controller.c

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/*
 * controller.c
 *
 * Created: 15.11.2025 13:52:49
 *  Author: wighu
 */
 
#include "controller.h"
#include "can.h"
#include "io.h"
#include "log.h"
 
LOG_MODULE_DEFINE("Controller");
 
uint8_t process_can_frame(struct control_state *ctrl) {
 
  // We only recive one type of message
 
  struct CAN_frame msg = {0};
 
  if (can_rxq_pull(&msg)) {
 
    LOG_CRITICAL("Recv");
 
    if (msg.id == CAN_ID_GAMEOVER) {
      LOG_CRITICAL("Game over");
 
      ctrl->game_over = msg.data[0];
    }
  }
  return 0;
}
 
int8_t tx_joy_btn(struct io_joystick_device *joy_dev,
                  struct io_avr_device *avr_dev, struct can_device *can_dev) {
 
  // Read ADC
  struct io_joystick_position joy_pos;
  io_joystick_read_position(joy_dev, &joy_pos);
 
  struct io_avr_buttons btn;
  io_avr_buttons_read(avr_dev, &btn);
 
  // Frame Data
  struct CAN_frame msg = {
      CAN_ID_JOYPOS,
      0x08,
      {joy_pos.x, joy_pos.y, btn.right, btn.left, btn.nav, 0, 0, 0},
      0,
      0};
 
  // Transmit data
  can_write(can_dev, msg);
 
  return 0;
}
 
int8_t tx_gamestart(struct can_device *can_dev) {
 
  // Frame Data
  struct CAN_frame msg = {CAN_ID_GAMESTART, 0x01, {1}, 0, 0};
 
  // Transmit data
  can_write(can_dev, msg);
  return 0;
}
 
int8_t tx_reset(struct can_device *can_dev) {
 
  // Frame Data
  struct CAN_frame msg = {CAN_ID_RESET, 0x01, {0}, 0, 0};
 
  // Transmit data
  can_write(can_dev, msg);
  return 0;
}
 
int8_t tx_error(struct can_device *can_dev) {
 
  // Frame Data
  struct CAN_frame msg = {CAN_ID_ERROR, 0x08, {0}, 0, 0};
 
  // Transmit data
  return can_write(can_dev, msg);
}