Fixed data format bugs

firmware/module_io/Core/Inc/configuration.h

@@ -11,4 +11,14 @@
     || (defined(CONFIG_OUTPUTS) && (defined(CONFIG_ADC) || defined(CONFIG_I2C))) \
     || (defined(CONFIG_ADC) && defined(CONFIG_I2C))
     #error("You must specify exactly 1 of CONFIG_OUTPUTS, CONFIG_ADC, or CONFIG_I2C")
-#endif
+#endif
+
+#ifdef CONFIG_OUTPUTS
+#define BASE_ADDR_OFFSET 0
+#endif
+#ifdef CONFIG_ADC
+#define BASE_ADDR_OFFSET 8
+#endif
+#ifdef CONFIG_I2C
+#define BASE_ADDR_OFFSET 12
+#endif

firmware/module_io/Core/Inc/datapacket.h

@@ -19,6 +19,7 @@ self.cmd   is the command
 self.data  is the array of 6 bytes of data 
 */
 
+#define BIGLITTLEDATA(pk) ((BigLittleData*) pk->data.bytes)
 typedef struct BigLittleData_t {
     uint32_t big;
     uint16_t little;
@@ -30,10 +31,7 @@ typedef struct CanData_t {
     // The command the packet is about
     uint8_t cmd;
     // Arguments or data for the packet
-        uint8_t args[6];
-    // union {
-    //     BigLittleData bld;
-    // };
+    uint8_t bytes[6];
 } CanData;
 
 typedef struct DataPacket_t {
@@ -48,10 +46,9 @@ typedef struct DataPacket_t {
     // The size of the packet. This includes the SEQ and CMD bytes. Max 8.
     uint16_t datasize;
     // Note: data must be aligned with the middle of a word, otherwise BigLittleData access will fail.
-    
+
     // The data of the packet.
     CanData data;
-
 } DataPacket;
 
 #define DATAPACKET_RESVD_BIT 8

firmware/module_io/Core/Src/datapacket.c

@@ -9,7 +9,7 @@ extern CAN_HandleTypeDef hcan;
 void printDataPacket(DataPacket* pkt) {
     uprintf("%c%d %c%02X #%02x !%02x", (pkt->err)?'E':'.', pkt->reserved&1, (pkt->reply)?'<':'>', pkt->id, pkt->data.seq, pkt->data.cmd);
     for(int i = 0; i < pkt->datasize-2; i++) {
-        uprintf(" %02X", pkt->data.args[i]);
+        uprintf(" %02X", pkt->data.bytes[i]);
     }
     // print(f"{'E' if self.err == 1 else '.'}{self.rsvd:01b} {'<' if self.reply else '>'}{self.id:02X} #{self.seq:02X} !{self.cmd:02x}: {' '.join([f'{b:02X}' for b in self.data])}")
 

firmware/module_io/Core/Src/interface_module.c

@@ -24,6 +24,11 @@ uint8_t baseAddress = 0;
 // Represents if a fatal error has occurred
 int fatal = 0;
 
+#ifdef CONFIG_OUTPUTS
+GPIO_TypeDef* outputPorts[] = {LED_GPIO_Port, OUT1_GPIO_Port, OUT2_GPIO_Port, OUT3_GPIO_Port, OUT4_GPIO_Port, OUT5_GPIO_Port, OUT6_GPIO_Port, OUT7_GPIO_Port};
+uint16_t outputPins[] = {LED_Pin, OUT1_Pin, OUT2_Pin, OUT3_Pin, OUT4_Pin, OUT5_Pin, OUT6_Pin, OUT7_Pin};
+#endif
+
 void onFatalError(void) {
     fatal = 1;
     // Do things here to set things to a safe state.
@@ -68,7 +73,7 @@ void compressUID(uint8_t* dest) {
 }
 
 int processPacket(DataPacket* pk) {
-    uint8_t subid = pk->id & 0xF;
+    uint8_t subid = (pk->id & 0xF) - BASE_ADDR_OFFSET;
     uprintf("#%d ", subid);
 
     // If the packet was an error, check if it's one we care about
@@ -80,7 +85,7 @@ int processPacket(DataPacket* pk) {
             compressUID(tempid);
             int f = 0;
             for(int i = 0; i < 6; i++) {
-                f &= tempid[i] != pk->data.args[i]; 
+                f &= tempid[i] != pk->data.bytes[i]; 
             }
             if(f) {
                 onFatalError();
@@ -107,15 +112,15 @@ int processPacket(DataPacket* pk) {
         uprintf("Command too short!");
         return 3;
     }
-    uprintf(" Exec time! ");
+    uprintf("Exec time! ");
     switch(pk->data.cmd) {
     case BUSCMD_CLAIM_ID: {
         uprintf("Id claim commnd!");
         uint8_t tempid[6];
         compressUID(tempid);
         int f = 0;
         for(int i = 0; i < 6; i++) {
-            f &= tempid[i] != pk->data.args[i]; 
+            f &= tempid[i] != pk->data.bytes[i]; 
         }
         if(f) {
             pk->err = 1;
@@ -129,39 +134,31 @@ int processPacket(DataPacket* pk) {
         uprintf("UID low read");
         pk->reply = 1;
         pk->datasize = 8;
-        copyUID(pk->data.args, 6, 0);
+        copyUID(pk->data.bytes, 6, 0);
     } break;
     case BUSCMD_READ_ID_HIGH: {
         uprintf("UID low high");
         pk->reply = 1;
         pk->datasize = 8;
-        copyUID(pk->data.args, 6, 6);
+        copyUID(pk->data.bytes, 6, 6);
         writeDatapacketToCan(pk);
     } break;
 #ifdef CONFIG_OUTPUTS
     case BUSCMD_READ_VALUE: {
         uprintf("Read value command");
-        uint32_t val = HAL_GPIO_ReadPin(LED_GPIO_Port, LED_Pin);
+        uint32_t val = HAL_GPIO_ReadPin(outputPorts[subid], outputPins[subid]);
         pk->datasize = 8;
-        BigLittleData* bld = (BigLittleData*) pk->data.args;
-        // pk->data.bld.big = val;
-        bld->big = val;
+        // BigLittleData* bld = BIGLITTLEDATA(pk);
+        BIGLITTLEDATA(pk)->big = val;
+        // bld->big = val;
         pk->reply = 1;
-        writeDatapacketToCan(pk);
+        uprintf("\nSending reply ");
         printDataPacket(pk);
+        writeDatapacketToCan(pk);
     } break;
     case BUSCMD_WRITE_VALUE: {
         uprintf("Write value command");
-        BigLittleData* bld = (BigLittleData*) pk->data.args;
-        uprintf(" %08x %08x %08x %08x", bld, &(bld->little), &(pk->data.args[4]), pk->data.args);
-        uint32_t value2 = 758;
-        uprintf(" %08x %08x", &bld, &value2);
-        uprintf(" L:%x ", bld->little);
-        uprintf(" B:%x ", bld->big);
-        uint32_t value = (uint32_t) pk->data.args[0];
-        // uint32_t value = 1;
-        uprintf("I should set %d to %d", subid, value);
-        HAL_GPIO_WritePin(LED_GPIO_Port, LED_Pin, value);
+        HAL_GPIO_WritePin(outputPorts[subid], outputPins[subid], BIGLITTLEDATA(pk)->big);
     } break;
 #endif
     default: {
@@ -173,15 +170,15 @@ int processPacket(DataPacket* pk) {
 
 void getCanMessages(void) {
     while(!fatal && HAL_CAN_GetRxFifoFillLevel(&hcan, CAN_RX_FIFO0)) {
-        uprintf(" Got message! ");
+        uprintf("Got message! ");
         DataPacket pk;
         pk.id = 0;
         pk.err = 0;
         pk.reply = 0;
         pk.data.seq = 0;
         pk.data.cmd = 0;
         for(int i = 0; i < 6; i++) {
-            pk.data.args[i] = 0;
+            pk.data.bytes[i] = 0;
         }
         pk.datasize = 0;
         int rs = readDataPacketFromCan(&pk);
@@ -190,7 +187,6 @@ void getCanMessages(void) {
             return;
         }
         printDataPacket(&pk);
-        uprintf(" FIFO:%d", HAL_CAN_GetRxFifoFillLevel(&hcan, CAN_RX_FIFO0));
 
         uint8_t bid = pk.id & 0xF0;
         uprintf(" BID:%2x", bid);
@@ -280,7 +276,7 @@ void doEverything(void) {
     iddp.reply = 0; // Not a reply
     iddp.data.seq = 0; // Don't care what it is
     iddp.data.cmd = BUSCMD_CLAIM_ID; // Sets the ID to claim
-    compressUID(iddp.data.args);
+    compressUID(iddp.data.bytes);
     iddp.datasize = 8; // Include the sequence number and command in this count
     // Send ID claim command
     int freeTX = HAL_CAN_GetTxMailboxesFreeLevel(&hcan);

firmware/module_io/Core/Src/main.c

@@ -22,7 +22,6 @@
 
 /* Private includes ----------------------------------------------------------*/
 /* USER CODE BEGIN Includes */
-#include "loop.h"
 #include "uprintf.h"
 #include "usb_device.h"
 #include "usbd_cdc_if.h"

firmware/module_io/Makefile

@@ -36,7 +36,6 @@ BUILD_DIR = build
 ######################################
 # C sources
 C_SOURCES =  \
-Core/Src/loop.c \
 Core/Src/main.c \
 Core/Src/stm32f0xx_it.c \
 Core/Src/stm32f0xx_hal_msp.c \