create alive_checker

306-controller_interface.X/app/can_message.c

@@ -6,7 +6,94 @@
  */
 
 #include "../middleware/can_interface.h"
+#include "car.h"
+#include "../app/factory/factory.h"
 
-void CM_controller_alive(void* p) {
+typedef union {
+    struct {
+        uint8_t byte0;
+        uint8_t byte1;
+        uint8_t byte2;
+        uint8_t byte3;
+    } separate;
+    struct {
+        uint32_t bytes;
+    } full;
+} BYTES_4;
+
+void CM_processIncome(uint8_t idSender, uint8_t idMsg, uint32_t data){
+    switch(idSender){
+        case 0: // Broadcast / Debug
+            break;
+            
+        case 2: // Joystick
+            if(idMsg == 0x1) { // JOY_MESURE
+                
+            }
+            
+            if(idMsg == 0xF) { // JOY_ALIVE
+                ALIVE_CHECKER_ISALIVE(ACjoy());
+            }
+            break;
+            
+        case 3: // Display
+            break;
+            
+        case 4: // Drive
+            break;
+            
+        case 5: // Steering
+            break;
+            
+        case 6: // Supply
+            break;
+            
+        case 7: // Undefined
+            break;
+    }
+}
+
+void CM_CONTROLLER_ALIVE(void* p) {
     CAN_Send(0x0, 0xF, 0);
-}
+}
+
+void CM_JOY_SETUP(void* p) {
+    BYTES_4 joy;
+    joy.separate.byte0 = CAR_CST.JOYSTICK_MODE;
+    joy.separate.byte1 = CAR_CST.JOYSTICK_PARAM1;
+    joy.separate.byte2 = CAR_CST.JOYSTICK_PARAM2;
+    joy.separate.byte3 = CAR_CST.JOYSTICK_ALIVE_TIME;
+    CAN_Send(2, 0, joy.full.bytes);
+    
+}
+void CM_DISPLAY_SETUP(void* p) {
+    
+}
+
+void CM_DISPLAY_SPEED(void* p) {
+    
+}
+
+void CM_DISPLAY_DIRECTION(void* p) {
+    
+}
+
+void CM_DRIVE_SETUP(void* p) {
+    
+}
+
+void CM_DRIVE_POWER(void* p) {
+    
+}
+
+void CM_STEERING_SETUP(void* p) {
+    
+}
+
+void CM_STEERING_SET(void* p) {
+    
+}
+
+void CM_SETUP_CONTROL(void* p) {
+    
+}