jdm_fshandle_t *
jdm_getfshandle( char *mntpnt )
{
fshandle_t *fshandlep;
size_t fshandlesz;
char resolved[MAXPATHLEN];
/* sanity checks */
ASSERT( sizeof( fshandle_t ) == FSHANDLE_SZ );
ASSERT( sizeof( filehandle_t ) == FILEHANDLE_SZ );
ASSERT( sizeof( filehandle_t )
-
offsetofmember( filehandle_t, fh_pad )
==
FILEHANDLE_SZ_FOLLOWING );
ASSERT( sizeofmember( filehandle_t, fh_pad ) == FILEHANDLE_SZ_PAD );
ASSERT( FILEHANDLE_SZ_PAD == sizeof( int16_t ));
fshandlep = NULL; /* for lint */
fshandlesz = sizeof( *fshandlep );
if (!realpath( mntpnt, resolved ))
return NULL;
if (path_to_fshandle( resolved, ( void ** )&fshandlep, &fshandlesz ))
return NULL;
assert( fshandlesz == sizeof( *fshandlep ));
return ( jdm_fshandle_t * )fshandlep;
}
//------------------------------------------------------------------------------
//! void CAN_UserProcessMsg(void)
//------------------------------------------------------------------------------
//! @brief Processes incoming CAN messages
//------------------------------------------------------------------------------
void CAN_UserProcessMsg(void){
RTC rtc;
CANMsg_t msg;
u8_t res=0;
static u8_t toggle_led=0;
CRCInit_t cfg= CRC32_CONFIG;
u32_t cnt=0;
res = CAN_UserRead(&msg);
if(!res)
return;
#if 0
if(toggle_led){
HW_SetLED (HW_LED_STATUS_2, HW_LED_GREEN);
toggle_led = 0;
}else{
HW_SetLED (HW_LED_STATUS_2, HW_LED_ORANGE);
toggle_led = 1;
}
#endif
if(msg.Id<INCOMING_CAN_ID_MIN || msg.Id>INCOMING_CAN_ID_MAX)
return;
switch(msg.Id){
case SYM_OUT_IO:
HW_SetDOUTn(HW_DOUT_1, (msg.Data.Data8[0] & 0x01));
if (msg.Data.Data8[0] & 0x02)
HW_GPS_PowerOn();
else
HW_GPS_PowerOff();
break;
case SYM_OUT_POWEROFF:
if(msg.Data.Data8[0]&0x01)
HW_SwitchOFF();
break;
case SYM_OUT_GYRO:
MEMS_L3GD20_SetRange(msg.Data.Data8[0]&0x03);
break;
case SYM_OUT_ACC_SCALE:
MEMS_BMC050_SetAccRange(msg.Data.Data8[0]&0x7);
break;
case SYM_OUT_SAVE_CFG:
// only write configuration if LSB in lowest byte is set
if(!(msg.Data.Data8[0]&0x1))
break;
MEMS_BMC050_GetAccCalTargets( &cfg_data.Acc.cmp_target_x,
&cfg_data.Acc.cmp_target_y,
&cfg_data.Acc.cmp_target_z);
MEMS_BMC050_GetAccRange(&cfg_data.Acc.range);
#if STORE_ACC_COMPENSATION_PERMANENT
cfg_data.Acc.flags |= ACC_USE_EEPROM_RAW_COMPENSATION_VALUES;
cfg_data.Acc.flags |= ACC_USE_EEPROM_FILT_COMPENSATION_VALUES;
MEMS_BMC050_GetAccCalFiltValues(&cfg_data.Acc.cmp_filt_x,
&cfg_data.Acc.cmp_filt_y,
&cfg_data.Acc.cmp_filt_z);
MEMS_BMC050_GetAccCalRawValues( &cfg_data.Acc.cmp_raw_x,
&cfg_data.Acc.cmp_raw_y,
&cfg_data.Acc.cmp_raw_z);
#else
cfg_data.Acc.flags = 0;
#endif
MEMS_L3GD20_GetRange(&cfg_data.Gyro.range);
res = CRC_Init(&cfg);
if(res != CRC_ERR_OK)
break;
cnt = sizeof(cfg_data)-sizeofmember(S_CONFIG_DATA_t, crc32);
res = CRC_CalcCRC((void*) &cfg_data, cnt, t_crc_8_bit, &cfg_data.crc32);
if(res != CRC_ERR_OK)
break;
if(EEPROM_Write(EEPROM_INT, EEPROM_CFG_ADDR, &cfg_data,
sizeof(cfg_data))!= EEPROM_ERR_OK){
// write failed
}
if(EEPROM_FlushCache(EEPROM_INT)!= EEPROM_ERR_OK){
// flush failed
}
break;
case SYM_OUT_RTC_SET_TIME:
rtc.sec = msg.Data.Data8[0] ;
rtc.min = msg.Data.Data8[1] ;
rtc.hour = msg.Data.Data8[2] ;
rtc.wday = msg.Data.Data8[3] ;
rtc.mday = msg.Data.Data8[4] ;
rtc.month = msg.Data.Data8[5] ;
rtc.year = msg.Data.Data16[3] ;
rtc_settime(&rtc);
break;
case SYM_OUT_RTC_ADOPT_GPS_TIME:
if(!(msg.Data.Data8[0]&0x1))
break;
// only copy values if they are valid
if((MAX7W_Readings.Validity & GPS_TIME_VALID)!=GPS_TIME_VALID)
break;
if((MAX7W_Readings.Validity & GPS_DATE_VALID)!=GPS_DATE_VALID)
break;
// get old values to keep day of week that was set before
rtc_gettime(&rtc);
rtc.sec = MAX7W_Readings.Time_Sec;
rtc.min = MAX7W_Readings.Time_Min;
rtc.hour = MAX7W_Readings.Time_Hrs;
rtc.mday = MAX7W_Readings.Date_DayOfMonth;
rtc.month = MAX7W_Readings.Date_Month;
rtc.year = MAX7W_Readings.Date_Year;
rtc_settime(&rtc);
break;
case SYM_OUT_ACC_FAST_CALIBRATION:
MEMS_BMC050_SetAccCalTargets(&msg.Data.Data8[0], &msg.Data.Data8[1], &msg.Data.Data8[2]);
if(msg.Data.Data8[3]&0x1)
MEMS_BMC050_StartFastAccCompensation();
break;
default:
break;
}
return;
}
