Game Controller / CAN

Data Structures
struct	control_state
	Stores current control state. More...

Functions
uint8_t	process_can_frame (struct control_state *ctrl)
	Processes an incoming CAN frame.
int8_t	tx_joy_btn (struct io_joystick_device *joy_dev, struct io_avr_device *avr_dev, struct can_device *can_dev)
	Transmits joystick positions and button states via CAN.
int8_t	tx_gamestart (struct can_device *can_dev)
	Sends a game start message via CAN.
int8_t	tx_reset (struct can_device *can_dev)
	Sends a reset message via CAN.
int8_t	tx_error (struct can_device *can_dev)
	Sends an error message via CAN.

Detailed Description

Function Documentation

process_can_frame()

uint8_t process_can_frame

(

struct control_state *

ctrl

)

#include <controller.h>

Processes an incoming CAN frame.

Parameters

ctrl	Pointer to control state struct

Returns

0 on success

Definition at line 15 of file controller.c.

                                                      {
 
  // 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;
}

Referenced by main().

tx_error()

int8_t tx_error

(

struct can_device *

can_dev

)

#include <controller.h>

Sends an error message via CAN.

Parameters

can_dev

Pointer to CAN device

Returns

0 on success, negative on error

Definition at line 78 of file controller.c.

                                            {
 
  // Frame Data
  struct CAN_frame msg = {CAN_ID_ERROR, 0x08, {0}, 0, 0};
 
  // Transmit data
  return can_write(can_dev, msg);
}

tx_gamestart()

int8_t tx_gamestart

(

struct can_device *

can_dev

)

#include <controller.h>

Sends a game start message via CAN.

Parameters

can_dev

Pointer to CAN device

Returns

0 on success

Definition at line 58 of file controller.c.

                                                {
 
  // Frame Data
  struct CAN_frame msg = {CAN_ID_GAMESTART, 0x01, {1}, 0, 0};
 
  // Transmit data
  can_write(can_dev, msg);
  return 0;
}

Referenced by main().

tx_joy_btn()

int8_t tx_joy_btn	(	struct io_joystick_device *	joy_dev,
		struct io_avr_device *	avr_dev,
		struct can_device *	can_dev )

#include <controller.h>

Transmits joystick positions and button states via CAN.

Parameters

joy_dev	Pointer to joystick device
avr_dev	Pointer to I/O board device
can_dev	Pointer to CAN device

Returns

0 on success, negative on error

Definition at line 34 of file controller.c.

                                                                             {
 
  // 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;
}

Referenced by main().

tx_reset()

int8_t tx_reset

(

struct can_device *

can_dev

)

#include <controller.h>

Sends a reset message via CAN.

Parameters

can_dev

Pointer to CAN device

Returns

0 on success

Definition at line 68 of file controller.c.

                                            {
 
  // Frame Data
  struct CAN_frame msg = {CAN_ID_RESET, 0x01, {0}, 0, 0};
 
  // Transmit data
  can_write(can_dev, msg);
  return 0;
}