Klagarge/SummerSchool2-Controller
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test drive

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This commit is contained in:
Rémi Heredero
2023-08-31 17:02:23 +02:00
parent dc6e4ec65a
commit d31544783c
4 changed files with 52 additions and 8 deletions
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11
306-controller_interface.X/app/can_message.c
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@@ -208,6 +208,15 @@ void CM_processIncome(uint8_t idSender, uint8_t idMsg, uint32_t data){
if(idMsg == 0xF) { // DRIVE_ALIVE
// statusH statusL - -
ALIVE_ISALIVE(ALdrive());
if(ALdrive()->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);
}
// TODO drive say ALIVE
}
@@ -324,6 +333,8 @@ void CM_DRIVE_POWER(void* p) {
torque.full = *((int16_t*) p);
tmpData.separate.byte0 = torque.separate.byte1;
tmpData.separate.byte1 = torque.separate.byte0;
tmpData.separate.byte2 = 0;
tmpData.separate.byte3 = 0;
CAN_Send(4, 1, tmpData.full);
}