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

rework CAN

Browse Source
This commit is contained in:
Rémi Heredero
2023-09-04 08:43:14 +02:00
parent 24f63b261b 448b5e66ad
commit c846a12edb
4 changed files with 159 additions and 17 deletions
Download Patch File Download Diff File Expand all files Collapse all files

8
306-controller_interface.X/app/can_message.c
View File

@@ -29,7 +29,7 @@ typedef union {
uint16_t full;
} BYTES_2;
void CM_processIncome(uint8_t idSender, uint8_t idMsg, uint32_t data){
void CM_processIncome(uint8_t idSender, uint8_t idMsg, bool rtr, uint32_t data){
BYTES_4 incomeData;
incomeData.full = data;
BYTES_4 revertData;
@@ -59,21 +59,21 @@ void CM_processIncome(uint8_t idSender, uint8_t idMsg, uint32_t data){
if(idMsg == 0x1) { // CONTROL_SPEED_FACTOR
// valHH valH valL valLL
KART_CST.CONTROL_SPEED_FACTOR = data;
KART_CST.CONTROL_SPEED_FACTOR = revertData.full;
MEM_write_4_byte(MEMADD_CONTROL_SPEED_FACTOR, KART_CST.CONTROL_SPEED_FACTOR);
}
if(idMsg == 0x2) { // CONTROL_POWER_FACTOR
// valHH valH valL valLL
KART_CST.CONTROL_POWER_FACTOR = data;
KART_CST.CONTROL_POWER_FACTOR = revertData.full;
MEM_write_4_byte(MEMADD_CONTROL_POWER_FACTOR, KART_CST.CONTROL_POWER_FACTOR);
CAN_Send(0, 5, KART_CST.CONTROL_POWER_FACTOR);
}
if(idMsg == 0x3) { // CONTROL_STEERING_FACTOR
// valHH valH valL valLL
KART_CST.CONTROL_STEERING_FACTOR = data;
KART_CST.CONTROL_STEERING_FACTOR = revertData.full;
MEM_write_4_byte(MEMADD_CONTROL_STEERING_FACTOR, KART_CST.CONTROL_STEERING_FACTOR);
}

2
306-controller_interface.X/app/can_message.h
View File

@@ -32,7 +32,7 @@ S R M
* @param idMsg is of the message
* @param data data of the message
*/
void CM_processIncome(uint8_t idSender, uint8_t idMsg, uint32_t data);
void CM_processIncome(uint8_t idSender, uint8_t idMsg, bool rtr, uint32_t data);
/**
* Send alive message from controller