_RESULT_FAIL;
}
static ScriptConfig *g_scriptBuffer;
if (NULL == g_scriptBuffer) {
terminate_lua();
pr_debug("lua: Allocating new script buffer\r\n");
g_scriptBuffer =
(ScriptConfig *) portMalloc(sizeof(ScriptConfig));
memcpy((void *)g_scriptBuffer, (void *)&g_scriptConfig,
sizeof(ScriptConfig));
}
if (NULL == g_scriptBuffer) {
pr_error("lua: Failed to allocate memory for script "
"buffer.\r\n");
return SCRIPT_ADD_RESULT_FAIL;
}
char *pageToAdd = g_scriptBuffer->script + page * SCRIPT_PAGE_SIZE;
strncpy(pageToAdd, data, SCRIPT_PAGE_SIZE);
if (SCRIPT_ADD_MODE_IN_PROGRESS == mode)
return SCRIPT_ADD_RESULT_OK;
pr_info("lua: Completed updating LUA. Flashing... ");
const int rc = memory_flash_region((void*) &g_scriptConfig,
(void*) g_scriptBuffer,
sizeof(ScriptConfig));
portFree(g_scriptBuffer);
g_scriptBuffer = NULL;
if (0 != rc) {
pr_info_int_msg("failed with code ", rc);
return SCRIPT_ADD_RESULT_FAIL;
}
pr_info("win!\r\n");
initialize_lua();
return SCRIPT_ADD_RESULT_OK;
}
enum track_add_result add_track(const Track *track, const size_t index,
const enum track_add_mode mode)
{
if (index >= MAX_TRACK_COUNT) {
pr_error("tracks: Invalid track index\r\n");
return TRACK_ADD_RESULT_FAIL;
}
switch (mode) {
case TRACK_ADD_MODE_IN_PROGRESS:
case TRACK_ADD_MODE_COMPLETE:
/* Valid cases. Carry on */
break;
default:
pr_error_int_msg("tracks: Unknown track_add_mode: ", mode);
return TRACK_ADD_RESULT_FAIL;
}
static Tracks *g_tracksBuffer;
if (NULL == g_tracksBuffer) {
#if LUA_SUPPORT
lua_task_stop();
#endif /* LUA_SUPPORT */
pr_debug("tracks: Allocating new tracks buffer\r\n");
g_tracksBuffer = (Tracks *) portMalloc(sizeof(Tracks));
memcpy(g_tracksBuffer, (void*) &g_tracks, sizeof(Tracks));
}
if (NULL == g_tracksBuffer) {
pr_error("tracks: Failed to allocate memory for track buffer.\r\n");
return TRACK_ADD_RESULT_FAIL;
}
Track *trackToAdd = g_tracksBuffer->tracks + index;
memcpy(trackToAdd, track, sizeof(Track));
g_tracksBuffer->count = index + 1;
/* If we made it here and are still in progress, then we are done */
if (TRACK_ADD_MODE_IN_PROGRESS == mode)
return TRACK_ADD_RESULT_OK;
/* If here, time to flash and tidy up */
pr_info("tracks: Completed updating tracks. Flashing... ");
const int rc = flash_tracks(g_tracksBuffer, sizeof(Tracks));
portFree(g_tracksBuffer);
g_tracksBuffer = NULL;
if (0 != rc) {
pr_info_int_msg("failed with code ", rc);
return TRACK_ADD_RESULT_FAIL;
}
pr_info("win!\r\n");
#if LUA_SUPPORT
lua_task_start();
#endif /* LUA_SUPPORT */
return TRACK_ADD_RESULT_OK;
}