Klagarge/SummerSchool2-Controller
Archived
1
0
Fork 0
Code Issues Pull Requests Projects 1 Releases 1 Activity

add drive management

Browse Source
This commit is contained in:
Rémi Heredero
2023-08-31 20:02:41 +02:00
parent 2ece901b08
commit a20667399b
8 changed files with 459 additions and 40 deletions
Download Patch File Download Diff File Expand all files Collapse all files

15
306-controller_interface.X/app/can_message.c
View File

@@ -171,8 +171,9 @@ void CM_processIncome(uint8_t idSender, uint8_t idMsg, uint32_t data){
KART_CST.JOYSTICK_PARAM2 = MEM_read_1_byte(MEMADD_JOYSTICK_PARAM2);
KART_CST.JOYSTICK_ALIVE_TIME = MEM_read_1_byte(MEMADD_JOYSTICK_ALIVE_TIME);
ALIVE_setAliveTime(ALjoy(), KART_CST.JOYSTICK_ALIVE_TIME);
ALIVE_emitBorn(ALjoy(), 0, 0);
ALIVE_emitReady(ALjoy(), 100, 0);
ALIVE_emitResurrect(ALjoy(), 0, 0);
ALIVE_emitBorn(ALjoy(), 100, 0);
ALIVE_emitReady(ALjoy(), 200, 0);
}
}
break;
@@ -204,18 +205,18 @@ void CM_processIncome(uint8_t idSender, uint8_t idMsg, uint32_t data){
rpm.separate.byte2 = tmpData.separate.byte1;
rpm.separate.byte3 = tmpData.separate.byte0;
calcSpeed(rpm.full);
DRIVE_emitPollSpeed(drive());
}
if(idMsg == 0xF) { // DRIVE_ALIVE
// statusH statusL - -
ALIVE_ISALIVE(ALdrive());
if(ALdrive()->state == STAL_DEAD){
ALIVE_ISALIVE(&drive()->myChecker);
if(drive()->myChecker.state == STAL_DEAD){
KART_CST.DRIVE_SPEED_TIME = MEM_read_1_byte(MEMADD_DRIVE_SPEED_TIME);
KART_CST.DRIVE_STOP_TIME = MEM_read_1_byte(MEMADD_DRIVE_STOP_TIME);
KART_CST.DRIVE_ALIVE_TIME = MEM_read_1_byte(MEMADD_DRIVE_ALIVE_TIME);
ALIVE_setAliveTime(ALdrive(), KART_CST.DRIVE_ALIVE_TIME);
ALIVE_emitBorn(ALdrive(), 0, 0);
ALIVE_emitReady(ALdrive(), 100, 0);
ALIVE_emitResurrect(&drive()->myChecker, 0, 0);
ALIVE_emitBorn(&drive()->myChecker, 0, 0);
}
// TODO drive say ALIVE