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Decouple slave IDs from slaves array indices

This commit is contained in:
Jasper Blanckenburg 2023-04-15 22:23:18 +02:00
parent e86a0f90fb
commit f09665ad28
1 changed files with 37 additions and 15 deletions
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52
Core/Src/slave_monitoring.c
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@ -15,9 +15,29 @@ SlaveHandle slaves[N_SLAVES];
uint16_t min_voltage;
int16_t max_temp;
static uint8_t slave_id_to_index[128] = {0xFF};
static size_t get_slave_index(uint8_t slave_id) {
// Slave IDs are 7-bit, so we can use a 128-element array to map them to
// indices. 0xFF is used to mark unseen slave IDs, since the highest index we
// could need is N_SLAVES - 1 (i.e. 5).
static size_t next_slave_index = 0;
if (slave_id_to_index[slave_id] == 0xFF) {
if (next_slave_index >= N_SLAVES) {
// We've seen more than N_SLAVES slave IDs, this shouldn't happen.
Error_Handler();
}
slave_id_to_index[slave_id] = next_slave_index;
slaves[next_slave_index].id = slave_id;
next_slave_index++;
}
return slave_id_to_index[slave_id];
}
void slaves_init() {
memset(slave_id_to_index, 0xFF, sizeof(slave_id_to_index));
for (int i = 0; i < N_SLAVES; i++) {
slaves[i].id = i;
slaves[i].id = 0xFF;
slaves[i].error.kind = SLAVE_ERR_NONE;
slaves[i].last_message = 0;
slaves[i].min_voltage = 0;
@ -69,41 +89,43 @@ void slaves_check() {
void slaves_handle_panic(const uint8_t *data) {
uint8_t slave_id = ftcan_unmarshal_unsigned(&data, 1);
uint8_t idx = get_slave_index(slave_id);
uint8_t error_kind = ftcan_unmarshal_unsigned(&data, 1);
switch (error_kind) {
case SLAVE_PANIC_OT:
slaves[slave_id].error.kind = SLAVE_ERR_OT;
slaves[idx].error.kind = SLAVE_ERR_OT;
break;
case SLAVE_PANIC_UT:
slaves[slave_id].error.kind = SLAVE_ERR_UT;
slaves[idx].error.kind = SLAVE_ERR_UT;
break;
case SLAVE_PANIC_OV:
slaves[slave_id].error.kind = SLAVE_ERR_OV;
slaves[idx].error.kind = SLAVE_ERR_OV;
break;
case SLAVE_PANIC_UV:
slaves[slave_id].error.kind = SLAVE_ERR_UV;
slaves[idx].error.kind = SLAVE_ERR_UV;
break;
}
slaves[slave_id].error.data = ftcan_unmarshal_unsigned(&data, 4);
slaves[slave_id].last_message = HAL_GetTick();
slaves[idx].error.data = ftcan_unmarshal_unsigned(&data, 4);
slaves[idx].last_message = HAL_GetTick();
}
void slaves_handle_status(const uint8_t *data) {
uint8_t slave_id = data[0] & 0x7F;
uint8_t idx = get_slave_index(slave_id);
int error = data[0] & 0x80;
if (error) {
if (slaves[slave_id].error.kind == SLAVE_ERR_NONE) {
slaves[slave_id].error.kind = SLAVE_ERR_UNKNOWN;
if (slaves[idx].error.kind == SLAVE_ERR_NONE) {
slaves[idx].error.kind = SLAVE_ERR_UNKNOWN;
}
} else {
slaves[slave_id].error.kind = SLAVE_ERR_NONE;
slaves[idx].error.kind = SLAVE_ERR_NONE;
}
slaves[slave_id].soc = data[1];
slaves[idx].soc = data[1];
const uint8_t *ptr = &data[2];
slaves[slave_id].min_voltage = ftcan_unmarshal_unsigned(&ptr, 2);
slaves[slave_id].max_voltage = ftcan_unmarshal_unsigned(&ptr, 2);
slaves[slave_id].max_temp = ftcan_unmarshal_unsigned(&ptr, 2);
slaves[slave_id].last_message = HAL_GetTick();
slaves[idx].min_voltage = ftcan_unmarshal_unsigned(&ptr, 2);
slaves[idx].max_voltage = ftcan_unmarshal_unsigned(&ptr, 2);
slaves[idx].max_temp = ftcan_unmarshal_unsigned(&ptr, 2);
slaves[idx].last_message = HAL_GetTick();
}
void slaves_handle_log(const uint8_t *data) {