Parameters.c

/****************************************************************/
/* Parameters list                                              */
/* File : Parameters.c                                          */
/* Description :                                                */
/*   Global Parameters list for internal and external com       */
/*                                                              */
/* Author : MPE                                                 */
/*                                                              */
/****************************************************************/
#include "includes.h"


const char SOFT_VER[]   = "0.1.0";
const char PARAM_VER[]  = "1.2";

t_Param Params;

static t_paramblock const p_rec_Info =
{
                        1,  /* Parameter ID */
             &Params.Info,  /* Pointer to parameter value(s) in table 1 */
                       64,  /* Size in bytes */
                        0,  /* Security and storage flags */
};

static t_paramblock const p_rec_Analog_Values =
{
                        2,  /* Parameter ID */
    &Params.Analog_Values,  /* Pointer to parameter value(s) in table 1 */
                       14,  /* Size in bytes */
                        0,  /* Security and storage flags */
};

static t_paramblock const p_rec_LeftMotorCommand =
{
                        3,  /* Parameter ID */
 &Params.LeftMotorCommand,  /* Pointer to parameter value(s) in table 1 */
                        4,  /* Size in bytes */
                        0,  /* Security and storage flags */
};

static t_paramblock const p_rec_RightMotorCommand =
{
                        4,  /* Parameter ID */
 &Params.RightMotorCommand,  /* Pointer to parameter value(s) in table 1 */
                        4,  /* Size in bytes */
                        0,  /* Security and storage flags */
};

static t_paramblock const p_rec_CommandReg =
{
                        5,  /* Parameter ID */
       &Params.CommandReg,  /* Pointer to parameter value(s) in table 1 */
                        10, /* Size in bytes */
                        0,  /* Security and storage flags */
};

static t_paramblock const p_rec_StatusReg =
{
                        6,  /* Parameter ID */
     &Params.StatusReg,  /* Pointer to parameter value(s) in table 1 */
                        10,  /* Size in bytes */
                        0,  /* Security and storage flags */
};

static t_paramblock const p_rec_FailureReg =
{
                        7,  /* Parameter ID */
       &Params.FailureReg,  /* Pointer to parameter value(s) in table 1 */
                        2,  /* Size in bytes */
                        0,  /* Security and storage flags */
};

static t_paramblock const p_rec_PConfIRDistanceDetect =
{
                        8,  /* Parameter ID */
   &Params.ProtectionConf.IRDistanceDetect,  /* Pointer to parameter value(s) in table 1 */
                       8,  /* Size in bytes */
                        0,  /* Security and storage flags */
};

static t_paramblock const p_rec_PConfVoltageBatteryDetect =
{
                        9,  /* Parameter ID */
   &Params.ProtectionConf.VoltageBatteryDetect,  /* Pointer to parameter value(s) in table 1 */
                       8,  /* Size in bytes */
                        0,  /* Security and storage flags */
};

static t_paramblock const p_rec_PConfVoltage12VDetect =
{
                        10,  /* Parameter ID */
   &Params.ProtectionConf.Voltage12VDetect,  /* Pointer to parameter value(s) in table 1 */
                       8,  /* Size in bytes */
                        0,  /* Security and storage flags */
};

static t_paramblock const p_rec_PConfCPUTemperatureDetect =
{
                        11,  /* Parameter ID */
   &Params.ProtectionConf.CPUTemperatureDetect,  /* Pointer to parameter value(s) in table 1 */
                       8,  /* Size in bytes */
                        0,  /* Security and storage flags */
};

static t_paramblock const p_rec_PConfAuxTemperatureDetect =
{
                        12,  /* Parameter ID */
   &Params.ProtectionConf.AuxTemperatureDetect,  /* Pointer to parameter value(s) in table 1 */
                       8,  /* Size in bytes */
                        0,  /* Security and storage flags */
};

static t_paramblock const p_rec_XMotorCommand =
{
                        13,  /* Parameter ID */
 &Params.XMotorCommand,  /* Pointer to parameter value(s) in table 1 */
                        4,  /* Size in bytes */
                        0,  /* Security and storage flags */
};

static t_paramblock const p_rec_YMotorCommand =
{
                        14,  /* Parameter ID */
 &Params.YMotorCommand,  /* Pointer to parameter value(s) in table 1 */
                        4,  /* Size in bytes */
                        0,  /* Security and storage flags */
};




const t_paramblock* ParamMap[] = {
	&p_rec_Info,
	&p_rec_Analog_Values,
	&p_rec_LeftMotorCommand,
	&p_rec_RightMotorCommand,
	&p_rec_CommandReg,
	&p_rec_StatusReg,
	&p_rec_FailureReg,
	&p_rec_PConfIRDistanceDetect,
	&p_rec_PConfVoltageBatteryDetect,
	&p_rec_PConfVoltage12VDetect,
	&p_rec_PConfCPUTemperatureDetect,
	&p_rec_PConfAuxTemperatureDetect,
	&p_rec_XMotorCommand,
	&p_rec_YMotorCommand,
    NULL
};



/*** Parameter Initializations ***/

CPU_VOID Init_Params()
{
	strcpy((char *)Params.Info.SoftVersion,SOFT_VER);
	strcpy((char *)Params.Info.ParamVersion,PARAM_VER);

#if defined (Win32)
    sprintf((char *)Params.Info.SoftVersion,"%s emulator",Params.Info.SoftVersion);
#endif

    Params.Analog_Values.LongIRDistance = 0;
    Params.Analog_Values.ShortIRDistance = 0;
    Params.Analog_Values.VoltageBattery = 0;
    Params.Analog_Values.Voltage12V = 0;
    Params.Analog_Values.CPUTemperature = 0;
    Params.Analog_Values.AuxTemperature = 0;

    Params.LeftMotorCommand.Speed = 0;
    Params.LeftMotorCommand.Steps = 0;

    Params.RightMotorCommand.Speed = 0;
    Params.RightMotorCommand.Steps = 0;

    Params.CommandReg.Manual = 0;
	Params.CommandReg.LineFollow = 0;
    Params.CommandReg.Survey = 0;
	Params.CommandReg.UDPLiveFeed = 0;
	Params.CommandReg.MovementMotorEnable = 0;
	Params.CommandReg.TurretMotorEnable = 0;
	Params.CommandReg.MoveDirection = 0;
	Params.CommandReg.MoveDuration = 0;

    Params.StatusReg.Manual = 0;
	Params.StatusReg.LineFollow = 0;
    Params.StatusReg.Survey = 0;
	Params.StatusReg.UDPLiveFeed = 0;
	Params.StatusReg.MovementMotorEnable = 0;
	Params.StatusReg.TurretMotorEnable = 0;
	Params.StatusReg.MoveDirection = 0;
	Params.StatusReg.MoveDuration = 0;

    Params.FailureReg.global_1.all = 0;

    Params.ProtectionConf.IRDistanceDetect.DetectionThreshold = 0;
    Params.ProtectionConf.IRDistanceDetect.CompDirection = -1;
    Params.ProtectionConf.IRDistanceDetect.TimeWindow = 100;
    Params.ProtectionConf.IRDistanceDetect.ConfThreshold = 80;

    Params.ProtectionConf.VoltageBatteryDetect.DetectionThreshold = 4500;
    Params.ProtectionConf.VoltageBatteryDetect.CompDirection = -1;
    Params.ProtectionConf.VoltageBatteryDetect.TimeWindow = 100;
    Params.ProtectionConf.VoltageBatteryDetect.ConfThreshold = 80;

    Params.ProtectionConf.Voltage12VDetect.DetectionThreshold = 10000;
    Params.ProtectionConf.Voltage12VDetect.CompDirection = -1;
    Params.ProtectionConf.Voltage12VDetect.TimeWindow = 100;
    Params.ProtectionConf.Voltage12VDetect.ConfThreshold = 80;

    Params.ProtectionConf.CPUTemperatureDetect.DetectionThreshold = 80;
    Params.ProtectionConf.CPUTemperatureDetect.CompDirection = 1;
    Params.ProtectionConf.CPUTemperatureDetect.TimeWindow = 1000;
    Params.ProtectionConf.CPUTemperatureDetect.ConfThreshold = 800;

    Params.ProtectionConf.AuxTemperatureDetect.DetectionThreshold = 20;
    Params.ProtectionConf.AuxTemperatureDetect.CompDirection = 1;
    Params.ProtectionConf.AuxTemperatureDetect.TimeWindow = 1000;
    Params.ProtectionConf.AuxTemperatureDetect.ConfThreshold = 800;

    Params.XMotorCommand.Speed = 10;
    Params.XMotorCommand.Steps = 0;

    Params.YMotorCommand.Speed = 10;
    Params.YMotorCommand.Steps = 0;

}

/********************************************//**
 * \brief
 *
 * \param paramID CPU_INT16U
 * \return CPU_INT08U*
 *
 ***********************************************/
CPU_INT08U* GetPointerFromParamID(CPU_INT16U paramID)
{
	const t_paramblock* param = NULL;
	CPU_INT16U  i;

	// Search for the parameter record
	for (i = 0; i < e_NumberOfParam; i++)
	{
		if (ParamMap[i]->id == paramID)
		{
			param = ParamMap[i];
			break;
		}
	}

    return (CPU_INT08U*)param->pValue;

}

/********************************************//**
 * \brief
 *
 * \param paramID CPU_INT16U
 * \param paramValues const CPU_INT16U*
 * \return CPU_VOID
 *
 ***********************************************/
CPU_VOID SetValueFromParamID(CPU_INT16U paramID, const CPU_INT08U* paramValues)
{
	const t_paramblock* param = NULL;
	CPU_INT16U  i;

	// Search for the parameter record
	for (i = 0; i < e_NumberOfParam; i++)
	{
		if (ParamMap[i]->id == paramID)
		{
			param = ParamMap[i];
			break;
		}
	}

      memcpy((CPU_VOID*)param->pValue, paramValues, param->psize);

}

/********************************************//**
 * \brief
 *
 * \param paramID CPU_INT16U
 * \return CPU_INT16U
 *
 ***********************************************/
CPU_INT16U GetSizeFromParamID(CPU_INT16U paramID)
{
    const t_paramblock* param = NULL;
    CPU_INT16U  i;
    CPU_INT16U ret = 0;

    // Search for the parameter record
    for (i = 0; i < e_NumberOfParam; i++)
    {
        if (ParamMap[i]->id == paramID)
        {
            param = ParamMap[i];
            break;
        }
    }
    if(param != NULL)
    {
        // something has been found
        ret = param->psize;
    }else
    {
        // nothing found
        ret = 0;
    }

    return ret;

}