WIP

Software/Switch/Swtich/Swtich.ino

@@ -5,7 +5,7 @@ struct can_frame _frame;
 MCP2515 mcp2515(10);
 
 bool flag = false;
-
+byte DeviceId[2];
 
 void setup() {
   Serial.begin(9600);
@@ -30,31 +30,18 @@ void setup() {
 int i = 0;
 bool debugState = false;
 
-void SendCanPackage(bool state)
-{
-  _frame.can_id = 0x001;
-  _frame.can_dlc = 4;
-  _frame.data[0] = 5;
-  _frame.data[1] = state;
-  _frame.data[2] = 0x00;
-  _frame.data[3] = 0x00;
-  mcp2515.sendMessage(&_frame);
-
-
-}
-
 void loop() {
 
   int analogValue = analogRead(A3);
   if (analogValue > 756 && !debugState)
   {
     debugState = true;
-    SendCanPackage(debugState);
+    SendSwitchedTriggeredCanPackage(5, debugState);
   }
   if (analogValue < 300 && debugState)
   {
     debugState = false;
-    SendCanPackage(debugState);
+    SendSwitchedTriggeredCanPackage(5, debugState);
 
   }
 
@@ -65,6 +52,14 @@ void loop() {
     Serial.println("CAN FRAME ------------");
     Serial.print("0x");
     Serial.println( _frame.can_id ^ CAN_EFF_FLAG, HEX);
+
+    Serial.print("PackageType: ");
+    Serial.println(GetPackageType(_frame.can_id), HEX);
+    
+    Serial.print("DeviceId: ");
+    Serial.println(GetDeviceId(_frame.can_id), HEX);
+
+
     Serial.println( _frame.can_dlc);
 
     for (int i = 0; i < _frame.can_dlc ; i++)
@@ -111,5 +106,65 @@ void loop() {
   }
 
   delay(20);
-
+}
+
+byte CircularShift(byte b)
+{
+  return (b << 1) | (b >> 7 & 1);
+}
+
+uint32_t GetDeviceId(uint32_t canFrameId)
+{
+  return canFrameId & 0xFFFF;
+}
+
+uint32_t GetPackageType(uint32_t canFrameId)
+{
+  return (canFrameId / 0x10000) & 0xFFF;
+}
+
+uint32_t CreateCanId(uint32_t commandId)
+{
+  return ((commandId & 0xFFF) * 0x10000) | ( DeviceId[0] << 8) | (DeviceId[1]) | CAN_EFF_FLAG;
+}
+
+const byte SoftwareVersionHigh = 1;
+const byte SoftwareVersionLow = 0;
+const byte HardwareVersionHigh = 2;
+const byte HardwareVersionLow = 0;
+const uint32_t HELP_PACKAGE_CAN_ID = 0xFFFF;
+const uint32_t SWITCH_TRIGGERED_CAN_ID = 0x050;
+const uint32_t TRIGGER_SWITCH_CAN_ID = 0x055;
+const uint32_t  HELP_PACKAGE_ID = 0xFFFF;
+
+void SendSerialPackage()
+{
+  _frame.can_id = CreateCanId(HELP_PACKAGE_CAN_ID);
+  _frame.can_dlc = 4;
+
+  _frame.data[0] = SoftwareVersionHigh;
+  _frame.data[1] = SoftwareVersionLow;
+  _frame.data[2] = HardwareVersionHigh;
+  _frame.data[3] = HardwareVersionLow;
+  mcp2515.sendMessage(MCP2515::TXB1, &_frame);
+}
+
+void SendSwitchedTriggeredCanPackage(byte pinId, int state)
+{
+  _frame.can_id = CreateCanId(SWITCH_TRIGGERED_CAN_ID);
+  _frame.can_dlc = 2;
+  _frame.data[0] = pinId;
+  _frame.data[1] = state;
+  mcp2515.sendMessage(MCP2515::TXB1, &_frame);
+}
+
+void SendDoTriggerSwitchCanPackage(uint32_t targetCanId, byte pinId, byte state)
+{
+  _frame.can_id = CreateCanId(TRIGGER_SWITCH_CAN_ID);
+  _frame.can_dlc = 4;
+  _frame.data[0] = targetCanId & 0xFF;
+  _frame.data[1] = (targetCanId & 0xFF00) >> 8;
+  _frame.data[2] = pinId;
+  _frame.data[3] = state;
+  mcp2515.sendMessage(MCP2515::TXB1, &_frame);
 }