move led controller

fix curve and add headlights

.gitignore

@@ -0,0 +1 @@
+.idea

306-controller_interface.X/.gitignore

@@ -7,7 +7,6 @@ debug/
 dist/
 disassembly/
 nbproject/private/
-nbproject/*.mk
 nbproject/*.bash
 nbproject/Makefile-genesis.properties
 

306-controller_interface.X/app/can_message.c

@@ -0,0 +1,456 @@
+/**
+ * @author R<>mi Heredero
+ * @version 1.0.0
+ * @date August 2023
+ * @file can_message.c
+ */
+
+#include "can_message.h"
+#include "car.h"
+#include "../app/factory/factory.h"
+#include "../middleware/can_interface.h"
+#include "kartculator.h"
+
+typedef union {
+    struct {
+        uint8_t byte0;
+        uint8_t byte1;
+        uint8_t byte2;
+        uint8_t byte3;
+    } separate;
+    uint32_t full;
+} BYTES_4;
+
+typedef union {
+    struct {
+        uint8_t byte0;
+        uint8_t byte1;
+    } separate;
+    uint16_t full;
+} BYTES_2;
+
+typedef union{
+    uint16_t data;
+    struct{
+        uint8_t data[2];
+    }byteSplit;  
+    struct{
+        unsigned b0:1;
+        unsigned b1:1;
+        unsigned b2:1;
+        unsigned b3:1;
+        unsigned b4:1;
+        unsigned b5:1;
+        unsigned b6:1;
+        unsigned b7:1;
+        unsigned b8:1;
+        unsigned b9:1;
+        unsigned b10:1;
+        unsigned b11:1;
+        unsigned b12:1;
+        unsigned b13:1;
+        unsigned b14:1;
+        unsigned b15:1;
+    }bitSplit;
+} BITFIELD16;
+
+void CM_processIncome(uint8_t idSender, uint8_t idMsg, bool rtr, uint32_t data){
+    BYTES_4 incomeData;
+    incomeData.full = data;
+    BYTES_4 revertData;
+    revertData.separate.byte0 = incomeData.separate.byte3;
+    revertData.separate.byte1 = incomeData.separate.byte2;
+    revertData.separate.byte2 = incomeData.separate.byte1;
+    revertData.separate.byte3 = incomeData.separate.byte0;
+    BITFIELD16 bField;
+    bField.data = (uint16_t) data;
+    
+    switch(idSender){
+        
+        /*********************
+         * BROADCAST / DEBUG *
+         *********************/
+        case 0:
+            if(idMsg == 0x0) { // CONTROL_SETUP
+                //  steeringMode    eraseMemory -   controlAliveTime
+                if (incomeData.separate.byte1) {
+                    MEM_reset();
+                }
+                KART_CST.CONTROL_STEERING_MODE = incomeData.separate.byte0;
+                KART_CST.CONTROL_ALIVE_TIME = incomeData.separate.byte3;
+                MEM_write_1_byte(MEMADD_CONTROL_STEERING_MODE, KART_CST.CONTROL_STEERING_MODE);
+                MEM_write_1_byte(MEMADD_CONTROL_ALIVE_TIME, KART_CST.CONTROL_ALIVE_TIME);
+                ALIVE_setAliveTime(ALcontroller(), KART_CST.CONTROL_ALIVE_TIME);
+                ALIVE_emitStart(ALcontroller(), 0, 0);
+            }
+            
+            if(idMsg == 0x1) { // CONTROL_SPEED_FACTOR
+                //  valHH   valH    valL    valLL
+                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 = 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 = revertData.full;
+                MEM_write_4_byte(MEMADD_CONTROL_STEERING_FACTOR, KART_CST.CONTROL_STEERING_FACTOR);
+                
+            }
+            
+            if(idMsg == 0x4) { // CONTROL_SECURITY_PARAM
+                //  maxSpeedFw  maxSpeedBw  -   -
+                KART_CST.CONTROL_MAX_SPEED_FW = incomeData.separate.byte0;
+                KART_CST.CONTROL_MAX_SPEED_BW = incomeData.separate.byte1;
+                MEM_write_1_byte(MEMADD_CONTROL_MAX_SPEED_FW, KART_CST.CONTROL_MAX_SPEED_FW);
+                MEM_write_1_byte(MEMADD_CONTROL_MAX_SPEED_BW, KART_CST.CONTROL_MAX_SPEED_BW);
+                
+            }
+            
+            if(idMsg == 0x5) { // CONTROL_SETUP_PARAM
+                //  displayAliveTime    steeringAliveTime   -   -
+                KART_CST.DISPLAY_ALIVE_TIME = incomeData.separate.byte0;
+                KART_CST.STEERING_ALIVE_TIME = incomeData.separate.byte1;
+                MEM_write_1_byte(MEMADD_DISPLAY_ALIVE_TIME, KART_CST.DISPLAY_ALIVE_TIME);
+                MEM_write_1_byte(MEMADD_STEERING_ALIVE_TIME, KART_CST.STEERING_ALIVE_TIME);
+                
+                // TODO set alive times
+                // start alives
+                CM_DISPLAY_SETUP(NULL);
+                CM_STEERING_SETUP(&ALWAYS0);
+                
+            }
+            
+            if(idMsg == 0x6) { // CONTROL_SETUP_PARAM_JOY
+                //  joystickMode    joystickParam1  joystickParam2  joystickAliveTime
+                KART_CST.JOYSTICK_MODE = incomeData.separate.byte0;
+                KART_CST.JOYSTICK_PARAM1 = incomeData.separate.byte1;
+                KART_CST.JOYSTICK_PARAM2 = incomeData.separate.byte2;
+                KART_CST.JOYSTICK_ALIVE_TIME = incomeData.separate.byte3;
+                MEM_write_1_byte(MEMADD_JOYSTICK_MODE, KART_CST.JOYSTICK_MODE);
+                MEM_write_1_byte(MEMADD_JOYSTICK_PARAM1, KART_CST.JOYSTICK_PARAM1);
+                MEM_write_1_byte(MEMADD_JOYSTICK_PARAM2, KART_CST.JOYSTICK_PARAM2);
+                MEM_write_1_byte(MEMADD_JOYSTICK_ALIVE_TIME, KART_CST.JOYSTICK_ALIVE_TIME);
+                
+                ALIVE_setAliveTime(ALjoy(), KART_CST.JOYSTICK_ALIVE_TIME);
+                ALIVE_emitStart(ALjoy(), 0, 0);
+                CM_JOY_SETUP(NULL);
+                
+            }
+            
+            if(idMsg == 0x7) { // CONTROL_SETUP_PARAM_DRIVE
+                //  driveAliveTime  driveSpeedTime  driveStopTime   -
+                KART_CST.DRIVE_ALIVE_TIME = incomeData.separate.byte0;
+                KART_CST.DRIVE_SPEED_TIME = incomeData.separate.byte1;
+                KART_CST.DRIVE_STOP_TIME = incomeData.separate.byte2;
+                MEM_write_1_byte(MEMADD_DRIVE_ALIVE_TIME, KART_CST.DRIVE_ALIVE_TIME);
+                MEM_write_1_byte(MEMADD_DRIVE_SPEED_TIME, KART_CST.DRIVE_SPEED_TIME);
+                MEM_write_1_byte(MEMADD_DRIVE_STOP_TIME, KART_CST.DRIVE_STOP_TIME);
+                
+                ALIVE_setAliveTime(&drive()->myChecker, KART_CST.DRIVE_ALIVE_TIME);
+                ALIVE_emitStart(&drive()->myChecker, 0, 0);
+                CM_DRIVE_SETUP(&ALWAYSFALSE);
+                
+            }
+            
+            if(idMsg == 0x8) { // CONTROL_SETUP_PARAM_BATTERY
+                //  batteryVoltTime batteryCurrentTime  batteryEnergyTime   batteryAliveTime
+                KART_CST.BATTERY_VOLT_TIME = incomeData.separate.byte0;
+                KART_CST.BATTERY_CURRENT_TIME = incomeData.separate.byte1;
+                KART_CST.BATTERY_ENERGY_TIME = incomeData.separate.byte2;
+                KART_CST.BATTERY_ALIVE_TIME = incomeData.separate.byte3;
+                MEM_write_1_byte(MEMADD_BATTERY_VOLT_TIME, KART_CST.BATTERY_VOLT_TIME);
+                MEM_write_1_byte(MEMADD_BATTERY_CURRENT_TIME, KART_CST.BATTERY_CURRENT_TIME);
+                MEM_write_1_byte(MEMADD_BATTERY_ENERGY_TIME, KART_CST.BATTERY_ENERGY_TIME);
+                MEM_write_1_byte(MEMADD_BATTERY_ALIVE_TIME, KART_CST.BATTERY_ALIVE_TIME);
+                
+                // TODO set alive time
+                // TODO start alive
+                CM_SUPPLY_SETUP(NULL);
+                
+            }
+            
+            if(idMsg == 0x9) { // CONTROL_PARAM_MAX_CHANGES
+                //  maxChangeSteering   maxChangeDrive  -   -
+                KART_CST.CONTROL_PARAM_MAX_CHANGE_STEERING = incomeData.separate.byte0;
+                KART_CST.CONTROL_PARAM_MAX_CHANGE_DRIVE = incomeData.separate.byte1;
+                MEM_write_1_byte(MEMADD_CONTROL_PARAM_MAX_CHANGE_STEERING, KART_CST.CONTROL_PARAM_MAX_CHANGE_STEERING);
+                MEM_write_1_byte(MEMADD_CONTROL_PARAM_MAX_CHANGE_DRIVE, KART_CST.CONTROL_PARAM_MAX_CHANGE_DRIVE);
+            }
+
+            break;
+            
+            
+        /************
+         * JOYSTICK *
+         ************/
+        case 2:
+            if(idMsg == 0x1) { // JOY_MESURE
+                //  posX    posY    button  -
+                calcTorque(incomeData.separate.byte1);
+                calcPosition(incomeData.separate.byte0);
+                eKart.button = (bool) incomeData.separate.byte2;
+                STEERING_emitPollDir(steering());
+                
+                
+            }
+            
+            if(idMsg == 0xF) { // JOY_ALIVE
+                //  -   -   -   -
+                ALIVE_ISALIVE(ALjoy());
+                if(ALjoy()->state == STAL_DEAD){
+                    KART_CST.JOYSTICK_MODE = MEM_read_1_byte(MEMADD_JOYSTICK_MODE);
+                    KART_CST.JOYSTICK_PARAM1 = MEM_read_1_byte(MEMADD_JOYSTICK_PARAM1);
+                    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_emitResurrect(ALjoy(), 0, 0);
+                    ALIVE_emitBorn(ALjoy(), 0, 0);
+                    ALIVE_emitReady(ALjoy(), 0, 0);
+                }
+            }
+            break;
+            
+            
+        /***********
+         * DISPLAY *
+         ***********/
+        case 3:
+            if(idMsg == 0xF) { // DISPLAY_ALIVE
+                //  powerMode   -   -   -
+                // TODO display say ALIVE
+                eKart.powerMode = incomeData.separate.byte0;
+                if (eKart.powerMode == 0) {
+                    CM_HEADLIGHTS(&ALWAYSFALSE);
+                } else {
+                    CM_HEADLIGHTS(&ALWAYSTRUE);
+                }
+            }
+            break;
+            
+            
+        /*********
+         * DRIVE *
+         *********/
+        case 4:
+            if(idMsg == 0x0) { // DRIVE_SPEED
+                //  speedHH speedH  speedL  speedLL
+                calcSpeed(revertData.full);
+                DRIVE_emitPollSpeed(drive());
+            }
+            
+            if(idMsg == 0xF) { // DRIVE_ALIVE
+                //  statusH statusL -   -
+                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_emitResurrect(&drive()->myChecker, 0, 0);
+                    ALIVE_emitBorn(&drive()->myChecker, 0, 0);
+                }
+                
+            }
+            break;
+            
+            
+        /************
+         * STEERING *
+         ************/
+        case 5:
+            if(idMsg == 0x1) { // STEERING_GET_CENTER
+                //  valHH   valH    valL    valLL
+                eKart.center = revertData.full;
+                ALIVE_emitReady(&steering()->myChecker, 0, 0);
+            }
+            
+            if(idMsg == 0x2) { // STEERING_GET_POSITION
+                //  valHH   valH    valL    valLL
+                
+            }
+            
+            if(idMsg == 0xE) { // DRIVE_BRAKE
+                //  status  -   -   -
+                eKart.brake = incomeData.separate.byte0;
+            }
+            
+            if(idMsg == 0xF) { // STEERING_ALIVE
+                //  statusH statusL -   -
+                ALIVE_ISALIVE(&steering()->myChecker);
+                if(steering()->myChecker.state == STAL_DEAD) {
+                    KART_CST.STEERING_ALIVE_TIME = MEM_read_1_byte(MEMADD_STEERING_ALIVE_TIME);
+                    ALIVE_emitResurrect(&steering()->myChecker, 500, 0);
+                    ALIVE_emitBorn(&steering()->myChecker, 1000, 0);
+                    //ALIVE_emitReady(&steering()->myChecker, 5000, 0);
+                }
+                if(bField.bitSplit.b4) {
+                    if (steering()->myChecker.state == STAL_BORN){
+                        ALIVE_emitReady(&steering()->myChecker, 1000, 0);
+                    }
+                }
+                
+                
+            }
+            break;
+            
+            
+        /**********
+         * SUPPLY *
+         **********/
+        case 6:
+            if(idMsg == 0x4) {
+                DRIVE_startBehaviour(drive());
+                STEERING_startBehaviour(steering());
+
+                ALIVE_startBehaviourChecker(ALjoy());
+                ALIVE_emitBorn(ALjoy(), 100, 0);
+                ALIVE_emitReady(ALjoy(), 200, 0);
+            }
+            
+            if(idMsg == 0xF) { // BATTERY_ALIVE
+                //  -   -	-	-
+                // TODO battery say ALIVE
+                
+            }
+            break;
+            
+            
+        /*************
+         * UNDEFINED *
+         *************/
+        case 7:
+            break;
+    }
+}
+
+void CM_CONTROLLER_ALIVE(void* p) {
+    //  -   -   -   -
+    CAN_Send(0x0, 0xF, 0);
+}
+
+void CM_JOY_SETUP(void* p) {
+    //  mode    parm1   param2  aliveTime
+    BYTES_4 joy;
+    joy.separate.byte0 = KART_CST.JOYSTICK_MODE;
+    joy.separate.byte1 = KART_CST.JOYSTICK_PARAM1;
+    joy.separate.byte2 = KART_CST.JOYSTICK_PARAM2;
+    joy.separate.byte3 = KART_CST.JOYSTICK_ALIVE_TIME;
+    CAN_Send(2, 0, joy.full);    
+}
+void CM_DISPLAY_SETUP(void* p) {
+    //  reset   -   -   aliveTime
+    BYTES_4 display;
+    display.separate.byte0 = 0; // reset
+    display.separate.byte3 = KART_CST.DISPLAY_ALIVE_TIME;
+    CAN_Send(3, 0, display.full);    
+}
+
+void CM_DISPLAY_SPEED(void* p) {
+    //  valH    valL    -   -
+    BYTES_4 tmpData;
+    // byte0 should be valH but isn't possible to go enough fast for use it
+    tmpData.separate.byte0 = 0; 
+    tmpData.separate.byte1 = *((uint8_t*) p);
+    tmpData.separate.byte2 = 0;
+    tmpData.separate.byte3 = 0;
+    CAN_Send(3, 2, tmpData.full);    
+}
+
+void CM_DISPLAY_DIRECTION(void* p) {
+    //  direction   -   -   -
+    BYTES_4 tmpData;
+    tmpData.separate.byte0 = (uint8_t) p;
+    tmpData.separate.byte1 = 0;
+    tmpData.separate.byte2 = 0;
+    tmpData.separate.byte3 = 0;
+    CAN_Send(3, 3, tmpData.full);
+}
+
+void CM_DRIVE_SETUP(void* p) {
+    //  reset/init  speedTime   stopTime    aliveTime
+    BYTES_4 tmpData;
+    tmpData.separate.byte0 = (uint8_t) p;
+    tmpData.separate.byte1 = KART_CST.DRIVE_SPEED_TIME;
+    tmpData.separate.byte2 = KART_CST.DRIVE_STOP_TIME;
+    tmpData.separate.byte3 = KART_CST.DRIVE_ALIVE_TIME;
+    CAN_Send(4, 0, tmpData.full);
+    
+}
+
+void CM_DRIVE_POWER(void* p) {
+    //  valH    valL    -   -
+    BYTES_2 torque;
+    BYTES_4 tmpData;
+    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);
+}
+
+void CM_STEERING_SETUP(void* p) {
+    //  reset/init  homing  setCenter   aliveTime
+    // TODO not working have to fix it
+    BYTES_4 tmpData;
+    uint8_t choice = *(uint8_t*) p;
+    switch (choice) {
+        case 1:
+            tmpData.separate.byte0 = 1;
+            tmpData.separate.byte1 = 0;
+            tmpData.separate.byte2 = 0;
+            break;
+        case 2:
+            tmpData.separate.byte0 = 0;
+            tmpData.separate.byte1 = 1;
+            tmpData.separate.byte2 = 0;
+            break;
+        case 3:
+            tmpData.separate.byte0 = 0;
+            tmpData.separate.byte1 = 0;
+            tmpData.separate.byte2 = 1;
+            break;
+        default:
+            tmpData.separate.byte0 = 0;
+            tmpData.separate.byte1 = 0;
+            tmpData.separate.byte2 = 0;
+            break;
+    }
+    tmpData.separate.byte3 = KART_CST.STEERING_ALIVE_TIME; // 0 -> no alive
+    CAN_Send(5, 0, tmpData.full);
+}
+
+void CM_STEERING_SET(void* p) {
+    //  valHH   valH    valL    valLL
+    BYTES_4 pPosition;
+    pPosition.full = *((uint32_t*) p);
+    BYTES_4 sPosition;
+    sPosition.separate.byte0 = pPosition.separate.byte3;
+    sPosition.separate.byte1 = pPosition.separate.byte2;
+    sPosition.separate.byte2 = pPosition.separate.byte1;
+    sPosition.separate.byte3 = pPosition.separate.byte0;
+    CAN_Send(5, 1, sPosition.full);
+}
+
+void CM_SUPPLY_SETUP(void* p) {
+    //  batteryVoltTime batteryCurrentTime  batteryEnergyTime   aliveTime
+    BYTES_4 supply;
+    supply.separate.byte0 = KART_CST.BATTERY_VOLT_TIME;
+    supply.separate.byte1 = KART_CST.BATTERY_CURRENT_TIME;
+    supply.separate.byte2 = KART_CST.BATTERY_ENERGY_TIME;
+    supply.separate.byte3 = KART_CST.BATTERY_ALIVE_TIME;
+    CAN_Send(6, 0, supply.full);
+}
+
+void CM_HEADLIGHTS(void* p) {
+    //  status  -   -   -
+    bool status = *((bool*) p);
+    CAN_send_1_byte(0, 4, status);
+}

306-controller_interface.X/app/can_message.h

@@ -0,0 +1,99 @@
+/**
+ * @author R<>mi Heredero
+ * @version 1.0.0
+ * @date August 2023
+ * @file can_message.h
+ */
+
+#ifndef CAN_MESSAGE_H
+#define CAN_MESSAGE_H
+
+#include <stdint.h>         // usage of standard types
+#include <stdbool.h>        // usage of boolean types
+#include "../mcc_generated_files/mcc.h"
+
+
+/**
+ * Process an incoming message
+ * @param idSender id of the sender
+ * @param idMsg is of the message
+ * @param data data of the message
+ */
+void CM_processIncome(uint8_t idSender, uint8_t idMsg, bool rtr, uint32_t data);
+
+/**
+ * Send alive message from controller
+ * @param p have to be NULL
+ */
+void CM_CONTROLLER_ALIVE(void* p);
+
+/**
+ * Send setup to the joystick (settings from memory)
+ * @param p have to be NULL
+ */
+void CM_JOY_SETUP(void* p);
+
+/**
+ * Send setup to the display (settings from memory)
+ * @param p have to be NULL
+ */
+void CM_DISPLAY_SETUP(void* p);
+
+/**
+ * Send speed to display
+ * @param p the speed in 100m/h (max 255 m/h)
+ */
+void CM_DISPLAY_SPEED(void* p);
+
+/**
+ * Send direction of the steering wheel
+ * 0 is straight forward
+ * positive value is going right
+ * negative value is going left
+ * @param p the direction (int 8)
+ */
+void CM_DISPLAY_DIRECTION(void* p);
+
+/**
+ * Send setup to the drive
+ * use with reset in parameter
+ * other settings from memory
+ * @param p 1 if reset/init 0 else
+ */
+void CM_DRIVE_SETUP(void* p);
+
+/**
+ * Send power to the drive
+ * @param p the torque (int16_t*)
+ */
+void CM_DRIVE_POWER(void* p);
+
+/**
+ * Send setup to the steering
+ * can be use for reset (1), homing (2) and setCenter (3)
+ * @param p 0 for setup, 1 for reset, 2 for homing, 3 for setCenter
+ */
+void CM_STEERING_SETUP(void* p);
+
+/**
+ * Send position for steering
+ * no negative value because 0 is home (sensor)
+ * @param p the position (uint32_t*)
+ */
+void CM_STEERING_SET(void* p);
+
+/**
+ * Send setup to the supply (settings from memory)
+ * @param p have to be NULL
+ */
+void CM_SUPPLY_SETUP(void* p);
+
+/**
+ * Send headlights on or off
+ * @param p true if on, false if off;
+ */
+void CM_HEADLIGHTS(void* p);
+
+
+#endif	/* CAN_MESSAGE_H */
+

306-controller_interface.X/app/car.h

@@ -23,20 +23,35 @@
 /*******************
  * MEMORY ADRESSES *
  *******************/
-#define MEMADD_CONTROL_STEERING_MODE        0x00
+#define MEMADD_CONTROL_STEERING_MODE        0x01
-#define MEMADD_CONTROL_ALIVE_TIME           0x01
+#define MEMADD_CONTROL_ALIVE_TIME           0x02
-#define MEMADD_CONTROL_SPEED_FACTOR         0x02
+#define MEMADD_CONTROL_SPEED_FACTOR         0x03
-#define MEMADD_CONTROL_POWER_FACTOR         0x06
+#define MEMADD_CONTROL_POWER_FACTOR         0x07
-#define MEMADD_CONTROL_STEERING_FACTOR      0x0A
+#define MEMADD_CONTROL_STEERING_FACTOR      0x0B
-#define MEMADD_CONTROL_MAX_SPEED_FW         0x0E
+#define MEMADD_CONTROL_MAX_SPEED_FW         0x0F
-#define MEMADD_CONTROL_MAX_SPEED_BW         0x0F
+#define MEMADD_CONTROL_MAX_SPEED_BW         0x10
-#define MEMADD_JOYSTICK_ALIVE_TIME          0x10
+#define MEMADD_JOYSTICK_MODE                0x11
-#define MEMADD_DISPLAY_ALIVE_TIME           0x11
+#define MEMADD_JOYSTICK_PARAM1              0x12
-#define MEMADD_DRIVE_SPEED_TIME             0x12
+#define MEMADD_JOYSTICK_PARAM2              0x13
-#define MEMADD_DRIVE_STOP_TIME              0x13
+#define MEMADD_JOYSTICK_ALIVE_TIME          0x14
-#define MEMADD_DRIVE_ALIVE_TIME             0x14
+#define MEMADD_DISPLAY_ALIVE_TIME           0x15
-#define MEMADD_STEERING_ALIVE_TIME          0x15
+#define MEMADD_DRIVE_SPEED_TIME             0x16
-#define MEMADD_BATTERY_ALIVE_TIME           0x16
+#define MEMADD_DRIVE_STOP_TIME              0x17
+#define MEMADD_DRIVE_ALIVE_TIME             0x18
+#define MEMADD_STEERING_ALIVE_TIME          0x19
+#define MEMADD_BATTERY_VOLT_TIME            0x1A
+#define MEMADD_BATTERY_CURRENT_TIME         0x1B
+#define MEMADD_BATTERY_ENERGY_TIME          0x1C
+#define MEMADD_BATTERY_ALIVE_TIME           0x1D
+#define MEMADD_CONTROL_PARAM_MAX_CHANGE_STEERING 0x1E
+#define MEMADD_CONTROL_PARAM_MAX_CHANGE_DRIVE 0x1F
+
+const bool ALWAYSTRUE = true;
+const bool ALWAYSFALSE = false;
+const uint8_t ALWAYS0 = 0;
+const uint8_t ALWAYS1 = 1;
+const uint8_t ALWAYS2 = 2;
+const uint8_t ALWAYS3 = 3;
 
 typedef struct {
     uint8_t     CONTROL_STEERING_MODE;
@@ -46,15 +61,52 @@ typedef struct {
     uint32_t    CONTROL_STEERING_FACTOR;
     uint8_t     CONTROL_MAX_SPEED_FW;
     uint8_t     CONTROL_MAX_SPEED_BW;
+    uint8_t     JOYSTICK_MODE;
+    uint8_t     JOYSTICK_PARAM1;
+    uint8_t     JOYSTICK_PARAM2;
     uint8_t     JOYSTICK_ALIVE_TIME;
     uint8_t     DISPLAY_ALIVE_TIME;
     uint8_t     DRIVE_SPEED_TIME;
     uint8_t     DRIVE_STOP_TIME;
     uint8_t     DRIVE_ALIVE_TIME;
     uint8_t     STEERING_ALIVE_TIME;
+    uint8_t     BATTERY_VOLT_TIME;
+    uint8_t     BATTERY_CURRENT_TIME;
+    uint8_t     BATTERY_ENERGY_TIME;
     uint8_t     BATTERY_ALIVE_TIME;
-} CAR_CST_TYPE;
+    uint8_t     CONTROL_PARAM_MAX_CHANGE_STEERING;
-CAR_CST_TYPE CAR_CST;
+    uint8_t     CONTROL_PARAM_MAX_CHANGE_DRIVE;
+
+} KART_CST_TYPE;
+KART_CST_TYPE KART_CST;
+
+typedef struct {
+    int16_t torque;     // 
+    uint32_t center;    // 
+    uint32_t position;  // 
+    bool button;
+    uint8_t speed;      // 100m/h
+    bool brake;
+    uint8_t powerMode; // 0: eco - 1: normal - 2: race
+    /*
+     * 0 - ECO MODE
+     * Eco mod limit to 1/2 of the maximal current. 
+     * Position is 1/2 of the maximal angle
+     * 
+     * 1 - NORMAL MODE
+     * Standard ramp for normal mode
+     * Position is limited to 3/4 of the maximal 
+     * 
+     * 2 - RACE MODE
+     * 
+     * 
+     */
+} KART_VAR_TYPE;
+KART_VAR_TYPE eKart;
+
+uint8_t rampTorque[101];
+uint8_t rampPosition[101];
+
 
 
 #endif	/* CAR_H */

306-controller_interface.X/app/drive.c

@@ -0,0 +1,179 @@
+/**
+ * @author R<>mi Heredero
+ * @version 1.0.0
+ * @date August 2023
+ * @file drive.c
+ */
+
+#include "drive.h"
+#include "car.h"
+#include "can_message.h"
+//#include "steering.h"
+//#include "factory/factory.h"
+
+void DRIVE_init(DRIVE* me){
+    me->state = STDR_INIT;
+    ALIVE_init(&me->myChecker, 2);
+    ALIVE_onSetup(&me->myChecker, CM_DRIVE_SETUP, &ALWAYSTRUE);
+    ALIVE_onWait(&me->myChecker, DRIVE_emitStart, me);
+    ALIVE_onDead(&me->myChecker, DRIVE_emitStop, me);
+    ALIVE_onBorn(&me->myChecker, DRIVE_emitResurrect, me);
+    me->wait.f = NULL;
+    me->run.f = NULL;
+    me->dead.f = NULL;
+}
+
+void DRIVE_startBehaviour(DRIVE* me){
+    POST(me, &DRIVE_processEvent, evDRinit, 3000, 0);
+}
+
+bool DRIVE_processEvent(Event* ev) {
+    bool processed = false;
+    DRIVE* me = (DRIVE*)Event_getTarget(ev);
+    DRIVE_STATES oldState = me->state;
+    evIDT evid = Event_getId(ev);
+    uint64_t data = Event_getData(ev);
+//    STEERING_STATES steeringState = steering()->state;
+
+    
+    switch (me->state) {        // onState
+        case STDR_INIT:
+            if (ev->id == evDRinit) {
+                me->state = STDR_WAIT;
+                ALIVE_startBehaviourChecker(&me->myChecker); // Start alive checker
+            }
+            break;
+        
+        case STDR_WAIT:
+            if (ev->id == evDRstart) {
+                me->state = STDR_RUN;
+            }
+            ALIVE_setAliveTime(&me->myChecker, KART_CST.DRIVE_ALIVE_TIME);
+            ALIVE_emitBorn(&me->myChecker, 100, 0);      // Born after 100 ms
+            ALIVE_emitReady(&me->myChecker, 200, 0);     // Ready after 200 ms
+            break;
+        
+        case STDR_RUN:
+            if (ev->id == evDRstop) {
+                me->state = STDR_DEAD;
+            }
+            
+            if (ev->id == evDRpollTorque) {
+                //if(steeringState == STST_RUN) {
+                    CM_DRIVE_POWER(&eKart.torque);
+                    if (KART_CST.DRIVE_STOP_TIME == 0) KART_CST.DRIVE_STOP_TIME = 1;
+                    DRIVE_emitPollTorque(me, KART_CST.DRIVE_STOP_TIME*5, 0);
+                //}
+            }
+            
+            if (ev->id == evDRpollSpeed) {
+                CM_DISPLAY_SPEED(&eKart.speed);
+            }
+            break;
+        
+        case STDR_DEAD:
+            if (ev->id == evDRresurrect) {
+                me->state = STDR_WAIT;
+            }
+            break;
+    }
+
+    if(oldState != me->state){
+        switch (oldState) {     // onExit
+            case STDR_INIT:
+                break;
+            
+            case STDR_WAIT:
+                break;
+            
+            case STDR_RUN:
+                break;
+            
+            case STDR_DEAD:
+                break;
+        }
+
+        switch (me->state) {    // onEntry
+            case STDR_INIT:
+                break;
+            
+            case STDR_WAIT:
+                if (me->wait.f != NULL) {
+                    me->wait.f(me->wait.p);
+                }
+                break;
+            
+            case STDR_RUN:
+                if (KART_CST.DRIVE_STOP_TIME == 0) KART_CST.DRIVE_STOP_TIME = 1;
+                DRIVE_emitPollTorque(me, KART_CST.DRIVE_STOP_TIME*5, 0);
+                if (me->run.f != NULL) {
+                    me->run.f(me->run.p);
+                }
+                break;
+            
+            case STDR_DEAD:
+                if (me->dead.f != NULL) {
+                    me->dead.f(me->dead.p);
+                }
+                break;
+        }
+
+        processed = true;
+    }
+    return processed;
+}
+
+/*************
+ * Callbacks *
+ *************/
+
+void DRIVE_onWait(DRIVE* me, DRIVE_CALLBACK_FUNCTION f, void* p) {
+    me->wait.f = f;
+    me->wait.p = p;
+}
+
+void DRIVE_onRun(DRIVE* me, DRIVE_CALLBACK_FUNCTION f, void* p) {
+    me->run.f = f;
+    me->run.p = p;
+}
+
+void DRIVE_onDead(DRIVE* me, DRIVE_CALLBACK_FUNCTION f, void* p) {
+    me->dead.f = f;
+    me->dead.p = p;
+}
+
+/************
+ * EMITTERS *
+ ************/
+
+void DRIVE_emitStart(void* p) {
+    DRIVE* me = (DRIVE*) p;
+    POST(me, &DRIVE_processEvent, evDRstart, 0, 0);
+}
+
+void DRIVE_emitStop(void* p) {
+    DRIVE* me = (DRIVE*) p;
+    POST(me, &DRIVE_processEvent, evDRstop, 0, 0);
+}
+
+void DRIVE_emitResurrect(void* p) {
+    DRIVE* me = (DRIVE*) p;
+    POST(me, &DRIVE_processEvent, evDRresurrect, 0, 0);
+}
+
+void DRIVE_emitPollSpeed(void* p) {
+    DRIVE* me = (DRIVE*) p;
+    POST(me, &DRIVE_processEvent, evDRpollSpeed, 0, 0);
+}
+
+void DRIVE_emitPollTorque(DRIVE* me, uint16_t t, int64_t data) {
+    POST(me, &DRIVE_processEvent, evDRpollTorque, t, data);
+}
+
+/***********
+ * SETTERS *
+ ***********/
+
+void DRIVE_setMyChecker(DRIVE* me, ALIVE v) {
+    me->myChecker = v;
+}

306-controller_interface.X/app/drive.h

@@ -0,0 +1,130 @@
+/**
+ * @author R<>mi Heredero
+ * @version 1.0.0
+ * @date August 2023
+ * @file drive.h
+ */
+#ifndef DRIVE_H
+#define DRIVE_H
+
+#include "../xf/xf.h"
+#include "../middleware/alive.h"
+
+typedef enum {
+    STDR_INIT = 100,
+    STDR_WAIT,
+    STDR_RUN,
+    STDR_DEAD
+} DRIVE_STATES;
+
+typedef enum {
+    evDRinit = 100,
+    evDRstart,
+    evDRstop,
+    evDRresurrect,
+    evDRpollSpeed,
+    evDRpollTorque
+} DRIVE_EVENTS;
+
+typedef void (*DRIVE_CALLBACK_FUNCTION)(void*);
+typedef struct {
+    DRIVE_CALLBACK_FUNCTION f; // function
+    void* p; // param(s)
+} DRIVE_CALLBACK;
+
+typedef struct {
+    DRIVE_STATES state;
+    ALIVE myChecker;
+    DRIVE_CALLBACK wait;
+    DRIVE_CALLBACK run;
+    DRIVE_CALLBACK dead;
+} DRIVE;
+
+/**
+ * Initialize the DRIVE
+ * @param me the DRIVE itself
+ */
+void DRIVE_init(DRIVE* me);
+
+/**
+ * Start the DRIVE state machine
+ * @param me the DRIVE itself
+ */
+void DRIVE_startBehaviour(DRIVE* me);
+
+/**
+ * Process the event
+ * @param ev the event to process
+ * @return true if the event is processed
+ */
+bool DRIVE_processEvent(Event* ev);
+
+/*************
+ * Callbacks *
+ *************/
+
+/**
+ * Set the callback function to call when the DRIVE is entering state wait
+ * @param me the DRIVE itself
+ * @param f the function to call
+ * @param p the param(s) to pass to the function
+ */
+void DRIVE_onWait(DRIVE* me, DRIVE_CALLBACK_FUNCTION f, void* p);
+
+/**
+ * Set the callback function to call when the DRIVE is entering state run
+ * @param me the DRIVE itself
+ * @param f the function to call
+ * @param p the param(s) to pass to the function
+ */
+void DRIVE_onRun(DRIVE* me, DRIVE_CALLBACK_FUNCTION f, void* p);
+
+/**
+ * Set the callback function to call when the DRIVE is entering state dead
+ * @param me the DRIVE itself
+ * @param f the function to call
+ * @param p the param(s) to pass to the function
+ */
+void DRIVE_onDead(DRIVE* me, DRIVE_CALLBACK_FUNCTION f, void* p);
+
+/************
+ * EMITTERS *
+ ************/
+
+/**
+ * Emit the start event
+ * @param p the DRIVE itself
+ */
+void DRIVE_emitStart(void* p);
+
+/**
+ * Emit the stop event
+ * @param p the DRIVE itself
+ */
+void DRIVE_emitStop(void* p);
+
+/**
+ * Emit the resurrect event
+ * @param p the DRIVE itself
+ */
+void DRIVE_emitResurrect(void* p);
+
+/**
+ * Emit the pollSpeed event
+ * @param p the DRIVE itself
+ */
+void DRIVE_emitPollSpeed(void* p);
+
+/**
+ * Emit the pollTorque event
+ * @param p the DRIVE itself
+ */
+void DRIVE_emitPollTorque(DRIVE* me, uint16_t t, int64_t data);
+
+/***********
+ * SETTERS *
+ ***********/
+
+
+
+#endif

306-controller_interface.X/app/eeprom.c

@@ -0,0 +1,149 @@
+/**
+ * @author R<>mi Heredero
+ * @version 1.0.0
+ * @date August 2023
+ * @file eeprom_interface.h
+ */
+
+#include "eeprom.h"
+#include "../app/car.h"
+#include "../middleware/can_interface.h"
+
+typedef union {
+    struct {
+        uint8_t byte0;
+        uint8_t byte1;
+        uint8_t byte2;
+        uint8_t byte3;
+    } separate;
+    uint32_t full;
+    uint8_t array[4];
+} BYTES_4;
+
+void MEM_init(){
+    uint8_t check = MEM_read_1_byte(0x0);
+    if(check != 0x42){
+        KART_CST.CONTROL_STEERING_MODE   =   0;
+        KART_CST.CONTROL_ALIVE_TIME      =   10;
+        KART_CST.CONTROL_SPEED_FACTOR    =   111111;    //     111'111
+        KART_CST.CONTROL_POWER_FACTOR    =   10000;     //      10'000
+        KART_CST.CONTROL_STEERING_FACTOR =   5600240;   //   5'600'024
+        KART_CST.CONTROL_MAX_SPEED_FW    =   50;
+        KART_CST.CONTROL_MAX_SPEED_BW    =   25;
+        
+        KART_CST.JOYSTICK_MODE           =   0; // mode 0 is time based, mode 1 is change based
+        KART_CST.JOYSTICK_PARAM1         =   5; // for mode 0, values are send every param1*10ms
+        KART_CST.JOYSTICK_PARAM2         =   1; // for mode 0, values need to change param2 at least for sending
+        KART_CST.JOYSTICK_ALIVE_TIME     =   25;
+        
+        KART_CST.DISPLAY_ALIVE_TIME      =  100;
+        
+        KART_CST.DRIVE_SPEED_TIME        =   20;
+        KART_CST.DRIVE_STOP_TIME         =   10;
+        KART_CST.DRIVE_ALIVE_TIME        =   250;
+        
+        KART_CST.STEERING_ALIVE_TIME     =  100;
+        
+        KART_CST.BATTERY_VOLT_TIME       =   50;
+        KART_CST.BATTERY_CURRENT_TIME    =   50;
+        KART_CST.BATTERY_ENERGY_TIME     =   50;
+        KART_CST.BATTERY_ALIVE_TIME      =   50;
+        
+        KART_CST.CONTROL_PARAM_MAX_CHANGE_STEERING = 10;
+        KART_CST.CONTROL_PARAM_MAX_CHANGE_DRIVE = 10;
+        
+        MEM_write_1_byte(MEMADD_CONTROL_STEERING_MODE, KART_CST.CONTROL_STEERING_MODE);
+        MEM_write_1_byte(MEMADD_CONTROL_ALIVE_TIME, KART_CST.CONTROL_ALIVE_TIME);
+        MEM_write_4_byte(MEMADD_CONTROL_SPEED_FACTOR, KART_CST.CONTROL_SPEED_FACTOR);
+        MEM_write_4_byte(MEMADD_CONTROL_POWER_FACTOR, KART_CST.CONTROL_POWER_FACTOR);
+        MEM_write_4_byte(MEMADD_CONTROL_STEERING_FACTOR, KART_CST.CONTROL_STEERING_FACTOR);
+        MEM_write_1_byte(MEMADD_CONTROL_MAX_SPEED_FW, KART_CST.CONTROL_MAX_SPEED_FW);
+        MEM_write_1_byte(MEMADD_CONTROL_MAX_SPEED_BW, KART_CST.CONTROL_MAX_SPEED_BW);
+        
+        MEM_write_1_byte(MEMADD_JOYSTICK_MODE, KART_CST.JOYSTICK_MODE);
+        MEM_write_1_byte(MEMADD_JOYSTICK_PARAM1, KART_CST.JOYSTICK_PARAM1);
+        MEM_write_1_byte(MEMADD_JOYSTICK_PARAM2, KART_CST.JOYSTICK_PARAM2);
+        MEM_write_1_byte(MEMADD_JOYSTICK_ALIVE_TIME, KART_CST.JOYSTICK_ALIVE_TIME);
+        
+        MEM_write_1_byte(MEMADD_DISPLAY_ALIVE_TIME, KART_CST.DISPLAY_ALIVE_TIME);
+        
+        MEM_write_1_byte(MEMADD_DRIVE_SPEED_TIME, KART_CST.DRIVE_SPEED_TIME);
+        MEM_write_1_byte(MEMADD_DRIVE_STOP_TIME, KART_CST.DRIVE_STOP_TIME);
+        MEM_write_1_byte(MEMADD_DRIVE_ALIVE_TIME, KART_CST.DRIVE_ALIVE_TIME);
+        
+        MEM_write_1_byte(MEMADD_STEERING_ALIVE_TIME, KART_CST.STEERING_ALIVE_TIME);
+        
+        MEM_write_1_byte(MEMADD_BATTERY_VOLT_TIME, KART_CST.BATTERY_VOLT_TIME);
+        MEM_write_1_byte(MEMADD_BATTERY_CURRENT_TIME, KART_CST.BATTERY_CURRENT_TIME);
+        MEM_write_1_byte(MEMADD_BATTERY_ENERGY_TIME, KART_CST.BATTERY_ENERGY_TIME);
+        MEM_write_1_byte(MEMADD_BATTERY_ALIVE_TIME, KART_CST.BATTERY_ALIVE_TIME);
+        
+        MEM_write_1_byte(MEMADD_CONTROL_PARAM_MAX_CHANGE_DRIVE, KART_CST.CONTROL_PARAM_MAX_CHANGE_DRIVE);
+        MEM_write_1_byte(MEMADD_CONTROL_PARAM_MAX_CHANGE_STEERING, KART_CST.CONTROL_PARAM_MAX_CHANGE_STEERING);
+        
+        MEM_write_1_byte(0x0, 0x42);
+    } else {
+        KART_CST.CONTROL_STEERING_MODE = MEM_read_1_byte(MEMADD_CONTROL_STEERING_MODE);
+        KART_CST.CONTROL_ALIVE_TIME = MEM_read_1_byte(MEMADD_CONTROL_ALIVE_TIME);
+        KART_CST.CONTROL_SPEED_FACTOR = MEM_read_4_byte(MEMADD_CONTROL_SPEED_FACTOR);
+        KART_CST.CONTROL_POWER_FACTOR = MEM_read_4_byte(MEMADD_CONTROL_POWER_FACTOR);
+        KART_CST.CONTROL_STEERING_FACTOR = MEM_read_4_byte(MEMADD_CONTROL_STEERING_FACTOR);
+        KART_CST.CONTROL_MAX_SPEED_FW = MEM_read_1_byte(MEMADD_CONTROL_MAX_SPEED_FW);
+        KART_CST.CONTROL_MAX_SPEED_BW = MEM_read_1_byte(MEMADD_CONTROL_MAX_SPEED_BW);
+        
+        KART_CST.JOYSTICK_MODE = MEM_read_1_byte(MEMADD_JOYSTICK_MODE);
+        KART_CST.JOYSTICK_PARAM1 = MEM_read_1_byte(MEMADD_JOYSTICK_PARAM1);
+        KART_CST.JOYSTICK_PARAM2 = MEM_read_1_byte(MEMADD_JOYSTICK_PARAM2);
+        KART_CST.JOYSTICK_ALIVE_TIME = MEM_read_1_byte(MEMADD_JOYSTICK_ALIVE_TIME);
+        
+        KART_CST.DISPLAY_ALIVE_TIME = MEM_read_1_byte(MEMADD_DISPLAY_ALIVE_TIME);
+        
+        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);
+        
+        KART_CST.STEERING_ALIVE_TIME = MEM_read_1_byte(MEMADD_STEERING_ALIVE_TIME);
+        
+        KART_CST.BATTERY_VOLT_TIME = MEM_read_1_byte(MEMADD_BATTERY_VOLT_TIME);
+        KART_CST.BATTERY_CURRENT_TIME = MEM_read_1_byte(MEMADD_BATTERY_CURRENT_TIME);
+        KART_CST.BATTERY_ENERGY_TIME = MEM_read_1_byte(MEMADD_BATTERY_ENERGY_TIME);
+        KART_CST.BATTERY_ALIVE_TIME = MEM_read_1_byte(MEMADD_BATTERY_ALIVE_TIME);
+        
+        KART_CST.CONTROL_PARAM_MAX_CHANGE_DRIVE = MEM_read_1_byte(MEMADD_CONTROL_PARAM_MAX_CHANGE_DRIVE);
+        KART_CST.CONTROL_PARAM_MAX_CHANGE_STEERING = MEM_read_1_byte(MEMADD_CONTROL_PARAM_MAX_CHANGE_STEERING);
+        
+    }
+}
+
+void MEM_reset() {
+    MEM_write_1_byte(0x0, 0x0);
+}
+
+void MEM_write_1_byte(uint8_t address, uint8_t data) {
+    DATAEE_WriteByte(address, data);
+}
+
+void MEM_write_4_byte(uint8_t address, uint32_t data) {
+    BYTES_4 tmpData;
+    tmpData.full = data;
+    for(uint8_t i = 0; i<4;i++) {
+        uint8_t add = address;
+        add += i;
+        MEM_write_1_byte(add, tmpData.array[i]);
+    }
+    
+}
+
+uint8_t MEM_read_1_byte(uint8_t address) {
+    return DATAEE_ReadByte(address);
+}
+
+uint32_t MEM_read_4_byte(uint8_t address) {
+    BYTES_4 tmpData;
+    for(uint8_t i = 0; i<4;i++) {
+        uint8_t add = address;
+        add += i;
+        tmpData.array[i] = MEM_read_1_byte(add);
+    }
+    return tmpData.full;
+}

306-controller_interface.X/app/eeprom.h

@@ -0,0 +1,22 @@
+/**
+ * @author R<>mi Heredero
+ * @version 1.0.0
+ * @date August 2023
+ * @file eeprom_interface.h
+ */
+#ifndef EEPROM_INTERFACE_H
+#define	EEPROM_INTERFACE_H
+
+#include <stdint.h>         // usage of standard types
+#include <stdbool.h>        // usage of boolean types
+#include "../mcc_generated_files/mcc.h"
+
+void MEM_init();
+void MEM_reset();
+void MEM_write_1_byte(uint8_t address, uint8_t data);
+void MEM_write_4_byte(uint8_t address, uint32_t data);
+uint8_t MEM_read_1_byte(uint8_t address);
+uint32_t MEM_read_4_byte(uint8_t address);
+
+#endif	/* EEPROM_INTERFACE_H */
+

306-controller_interface.X/app/factory/factory.c

@@ -5,24 +5,6 @@
 static Factory theFactory;
 
 //all the getters
-LED* l1() {
-    return &theFactory.l1_;
-}
-LED* l2()  {
-    return &theFactory.l2_;
-}
-LED* l3()  {
-    return &theFactory.l3_;
-}
-LED* l4()  {
-    return &theFactory.l4_;
-}
-LED* l5()  {
-    return &theFactory.l5_;
-}
-LED* l6()  {
-    return &theFactory.l6_;
-}
 LED* l7()  {
     return &theFactory.l7_;
 }
@@ -30,48 +12,77 @@ LED* l8()  {
     return &theFactory.l8_;
 }
 
+ALIVE* ALcontroller(){
+    return &theFactory.ALcontroller_;
+}
+
+ALIVE* ALjoy(){
+    return &theFactory.ALjoy_;
+}
+
+DRIVE* drive(){
+    return &theFactory.drive_;
+}
+
+STEERING* steering(){
+    return &theFactory.steering_;
+}
+
 
 //initialize all objects
 void Factory_init() {
-    LED_init(l1(), 1);
-    LED_init(l2(), 2);
-    LED_init(l3(), 3);
-    LED_init(l4(), 4);
-    LED_init(l5(), 5);
-    LED_init(l6(), 6);
     LED_init(l7(), 7);
     LED_init(l8(), 8);
-
-    LED_initHW(l1());
-    LED_initHW(l2());
-    LED_initHW(l3());
-    LED_initHW(l4());
-    LED_initHW(l5());
-    LED_initHW(l6());
     LED_initHW(l7());
     LED_initHW(l8());
 
     CAN_init();
     CAN_setSender(1);
-    LED_off(l1());
-}
     
-void foo(uint8_t a, uint8_t b, uint32_t c){
+    MEM_init();
-    if(b){
+    initRamp();
-        LED_on(l1());
+    
-    } else {
+    ALIVE_init(ALcontroller(), 5);
-        LED_off(l1());
+    ALIVE_setAliveTime(ALcontroller(), KART_CST.CONTROL_ALIVE_TIME);
-    }
+    
-    CAN_Send(a, b, c);
+    ALIVE_init(ALjoy(), 1);
+    DRIVE_init(drive());
+    STEERING_init(steering());
 }
 
 //connect objects if required
 void Factory_build() {    
     ECAN_SetRXBnInterruptHandler(CAN_newMsg);
-    CAN_onReceiveCan(foo);
+    CAN_onReceiveCan(CM_processIncome);
+    
+    ALIVE_onAlive(ALcontroller(), CM_CONTROLLER_ALIVE, NULL);
+    
+    //ALIVE_onSetup(ALjoy(), CM_JOY_SETUP, NULL);
+    ALIVE_setAliveTime(ALjoy(), KART_CST.JOYSTICK_ALIVE_TIME);
+    //ALIVE_onBorn(ALjoy(), LED_on, l1());
+    ALIVE_onDead(ALjoy(), deadJoystick, NULL);
+    
+    //DRIVE_onRun(drive(), LED_on, l2());
+    //DRIVE_onDead(drive(), LED_off, l2());
+    
+    //STEERING_onRun(steering(), LED_on, l3());
+    //STEERING_onDead(steering(), LED_off, l3());
+    
 }
 
 //start all state machines
 void Factory_start() {
     CAN_startBehaviour();
+    ALIVE_startBehaviourSender(ALcontroller());
+    
+/*        
+    DRIVE_startBehaviour(drive());
+    STEERING_startBehaviour(steering());
+    
+    ALIVE_startBehaviourChecker(ALjoy());
+    ALIVE_emitBorn(ALjoy(), 100, 0);
+    ALIVE_emitReady(ALjoy(), 200, 0);
+*/    
+    
+    
 }

306-controller_interface.X/app/factory/factory.h

@@ -12,21 +12,28 @@
 #include <stdint.h>
 #include <stdbool.h>
 
+#include "../car.h"
+#include "../can_message.h"
+#include "../eeprom.h"
+#include "../drive.h"
+#include "../steering.h"
+#include "../kartculator.h"
 #include "../../board/led/led.h"
 #include "../../board/button/button.h"
+#include "../../middleware/alive.h"
 #include "../../middleware/can_interface.h"
+#include "../../middleware/blinker.h"
 
 
 typedef struct {
-    LED l1_;
-    LED l2_;
-    LED l3_;
-    LED l4_;
-    LED l5_;
-    LED l6_;
     LED l7_;
     LED l8_;
     
+    ALIVE ALcontroller_;
+    ALIVE ALjoy_;
+    DRIVE drive_;
+    STEERING steering_;
+
 } Factory;
 
 
@@ -35,14 +42,13 @@ void Factory_build();
 void Factory_start();
 
 //these are global getters for our objects
-LED* l1();
-LED* l2();
-LED* l3();
-LED* l4();
-LED* l5();
-LED* l6();
 LED* l7();
 LED* l8();
 
+ALIVE* ALcontroller();
+ALIVE* ALjoy();
+DRIVE* drive();
+STEERING* steering();
+
 
 #endif

306-controller_interface.X/app/kartculator.c

@@ -0,0 +1,294 @@
+/**
+ * @author R<>mi Heredero
+ * @version. 0.0.0
+ * @date August 2023
+ * @file kartculator.c
+ */
+
+#include "kartculator.h"
+
+void deadJoystick(void* p){
+    eKart.torque = 0;
+    eKart.position = eKart.center;
+}
+
+void initRamp() {
+    rampTorque[0] = 0;
+    rampTorque[1] = 3;
+    rampTorque[2] = 5;
+    rampTorque[3] = 7;
+    rampTorque[4] = 10;
+    rampTorque[5] = 12;
+    rampTorque[6] = 14;
+    rampTorque[7] = 16;
+    rampTorque[8] = 18;
+    rampTorque[9] = 20;
+    rampTorque[10] = 22;
+    rampTorque[11] = 24;
+    rampTorque[12] = 25;
+    rampTorque[13] = 27;
+    rampTorque[14] = 28;
+    rampTorque[15] = 30;
+    rampTorque[16] = 31;
+    rampTorque[17] = 33;
+    rampTorque[18] = 34;
+    rampTorque[19] = 36;
+    rampTorque[20] = 37;
+    rampTorque[21] = 38;
+    rampTorque[22] = 39;
+    rampTorque[23] = 40;
+    rampTorque[24] = 41;
+    rampTorque[25] = 42;
+    rampTorque[26] = 43;
+    rampTorque[27] = 44;
+    rampTorque[28] = 45;
+    rampTorque[29] = 46;
+    rampTorque[30] = 47;
+    rampTorque[31] = 47;
+    rampTorque[32] = 48;
+    rampTorque[33] = 49;
+    rampTorque[34] = 50;
+    rampTorque[35] = 50;
+    rampTorque[36] = 51;
+    rampTorque[37] = 51;
+    rampTorque[38] = 52;
+    rampTorque[39] = 53;
+    rampTorque[40] = 53;
+    rampTorque[41] = 53;
+    rampTorque[42] = 54;
+    rampTorque[43] = 54;
+    rampTorque[44] = 55;
+    rampTorque[45] = 55;
+    rampTorque[46] = 56;
+    rampTorque[47] = 56;
+    rampTorque[48] = 56;
+    rampTorque[49] = 57;
+    rampTorque[50] = 57;
+    rampTorque[51] = 58;
+    rampTorque[52] = 58;
+    rampTorque[53] = 58;
+    rampTorque[54] = 59;
+    rampTorque[55] = 59;
+    rampTorque[56] = 59;
+    rampTorque[57] = 60;
+    rampTorque[58] = 60;
+    rampTorque[59] = 60;
+    rampTorque[60] = 61;
+    rampTorque[61] = 61;
+    rampTorque[62] = 62;
+    rampTorque[63] = 62;
+    rampTorque[64] = 62;
+    rampTorque[65] = 63;
+    rampTorque[66] = 63;
+    rampTorque[67] = 64;
+    rampTorque[68] = 64;
+    rampTorque[69] = 65;
+    rampTorque[70] = 65;
+    rampTorque[71] = 66;
+    rampTorque[72] = 67;
+    rampTorque[73] = 67;
+    rampTorque[74] = 68;
+    rampTorque[75] = 69;
+    rampTorque[76] = 69;
+    rampTorque[77] = 70;
+    rampTorque[78] = 71;
+    rampTorque[79] = 72;
+    rampTorque[80] = 72;
+    rampTorque[81] = 73;
+    rampTorque[82] = 74;
+    rampTorque[83] = 75;
+    rampTorque[84] = 76;
+    rampTorque[85] = 77;
+    rampTorque[86] = 78;
+    rampTorque[87] = 80;
+    rampTorque[88] = 81;
+    rampTorque[89] = 82;
+    rampTorque[90] = 83;
+    rampTorque[91] = 85;
+    rampTorque[92] = 86;
+    rampTorque[93] = 88;
+    rampTorque[94] = 89;
+    rampTorque[95] = 91;
+    rampTorque[96] = 93;
+    rampTorque[97] = 94;
+    rampTorque[98] = 96;
+    rampTorque[99] = 98;
+    rampTorque[100] = 100;
+
+    rampPosition[0] = 0;
+    rampPosition[1] = 0;
+    rampPosition[2] = 0;
+    rampPosition[3] = 0;
+    rampPosition[4] = 0;
+    rampPosition[5] = 1;
+    rampPosition[6] = 1;
+    rampPosition[7] = 1;
+    rampPosition[8] = 2;
+    rampPosition[9] = 2;
+    rampPosition[10] = 3;
+    rampPosition[11] = 3;
+    rampPosition[12] = 4;
+    rampPosition[13] = 5;
+    rampPosition[14] = 5;
+    rampPosition[15] = 6;
+    rampPosition[16] = 7;
+    rampPosition[17] = 8;
+    rampPosition[18] = 9;
+    rampPosition[19] = 9;
+    rampPosition[20] = 10;
+    rampPosition[21] = 11;
+    rampPosition[22] = 12;
+    rampPosition[23] = 13;
+    rampPosition[24] = 15;
+    rampPosition[25] = 16;
+    rampPosition[26] = 17;
+    rampPosition[27] = 18;
+    rampPosition[28] = 19;
+    rampPosition[29] = 20;
+    rampPosition[30] = 22;
+    rampPosition[31] = 23;
+    rampPosition[32] = 24;
+    rampPosition[33] = 25;
+    rampPosition[34] = 27;
+    rampPosition[35] = 28;
+    rampPosition[36] = 30;
+    rampPosition[37] = 31;
+    rampPosition[38] = 32;
+    rampPosition[39] = 34;
+    rampPosition[40] = 35;
+    rampPosition[41] = 37;
+    rampPosition[42] = 38;
+    rampPosition[43] = 40;
+    rampPosition[44] = 41;
+    rampPosition[45] = 43;
+    rampPosition[46] = 44;
+    rampPosition[47] = 46;
+    rampPosition[48] = 47;
+    rampPosition[49] = 49;
+    rampPosition[50] = 50;
+    rampPosition[51] = 51;
+    rampPosition[52] = 53;
+    rampPosition[53] = 54;
+    rampPosition[54] = 56;
+    rampPosition[55] = 57;
+    rampPosition[56] = 59;
+    rampPosition[57] = 60;
+    rampPosition[58] = 62;
+    rampPosition[59] = 63;
+    rampPosition[60] = 65;
+    rampPosition[61] = 66;
+    rampPosition[62] = 68;
+    rampPosition[63] = 69;
+    rampPosition[64] = 70;
+    rampPosition[65] = 72;
+    rampPosition[66] = 73;
+    rampPosition[67] = 75;
+    rampPosition[68] = 76;
+    rampPosition[69] = 77;
+    rampPosition[70] = 78;
+    rampPosition[71] = 80;
+    rampPosition[72] = 81;
+    rampPosition[73] = 82;
+    rampPosition[74] = 83;
+    rampPosition[75] = 84;
+    rampPosition[76] = 85;
+    rampPosition[77] = 87;
+    rampPosition[78] = 88;
+    rampPosition[79] = 89;
+    rampPosition[80] = 90;
+    rampPosition[81] = 91;
+    rampPosition[82] = 91;
+    rampPosition[83] = 92;
+    rampPosition[84] = 93;
+    rampPosition[85] = 94;
+    rampPosition[86] = 95;
+    rampPosition[87] = 95;
+    rampPosition[88] = 96;
+    rampPosition[89] = 97;
+    rampPosition[90] = 97;
+    rampPosition[91] = 98;
+    rampPosition[92] = 98;
+    rampPosition[93] = 99;
+    rampPosition[94] = 99;
+    rampPosition[95] = 99;
+    rampPosition[96] = 100;
+    rampPosition[97] = 100;
+    rampPosition[98] = 100;
+    rampPosition[99] = 100;
+    rampPosition[100] = 100;
+
+
+}
+
+void calcTorque(uint8_t joy_pos) {
+    int32_t calcTorque;
+    calcTorque = (int8_t) joy_pos;                  // joystick position
+    
+    // if mode race, use special curve for torque
+    if(eKart.powerMode == 2) {
+        if(calcTorque >= 0) {
+            calcTorque = rampTorque[calcTorque];
+        } else {
+            calcTorque *= -1;
+            calcTorque = rampTorque[calcTorque];
+            calcTorque *= -1;
+        }
+    }
+    
+    calcTorque *= KART_CST.CONTROL_POWER_FACTOR;    // convert by power factor
+    calcTorque /= 1000;                             // torque define by joystick
+    
+    if(eKart.button) {
+        calcTorque *= 1150;
+        calcTorque /= 1000;
+    }
+    eKart.torque = (int16_t) calcTorque;
+}
+
+void calcPosition(uint8_t joy_pos){
+    int32_t calcPosition;
+    calcPosition = (int8_t) joy_pos;
+    calcPosition *= -1;     // change left and right
+    
+    // if mode race, use special curve for steering
+    if (eKart.powerMode == 2) {
+        if(calcPosition >= 0) {
+            calcPosition = rampPosition[calcPosition];
+        } else {
+            calcPosition *= -1;
+            calcPosition = rampPosition[calcPosition];
+            calcPosition *= -1;
+        }
+    }
+    
+    calcPosition *= (int32_t) KART_CST.CONTROL_STEERING_FACTOR;
+    calcPosition /= 1000;
+    calcPosition += eKart.center;
+    eKart.position = (uint32_t) calcPosition;
+}
+
+void calcSpeed(int32_t rpm) {
+    int32_t calcSpeed;
+    if(rpm>=0){
+        calcSpeed = rpm;
+    } else {
+        calcSpeed = -rpm;
+    }
+    calcSpeed *= 2000;
+    calcSpeed /= KART_CST.CONTROL_SPEED_FACTOR;
+    eKart.speed = (uint8_t) calcSpeed;
+}
+
+int16_t getTorque() {
+    
+}
+
+uint32_t getPosition() {
+    
+}
+
+uint8_t getSpeed() {
+    
+}
+
+

306-controller_interface.X/app/kartculator.h

@@ -0,0 +1,26 @@
+/**
+ * @author R<>mi Heredero
+ * @version. 0.0.0
+ * @date August 2023
+ * @file kartculator.h
+ */
+
+#ifndef KARTCULATOR_H
+#define	KARTCULATOR_H
+
+#include <stdint.h>         // usage of standard types
+#include <stdbool.h>        // usage of boolean types
+#include "../mcc_generated_files/mcc.h"
+#include "car.h"
+
+void initRamp();
+void deadJoystick(void* p);
+void calcTorque(uint8_t joy_pos);
+void calcPosition(uint8_t joy_pos);
+void calcSpeed(int32_t rpm);
+int16_t getTorque();
+uint32_t getPosition();
+uint8_t getSpeed();
+
+#endif	/* KARTCULATOR_H */
+

306-controller_interface.X/app/steering.c

@@ -0,0 +1,173 @@
+/**
+ * @author R<>mi Heredero
+ * @version 1.0.0
+ * @date September 2023
+ * @file steering.c
+ */
+
+#include "steering.h"
+#include "can_message.h"
+#include "car.h"
+//#include "drive.h"
+
+void alive_born(void* p){
+    STEERING* me = (STEERING*) p;
+    STEERING_emitResurrect(me);
+    //CM_STEERING_SETUP(&ALWAYS3);
+}
+
+void STEERING_init(STEERING* me){
+    me->state = STST_INIT;
+    ALIVE_init(&me->myChecker, 3);
+    ALIVE_onSetup(&me->myChecker, CM_STEERING_SETUP, &ALWAYS2);
+    ALIVE_onWait(&me->myChecker, STEERING_emitStart, me);
+    ALIVE_onDead(&me->myChecker, STEERING_emitStop, me);
+    ALIVE_onBorn(&me->myChecker, alive_born, me);
+    me->wait.f = NULL;
+    me->run.f = NULL;
+    me->dead.f = NULL;
+    eKart.center = 560024;
+}
+
+void STEERING_startBehaviour(STEERING* me){
+    POST(me, &STEERING_processEvent, evSTinit, 3000, 0);
+}
+
+bool STEERING_processEvent(Event* ev) {
+    bool processed = false;
+    STEERING* me = (STEERING*)Event_getTarget(ev);
+    STEERING_STATES oldState = me->state;
+    evIDT evid = Event_getId(ev);
+    uint64_t data = Event_getData(ev);
+    
+    switch (me->state) {        // onState
+        case STST_INIT:
+            if (ev->id == evSTinit) {
+                me->state = STST_WAIT;
+                ALIVE_startBehaviourChecker(&me->myChecker); // Start alive checker
+            }
+            break;
+        
+        case STST_WAIT:
+            if (ev->id == evSTstart) {
+                me->state = STST_RUN;
+            }
+//            ALIVE_setAliveTime(&me->myChecker, KART_CST.STEERING_ALIVE_TIME);
+//            ALIVE_emitBorn(&me->myChecker, 500, 0);
+//            ALIVE_emitReady(&me->myChecker, 1000, 0);
+            break;
+        
+        case STST_RUN:
+            if (ev->id == evSTstop) {
+                me->state = STST_DEAD;
+            }
+            
+            if (ev->id == evSTpollDir) {
+                //if(drive()->state == STDR_RUN) {
+                    CM_STEERING_SET(&eKart.position);
+                //}
+            }
+            break;
+        
+        case STST_DEAD:
+            if (ev->id == evSTresurrect) {
+                me->state = STST_WAIT;
+            }
+            break;
+    }
+
+    if(oldState != me->state){
+        switch (oldState) {     // onExit
+            case STST_INIT:
+                break;
+            
+            case STST_WAIT:
+                break;
+            
+            case STST_RUN:
+                break;
+            
+            case STST_DEAD:
+                break;
+        }
+
+        switch (me->state) {    // onEntry
+            case STST_INIT:
+                break;
+            
+            case STST_WAIT:
+                if (me->wait.f != NULL) {
+                    me->wait.f(me->wait.p);
+                }
+                ALIVE_setAliveTime(&me->myChecker, KART_CST.STEERING_ALIVE_TIME);
+                ALIVE_emitBorn(&me->myChecker, 500, 0);
+                break;
+            
+            case STST_RUN:
+                if (me->run.f != NULL) {
+                    me->run.f(me->run.p);
+                }
+                break;
+            
+            case STST_DEAD:
+                if (me->dead.f != NULL) {
+                    me->dead.f(me->dead.p);
+                }
+                break;
+        }
+
+        processed = true;
+    }
+    return processed;
+}
+
+/*************
+ * Callbacks *
+ *************/
+
+void STEERING_onWait(STEERING* me, STEERING_CALLBACK_FUNCTION f, void* p) {
+    me->wait.f = f;
+    me->wait.p = p;
+}
+
+void STEERING_onRun(STEERING* me, STEERING_CALLBACK_FUNCTION f, void* p) {
+    me->run.f = f;
+    me->run.p = p;
+}
+
+void STEERING_onDead(STEERING* me, STEERING_CALLBACK_FUNCTION f, void* p) {
+    me->dead.f = f;
+    me->dead.p = p;
+}
+
+/************
+ * EMITTERS *
+ ************/
+
+void STEERING_emitStart(void* p) {
+    STEERING* me = (STEERING*) p;
+    POST(me, &STEERING_processEvent, evSTstart, 0, 0);
+}
+
+void STEERING_emitStop(void* p) {
+    STEERING* me = (STEERING*) p;
+    POST(me, &STEERING_processEvent, evSTstop, 0, 0);
+}
+
+void STEERING_emitResurrect(void* p) {
+    STEERING* me = (STEERING*) p;
+    POST(me, &STEERING_processEvent, evSTresurrect, 0, 0);
+}
+
+void STEERING_emitPollDir(void* p) {
+    STEERING* me = (STEERING*) p;
+    POST(me, &STEERING_processEvent, evSTpollDir, 0, 0);
+}
+
+/***********
+ * SETTERS *
+ ***********/
+
+void STEERING_setMyChecker(STEERING* me, ALIVE v) {
+    me->myChecker = v;
+}

306-controller_interface.X/app/steering.h

@@ -0,0 +1,124 @@
+/**
+ * @author R<>mi Heredero
+ * @version 1.0.0
+ * @date September 2023
+ * @file steering.h
+ */
+#ifndef STEERING_H
+#define STEERING_H
+
+#include "../xf/xf.h"
+#include "../middleware/alive.h"
+
+typedef enum {
+    STST_INIT = 110,
+    STST_WAIT,
+    STST_RUN,
+    STST_DEAD
+} STEERING_STATES;
+
+typedef enum {
+    evSTinit = 110,
+    evSTstart,
+    evSTstop,
+    evSTresurrect,
+    evSTpollDir
+} STEERING_EVENTS;
+
+typedef void (*STEERING_CALLBACK_FUNCTION)(void*);
+typedef struct {
+    STEERING_CALLBACK_FUNCTION f; // function
+    void* p; // param(s)
+} STEERING_CALLBACK;
+
+typedef struct {
+    STEERING_STATES state;
+    ALIVE myChecker;
+    STEERING_CALLBACK wait;
+    STEERING_CALLBACK run;
+    STEERING_CALLBACK dead;
+} STEERING;
+
+/**
+ * Initialize the STEERING
+ * @param me the STEERING itself
+ */
+void STEERING_init(STEERING* me);
+
+/**
+ * Start the STEERING state machine
+ * @param me the STEERING itself
+ */
+void STEERING_startBehaviour(STEERING* me);
+
+/**
+ * Process the event
+ * @param ev the event to process
+ * @return true if the event is processed
+ */
+bool STEERING_processEvent(Event* ev);
+
+/*************
+ * Callbacks *
+ *************/
+
+/**
+ * Set the callback function to call when the STEERING is entering state wait
+ * @param me the STEERING itself
+ * @param f the function to call
+ * @param p the param(s) to pass to the function
+ */
+void STEERING_onWait(STEERING* me, STEERING_CALLBACK_FUNCTION f, void* p);
+
+/**
+ * Set the callback function to call when the STEERING is entering state run
+ * @param me the STEERING itself
+ * @param f the function to call
+ * @param p the param(s) to pass to the function
+ */
+void STEERING_onRun(STEERING* me, STEERING_CALLBACK_FUNCTION f, void* p);
+
+/**
+ * Set the callback function to call when the STEERING is entering state dead
+ * @param me the STEERING itself
+ * @param f the function to call
+ * @param p the param(s) to pass to the function
+ */
+void STEERING_onDead(STEERING* me, STEERING_CALLBACK_FUNCTION f, void* p);
+
+/************
+ * EMITTERS *
+ ************/
+
+/**
+ * Emit the start event
+ * @param p the STEERING itself
+ */
+void STEERING_emitStart(void* p);
+
+/**
+ * Emit the stop event
+ * @param p the STEERING itself
+ */
+void STEERING_emitStop(void* p);
+
+/**
+ * Emit the resurrect event
+ * @param p the STEERING itself
+ */
+void STEERING_emitResurrect(void* p);
+
+/**
+ * Emit the pollDir event
+ * @param me the STEERING itself
+ * @param t time to wait in ms before triggering event
+ * @param data data to put on the event for XF
+ */
+void STEERING_emitPollDir(void* p);
+
+/***********
+ * SETTERS *
+ ***********/
+
+
+#endif

306-controller_interface.X/main.c

@@ -2,38 +2,27 @@
 #include "xf/xf.h"
 #include "app/factory/factory.h"
 
-/*
- * the main function
- */
 void main(void)
 {
-    // Initialize the device
+    
     SYSTEM_Initialize();
 
-    // Enable the Global Interrupts
-    INTERRUPT_GlobalInterruptEnable();
-
-    // Disable the Global Interrupts
-    // INTERRUPT_GlobalInterruptDisable();
-    
-    // initialize the XF
     XF_init();
     
-    // produce the system
     Factory_init();
     Factory_build();
     Factory_start();
+    //WWDT_SoftEnable();
     
-    // let the XF timers handling become the TMR0 interrupt handler
-    // this means that the XF timers are always decremented when the 
-    // TMR0 is interrupting. Important: Set the TICKINTERVAL define in 
-    //the xf.h file to the same value as the TMR0 value. 
     TMR0_SetInterruptHandler(XF_decrementAndQueueTimers);
     
+    INTERRUPT_GlobalInterruptEnable();
+
     while (1)
     {
-        //handle the next event if there is any in the queue
+        
+        WWDT_TimerClear();
         XF_executeOnce();
-        //maybe sleep a short while to save energy
+        
     }
 }

306-controller_interface.X/mcc_generated_files/device_config.c

@@ -14,7 +14,7 @@
     This header file provides implementations for driver APIs for all modules selected in the GUI.
     Generation Information :
         Product Revision  :  PIC10 / PIC12 / PIC16 / PIC18 MCUs - 1.81.8
-        Device            :  PIC18F25K83
+        Device            :  PIC18F26K83
         Driver Version    :  2.00
     The generated drivers are tested against the following:
         Compiler          :  XC8 2.36 and above or later
@@ -73,8 +73,8 @@
 #pragma config XINST = OFF    // Extended Instruction Set Enable bit->Extended Instruction Set and Indexed Addressing Mode disabled
 
 // CONFIG3L
-#pragma config WDTCPS = WDTCPS_31    // WDT Period selection bits->Divider ratio 1:65536; software control of WDTPS
+#pragma config WDTCPS = WDTCPS_6    // WDT Period selection bits->Divider ratio 1:2048
-#pragma config WDTE = OFF    // WDT operating mode->WDT Disabled; SWDTEN is ignored
+#pragma config WDTE = SWDTEN    // WDT operating mode->WDT enabled/disabled by SWDTEN bit
 
 // CONFIG3H
 #pragma config WDTCWS = WDTCWS_7    // WDT Window Select bits->window always open (100%); software control; keyed access not required

306-controller_interface.X/mcc_generated_files/device_config.h

@@ -14,7 +14,7 @@
     This header file provides implementations for driver APIs for all modules selected in the GUI.
     Generation Information :
         Product Revision  :  PIC10 / PIC12 / PIC16 / PIC18 MCUs - 1.81.8
-        Device            :  PIC18F25K83
+        Device            :  PIC18F26K83
         Driver Version    :  2.00
     The generated drivers are tested against the following:
         Compiler          :  XC8 2.36 and above or later

306-controller_interface.X/mcc_generated_files/ecan.c

@@ -130,17 +130,21 @@ void ECAN_Initialize(void)
     /*
      * ENABLE FILTERS
      * 
-     * Filter 0 set on mask 0
+     * RXF7EN RXF6EN RXF5EN RXF4EN RXF3EN RXF2EN RXF1EN RXF0EN
-     * Filter 1 set on mask 0
+     * 0b 00000111
-     * Filter 2 set on mask 1
      */
     RXFCON0 = 0x07;
     
     
-    /**
+    /*
-    Assign Filters to Masks
+     * Assign Filters to Masks
-    */
+     * 
-    // Filter 0 & 1 assigned to mask 0 and filter 2 assigned to mask 1
+     * Filter 0 set on mask 0
+     * Filter 1 set on mask 0
+     * Filter 2 set on mask 1
+     * 0b F3 F2 F1 F0
+     * 0b 00 01 00 00
+     */
     MSEL0 = 0x10;
 
     /**

306-controller_interface.X/mcc_generated_files/interrupt_manager.c

@@ -16,7 +16,7 @@
     all modules selected in the GUI.
     Generation Information :
         Product Revision  :  PIC10 / PIC12 / PIC16 / PIC18 MCUs - 1.81.8
-        Device            :  PIC18F25K83
+        Device            :  PIC18F26K83
         Driver Version    :  2.04
     The generated drivers are tested against the following:
         Compiler          :  XC8 2.36 and above or later

306-controller_interface.X/mcc_generated_files/interrupt_manager.h

@@ -16,7 +16,7 @@
     all modules selected in the GUI.
     Generation Information :
         Product Revision  :  PIC10 / PIC12 / PIC16 / PIC18 MCUs - 1.81.8
-        Device            :  PIC18F25K83
+        Device            :  PIC18F26K83
         Driver Version    :  2.03
     The generated drivers are tested against the following:
         Compiler          :  XC8 2.36 and above or later

306-controller_interface.X/mcc_generated_files/mcc.c

@@ -14,7 +14,7 @@
     This header file provides implementations for driver APIs for all modules selected in the GUI.
     Generation Information :
         Product Revision  :  PIC10 / PIC12 / PIC16 / PIC18 MCUs - 1.81.8
-        Device            :  PIC18F25K83
+        Device            :  PIC18F26K83
         Driver Version    :  2.00
     The generated drivers are tested against the following:
         Compiler          :  XC8 2.36 and above or later
@@ -53,6 +53,7 @@ void SYSTEM_Initialize(void)
     PMD_Initialize();
     PIN_MANAGER_Initialize();
     OSCILLATOR_Initialize();
+    WWDT_Initialize();
     TMR0_Initialize();
     ECAN_Initialize();
 }
@@ -92,6 +93,50 @@ void PMD_Initialize(void)
 }
 
 
+void WWDT_Initialize(void)
+{
+    // Initializes the WWDT to the default states configured in the MCC GUI
+    WDTCON0 = WDTCPS;
+    WDTCON1 = WDTCWS|WDTCCS;
+    
+}
+
+void WWDT_SoftEnable(void)
+{
+    // WWDT software enable. 
+    WDTCON0bits.SEN=1;
+}
+
+void WWDT_SoftDisable(void)
+{
+    // WWDT software disable.
+    WDTCON0bits.SEN=0;
+}
+
+bool WWDT_TimeOutStatusGet(void)
+{
+    // Return the status of WWDT time out reset.
+    return (PCON0bits.nRWDT);
+}
+
+bool WWDT_WindowViolationStatusGet(void)
+{
+   // Return the status of WWDT window violation reset.
+    return (PCON0bits.nWDTWV); 
+}  
+
+void WWDT_TimerClear(void)
+{
+    // Disable the interrupt,read back the WDTCON0 reg for arming, 
+    // clearing the WWDT and enable the interrupt.
+    uint8_t readBack=0;
+    
+    bool state = GIE;
+    GIE = 0;
+    readBack = WDTCON0;
+    CLRWDT();
+    GIE = state;
+}
 /**
  End of File
 */

306-controller_interface.X/mcc_generated_files/mcc.h

@@ -14,7 +14,7 @@
     This header file provides implementations for driver APIs for all modules selected in the GUI.
     Generation Information :
         Product Revision  :  PIC10 / PIC12 / PIC16 / PIC18 MCUs - 1.81.8
-        Device            :  PIC18F25K83
+        Device            :  PIC18F26K83
         Driver Version    :  2.00
     The generated drivers are tested against the following:
         Compiler          :  XC8 2.36 and above or later
@@ -57,6 +57,9 @@
 #include "tmr0.h"
 #include "ecan.h"
 
+#define WDTCWS  7
+#define WDTCCS  48
+#define WDTCPS  12
 
 
 /**
@@ -98,6 +101,84 @@ void OSCILLATOR_Initialize(void);
  */
 void PMD_Initialize(void);
 
+/**
+ * @Param
+    none
+ * @Returns
+    none
+ * @Description
+    Initializes the WWDT to the default states configured in the
+ *                  MCC GUI
+ * @Example
+    WWDT_Initialize();
+ */
+void WWDT_Initialize(void);
+
+
+/**
+ * @Param
+    none
+ * @Returns
+    none
+ * @Description
+   Enable the WWDT by setting the SEN bit.
+ * @Example
+    WWDT_SoftEnable();
+ */
+void WWDT_SoftEnable(void);
+
+/**
+ * @Param
+    none
+ * @Returns
+    none
+ * @Description
+   Disable the WWDT by clearing the SEN bit.
+ * @Example
+    WWDT_SoftDisable();
+ */
+void WWDT_SoftDisable(void);
+
+/**
+ * @Param
+    none
+ * @Returns
+    none
+ * @Description
+   Disable the interrupt, arm the WWDT by reading back the WDTCON0 register
+ * clear the WWDT and enable the interrupt.
+ * @Example
+    WWDT_TimerClear();
+ */
+void WWDT_TimerClear(void);
+
+/**
+ * @Param
+    none
+ * @Returns
+   High --> WWDT reset has not occurred. 
+ * Low  --> WWDT reset has  occurred.
+ * @Description
+    Returns the status of whether the WWDT reset has occurred or not.
+ * @Example
+    if(WWDT_TimeOutStatusGet())
+ */
+bool WWDT_TimeOutStatusGet(void);
+
+/**
+ * @Param
+    none
+ * @Returns
+   High --> WWDT window violation reset has not occurred. 
+ * Low  --> WWDT window violation reset has  occurred.
+ * @Description
+    Returns the status of, whether the WWDT window violation 
+ *  reset has occurred or not.
+ * @Example
+    if(WWDT_WindowViolationStatusGet())
+ */
+bool WWDT_WindowViolationStatusGet(void);
+      
 
 #endif	/* MCC_H */
 /**

306-controller_interface.X/mcc_generated_files/memory.c

@@ -14,7 +14,7 @@
     This file provides implementations of driver APIs for MEMORY.
     Generation Information :
         Product Revision  :  PIC10 / PIC12 / PIC16 / PIC18 MCUs - 1.81.8
-        Device            :  PIC18F25K83
+        Device            :  PIC18F26K83
         Driver Version    :  2.1.3
     The generated drivers are tested against the following:
         Compiler          :  XC8 2.36 and above
@@ -198,7 +198,6 @@ uint8_t DATAEE_ReadByte(uint16_t bAdd)
 
 void MEMORY_Tasks( void )
 {
-    /* TODO : Add interrupt handling code */
     PIR0bits.NVMIF = 0;
 }
 /**

306-controller_interface.X/mcc_generated_files/memory.h

@@ -14,7 +14,7 @@
     This header file provides APIs for driver for MEMORY.
     Generation Information :
         Product Revision  :  PIC10 / PIC12 / PIC16 / PIC18 MCUs - 1.81.8
-        Device            :  PIC18F25K83
+        Device            :  PIC18F26K83
         Driver Version    :  2.1.3
     The generated drivers are tested against the following:
         Compiler          :  XC8 2.36 and above
@@ -64,9 +64,9 @@
   Section: Macro Declarations
 */
 
-#define WRITE_FLASH_BLOCKSIZE    64
+#define WRITE_FLASH_BLOCKSIZE    128
-#define ERASE_FLASH_BLOCKSIZE    64
+#define ERASE_FLASH_BLOCKSIZE    128
-#define END_FLASH                0x008000
+#define END_FLASH                0x010000
 
 /**
   Section: Flash Module APIs

306-controller_interface.X/mcc_generated_files/pin_manager.c

@@ -14,7 +14,7 @@
     This header file provides implementations for pin APIs for all pins selected in the GUI.
     Generation Information :
         Product Revision  :  PIC10 / PIC12 / PIC16 / PIC18 MCUs - 1.81.8
-        Device            :  PIC18F25K83
+        Device            :  PIC18F26K83
         Driver Version    :  2.11
     The generated drivers are tested against the following:
         Compiler          :  XC8 2.36 and above

306-controller_interface.X/mcc_generated_files/pin_manager.h

@@ -14,7 +14,7 @@
     This header file provides APIs for driver for .
     Generation Information :
         Product Revision  :  PIC10 / PIC12 / PIC16 / PIC18 MCUs - 1.81.8
-        Device            :  PIC18F25K83
+        Device            :  PIC18F26K83
         Driver Version    :  2.11
     The generated drivers are tested against the following:
         Compiler          :  XC8 2.36 and above

306-controller_interface.X/mcc_generated_files/tmr0.c

@@ -14,7 +14,7 @@
     This source file provides APIs for TMR0.
     Generation Information :
         Product Revision  :  PIC10 / PIC12 / PIC16 / PIC18 MCUs - 1.81.8
-        Device            :  PIC18F25K83
+        Device            :  PIC18F26K83
         Driver Version    :  3.10
     The generated drivers are tested against the following:
         Compiler          :  XC8 2.36 and above

306-controller_interface.X/mcc_generated_files/tmr0.h

@@ -14,7 +14,7 @@
     This header file provides APIs for TMR0.
     Generation Information :
         Product Revision  :  PIC10 / PIC12 / PIC16 / PIC18 MCUs - 1.81.8
-        Device            :  PIC18F25K83
+        Device            :  PIC18F26K83
         Driver Version    :  3.10
     The generated drivers are tested against the following:
         Compiler          :  XC8 2.36 and above

306-controller_interface.X/middleware/alive.c

@@ -0,0 +1,281 @@
+/**
+ * @author R<>mi Heredero
+ * @version 1.0.0
+ * @date August 2023
+ * @file alive.c
+ */
+
+#include "alive.h"
+
+void ALIVE_init(ALIVE* me, uint8_t led){
+    me->state = STAL_INIT;
+    me->isAlive = false;
+    me->checker = false;
+    me->sender = false;
+    me->haveBreak = true;
+    me->aliveTime = 10;
+    me->setup.f = NULL;
+    me->born.f = NULL;
+    me->wait.f = NULL;
+    me->dead.f = NULL;
+    me->alive.f = NULL;
+    me->break_cb.f = NULL;
+    LED_init(&me->debugLed, led);
+    LED_initHW(&me->debugLed);
+    BLINKER_init(&me->debugBlinker);
+    BLINKER_setTimeOn(&me->debugBlinker, 50);
+    BLINKER_setTimeOff(&me->debugBlinker, 50);
+    BLINKER_onOn(&me->debugBlinker, LED_on, &me->debugLed);
+    BLINKER_onOff(&me->debugBlinker, LED_off, &me->debugLed);
+}
+
+void ALIVE_startBehaviourChecker(ALIVE* me){
+    BLINKER_startBehaviour(&me->debugBlinker);
+    POST(me, &ALIVE_processEvent, evALinitChecker, 10, 0);
+}
+
+void ALIVE_startBehaviourSender(ALIVE* me){
+    BLINKER_startBehaviour(&me->debugBlinker);
+    POST(me, &ALIVE_processEvent, evALinitSender, 10, 0);
+}
+
+bool ALIVE_processEvent(Event* ev) {
+    bool processed = false;
+    ALIVE* me = (ALIVE*)Event_getTarget(ev);
+    ALIVE_STATES oldState = me->state;
+    evIDT evid = Event_getId(ev);
+    uint64_t data = Event_getData(ev);
+    
+    switch (me->state) {        // onState
+        case STAL_INIT:
+            LED_on(&me->debugLed);
+            if (ev->id == evALinitChecker) {
+                me->state = STAL_SETUP;
+            }
+            if (ev->id == evALinitSender) {
+                me->state = STAL_ALIVE;
+                ALIVE_emitPoll(me, me->aliveTime*10, 0);
+            }
+            break;
+        
+        case STAL_SETUP:
+            if (ev->id == evALborn) {
+                me->state = STAL_BORN;
+            }
+            break;
+        
+        case STAL_BORN:
+            if (ev->id == evALready) {
+                me->state = STAL_WAIT;
+                ALIVE_emitPoll(me, me->aliveTime*20, 0);
+            }
+            break;
+        
+        case STAL_WAIT:
+            if (ev->id == evALpoll) {
+                
+                if (me->aliveTime == 0) {
+                    if (me->haveBreak){
+                        me->state = STAL_BREAK;
+                    }
+                } else if (me->isAlive){
+                    me->state = STAL_WAIT;
+                    ALIVE_emitPoll(me, me->aliveTime*20, 0);
+                } else {
+                    me->state = STAL_DEAD;
+                }
+                me->isAlive = false;
+                
+            }
+            break;
+        
+        case STAL_DEAD:
+            if (ev->id == evALresurrect) {
+                me->state = STAL_SETUP;
+            }
+            break;
+        
+        case STAL_ALIVE:
+            if (ev->id == evALpoll) {
+                if (me->alive.f != NULL) {
+                    me->alive.f(me->alive.p);
+                }
+                if (me->aliveTime == 0) {
+                    if (me->haveBreak){
+                        me->state = STAL_BREAK;
+                    }
+                } else {
+                    ALIVE_emitPoll(me, me->aliveTime*20, 0);
+                }
+            }
+            break;
+        
+        case STAL_BREAK:
+            if (ev->id == evALstart) {
+                ALIVE_emitPoll(me, me->aliveTime*10, 0);
+                if (me->checker) {
+                    me->state = STAL_WAIT;
+                }
+                if (me->sender) {
+                    me->state = STAL_ALIVE;
+                }
+            }
+            break;
+    }
+
+    if(oldState != me->state){
+        switch (oldState) {     // onExit
+            case STAL_INIT:
+                break;
+            
+            case STAL_SETUP:
+                break;
+            
+            case STAL_BORN:
+                break;
+            
+            case STAL_WAIT:
+                BLINKER_endBlink(&me->debugBlinker);
+                break;
+            
+            case STAL_DEAD:
+                break;
+            
+            case STAL_ALIVE:
+                BLINKER_endBlink(&me->debugBlinker);
+                break;
+            
+            case STAL_BREAK:
+                break;
+        }
+
+        switch (me->state) {    // onEntry
+            case STAL_INIT:
+                break;
+            
+            case STAL_SETUP:
+                me->checker = true;
+                if (me->setup.f != NULL) {
+                    me->setup.f(me->setup.p);
+                }
+                break;
+            
+            case STAL_BORN:
+                if (me->born.f != NULL) {
+                    me->born.f(me->born.p);
+                }
+                break;
+            
+            case STAL_WAIT:
+                LED_off(&me->debugLed);
+                BLINKER_emitBlink(&me->debugBlinker, 0);
+                if (me->wait.f != NULL) {
+                    me->wait.f(me->wait.p);
+                }
+                break;
+            
+            case STAL_DEAD:
+                if (me->dead.f != NULL) {
+                    me->dead.f(me->dead.p);
+                }
+                break;
+            
+            case STAL_ALIVE:
+                LED_off(&me->debugLed);
+                BLINKER_emitBlink(&me->debugBlinker, 0);
+                me->sender = true;
+                break;
+            
+            case STAL_BREAK:
+                if (me->break_cb.f != NULL) {
+                    me->break_cb.f(me->break_cb.p);
+                }
+                break;
+        }
+
+        processed = true;
+    }
+    return processed;
+}
+
+/*************
+ * Callbacks *
+ *************/
+
+void ALIVE_onSetup(ALIVE* me, ALIVE_CALLBACK_FUNCTION f, void* p) {
+    me->setup.f = f;
+    me->setup.p = p;
+}
+
+void ALIVE_onBorn(ALIVE* me, ALIVE_CALLBACK_FUNCTION f, void* p) {
+    me->born.f = f;
+    me->born.p = p;
+}
+
+void ALIVE_onWait(ALIVE* me, ALIVE_CALLBACK_FUNCTION f, void* p) {
+    me->wait.f = f;
+    me->wait.p = p;
+}
+
+void ALIVE_onDead(ALIVE* me, ALIVE_CALLBACK_FUNCTION f, void* p) {
+    me->dead.f = f;
+    me->dead.p = p;
+}
+
+void ALIVE_onAlive(ALIVE* me, ALIVE_CALLBACK_FUNCTION f, void* p) {
+    me->alive.f = f;
+    me->alive.p = p;
+}
+
+void ALIVE_onBreak(ALIVE* me, ALIVE_CALLBACK_FUNCTION f, void* p) {
+    me->break_cb.f = f;
+    me->break_cb.p = p;
+}
+
+/************
+ * EMITTERS *
+ ************/
+
+void ALIVE_emitInitSender(ALIVE* me, uint16_t t, int64_t data) {
+    POST(me, &ALIVE_processEvent, evALinitSender, t, data);
+}
+
+void ALIVE_emitBorn(ALIVE* me, uint16_t t, int64_t data) {
+    POST(me, &ALIVE_processEvent, evALborn, t, data);
+}
+
+void ALIVE_emitReady(ALIVE* me, uint16_t t, int64_t data) {
+    POST(me, &ALIVE_processEvent, evALready, t, data);
+}
+
+void ALIVE_emitPoll(ALIVE* me, uint16_t t, int64_t data) {
+    POST(me, &ALIVE_processEvent, evALpoll, t, data);
+}
+
+void ALIVE_emitStart(ALIVE* me, uint16_t t, int64_t data) {
+    POST(me, &ALIVE_processEvent, evALstart, t, data);
+}
+
+void ALIVE_emitResurrect(ALIVE* me, uint16_t t, int64_t data) {
+    POST(me, &ALIVE_processEvent, evALresurrect, t, data);
+}
+
+/***********
+ * SETTERS *
+ ***********/
+
+void ALIVE_setIsAlive(ALIVE* me, bool v) {
+    me->isAlive = v;
+}
+
+void ALIVE_setHaveBreak(ALIVE* me, bool v) {
+    me->haveBreak = v;
+}
+
+void ALIVE_setAliveTime(ALIVE* me, uint8_t v) {
+    me->aliveTime = v;
+}
+
+void ALIVE_ISALIVE(ALIVE* me) {
+    ALIVE_setIsAlive(me, true);
+}

306-controller_interface.X/middleware/alive.h

@@ -0,0 +1,191 @@
+/**
+ * @author R<>mi Heredero
+ * @version 1.0.0
+ * @date August 2023
+ * @file alive.h
+ */
+#ifndef ALIVE_H
+#define ALIVE_H
+
+#include "../xf/xf.h"
+#include "../board/led/led.h"
+#include "../middleware/blinker.h"
+
+typedef enum {
+    STAL_INIT = 20,
+    STAL_SETUP,
+    STAL_BORN,
+    STAL_WAIT,
+    STAL_DEAD,
+    STAL_ALIVE,
+    STAL_BREAK
+} ALIVE_STATES;
+
+typedef enum {
+    evALinitChecker = 20,
+    evALinitSender,
+    evALborn,
+    evALready,
+    evALpoll,
+    evALstart,
+    evALresurrect
+} ALIVE_EVENTS;
+
+typedef void (*ALIVE_CALLBACK_FUNCTION)(void*);
+typedef struct {
+    ALIVE_CALLBACK_FUNCTION f; // function
+    void* p; // param(s)
+} ALIVE_CALLBACK;
+
+typedef struct {
+    ALIVE_STATES state;
+    LED debugLed;
+    BLINKER debugBlinker;
+    bool isAlive;
+    bool checker;
+    bool sender;
+    bool haveBreak;
+    uint8_t aliveTime;
+    ALIVE_CALLBACK setup;
+    ALIVE_CALLBACK born;
+    ALIVE_CALLBACK wait;
+    ALIVE_CALLBACK dead;
+    ALIVE_CALLBACK alive;
+    ALIVE_CALLBACK break_cb;
+} ALIVE;
+
+/**
+ * Initialize the ALIVE
+ * @param me the ALIVE itself
+ */
+void ALIVE_init(ALIVE* me, uint8_t led);
+
+/**
+ * Start the ALIVE state machine for checker part
+ * @param me the ALIVE itself
+ */
+void ALIVE_startBehaviourChecker(ALIVE* me);
+
+/**
+ * Start the ALIVE state machine for sender part
+ * @param me the ALIVE itself
+ */
+void ALIVE_startBehaviourSender(ALIVE* me);
+
+/**
+ * Process the event
+ * @param ev the event to process
+ * @return true if the event is processed
+ */
+bool ALIVE_processEvent(Event* ev);
+
+/*************
+ * Callbacks *
+ *************/
+
+/**
+ * Set the callback function to call when the ALIVE is entering state setup
+ * @param me the ALIVE itself
+ * @param f the function to call
+ * @param p the param(s) to pass to the function
+ */
+void ALIVE_onSetup(ALIVE* me, ALIVE_CALLBACK_FUNCTION f, void* p);
+
+/**
+ * Set the callback function to call when the ALIVE is entering state born
+ * @param me the ALIVE itself
+ * @param f the function to call
+ * @param p the param(s) to pass to the function
+ */
+void ALIVE_onBorn(ALIVE* me, ALIVE_CALLBACK_FUNCTION f, void* p);
+
+/**
+ * Set the callback function to call when the ALIVE is entering state wait
+ * @param me the ALIVE itself
+ * @param f the function to call
+ * @param p the param(s) to pass to the function
+ */
+void ALIVE_onWait(ALIVE* me, ALIVE_CALLBACK_FUNCTION f, void* p);
+
+/**
+ * Set the callback function to call when the ALIVE is entering state dead
+ * @param me the ALIVE itself
+ * @param f the function to call
+ * @param p the param(s) to pass to the function
+ */
+void ALIVE_onDead(ALIVE* me, ALIVE_CALLBACK_FUNCTION f, void* p);
+
+/**
+ * Set the callback function to call when the ALIVE is entering state alive
+ * @param me the ALIVE itself
+ * @param f the function to call
+ * @param p the param(s) to pass to the function
+ */
+void ALIVE_onAlive(ALIVE* me, ALIVE_CALLBACK_FUNCTION f, void* p);
+
+/**
+ * Set the callback function to call when the ALIVE is entering state break
+ * @param me the ALIVE itself
+ * @param f the function to call
+ * @param p the param(s) to pass to the function
+ */
+void ALIVE_onBreak(ALIVE* me, ALIVE_CALLBACK_FUNCTION f, void* p);
+
+/************
+ * EMITTERS *
+ ************/
+
+/**
+ * Emit the born event
+ * @param me the ALIVE itself
+ * @param t time to wait in ms before triggering event
+ * @param data data to put on the event for XF
+ */
+void ALIVE_emitBorn(ALIVE* me, uint16_t t, int64_t data);
+
+/**
+ * Emit the ready event
+ * @param me the ALIVE itself
+ * @param t time to wait in ms before triggering event
+ * @param data data to put on the event for XF
+ */
+void ALIVE_emitReady(ALIVE* me, uint16_t t, int64_t data);
+
+/**
+ * Emit the poll event
+ * @param me the ALIVE itself
+ * @param t time to wait in ms before triggering event
+ * @param data data to put on the event for XF
+ */
+void ALIVE_emitPoll(ALIVE* me, uint16_t t, int64_t data);
+
+/**
+ * Emit the start event
+ * @param me the ALIVE itself
+ * @param t time to wait in ms before triggering event
+ * @param data data to put on the event for XF
+ */
+void ALIVE_emitStart(ALIVE* me, uint16_t t, int64_t data);
+
+/**
+ * Emit the resurrect event
+ * @param me the ALIVE itself
+ * @param t time to wait in ms before triggering event
+ * @param data data to put on the event for XF
+ */
+void ALIVE_emitResurrect(ALIVE* me, uint16_t t, int64_t data);
+
+
+/***********
+ * SETTERS *
+ ***********/
+
+void ALIVE_setIsAlive(ALIVE* me, bool v);
+
+void ALIVE_setHaveBreak(ALIVE* me, bool v);
+
+void ALIVE_setAliveTime(ALIVE* me, uint8_t v);
+
+void ALIVE_ISALIVE(ALIVE* me);
+
+#endif

306-controller_interface.X/middleware/alive_checker.c

@@ -1,176 +0,0 @@
-/**
- * @author R<>mi Heredero
- * @version 1.0.0
- * @date August 2023
- * @file alive_checker.c
- */
-
-#include "alive_checker.h"
-
-void ALIVE_CHECKER_init(ALIVE_CHECKER* me){
-    me->state = STAC_INIT;
-    me->isAlive = false;
-    me->aliveTime = 10;
-    me->setup.f = NULL;
-    me->born.f = NULL;
-    me->wait.f = NULL;
-    me->dead.f = NULL;
-}
-
-void ALIVE_CHECKER_startBehaviour(ALIVE_CHECKER* me){
-    POST(me, &ALIVE_CHECKER_processEvent, evACinit, 0, 0);
-}
-
-bool ALIVE_CHECKER_processEvent(Event* ev) {
-    bool processed = false;
-    ALIVE_CHECKER* me = (ALIVE_CHECKER*)Event_getTarget(ev);
-    ALIVE_CHECKER_STATES oldState = me->state;
-    evIDT evid = Event_getId(ev);
-    uint64_t data = Event_getData(ev);
-    
-    switch (me->state) {        // onState
-        case STAC_INIT:
-            if (ev->id == evACinit) {
-                me->state = STAC_SETUP;
-            }
-            break;
-        
-        case STAC_SETUP:
-            if (ev->id == evACborn) {
-                me->state = STAC_BORN;
-            }
-            break;
-        
-        case STAC_BORN:
-            if (ev->id == evACready) {
-                me->state = STAC_WAIT;
-                ALIVE_CHECKER_emitPoll(me, me->aliveTime*10, 0);
-            } 
-            break;
-        
-        case STAC_WAIT:
-            if (ev->id == evACpoll) {
-                if (me->isAlive) {
-                    me->state = STAC_WAIT;
-                    ALIVE_CHECKER_emitPoll(me, me->aliveTime*10, 0);
-                } else {
-                    me->state = STAC_DEAD;
-                }
-            }
-            break;
-        
-        case STAC_DEAD:
-            if(ev->id == evACborn) {
-                me->state = STAC_BORN;
-            }
-            break;
-    }
-
-    if(oldState != me->state){
-        switch (oldState) {     // onExit
-            case STAC_INIT:
-                break;
-            
-            case STAC_SETUP:
-                break;
-            
-            case STAC_BORN:
-                break;
-            
-            case STAC_WAIT:
-                break;
-            
-            case STAC_DEAD:
-                break;
-        }
-
-        switch (me->state) {    // onEntry
-            case STAC_INIT:
-                break;
-            
-            case STAC_SETUP:
-                if (me->setup.f != NULL) {
-                    me->setup.f(me->setup.p);
-                }
-                break;
-            
-            case STAC_BORN:
-                if (me->born.f != NULL) {
-                    me->born.f(me->born.p);
-                }
-                break;
-            
-            case STAC_WAIT:
-                me->isAlive = false;
-                if (me->wait.f != NULL) {
-                    me->wait.f(me->wait.p);
-                }
-                break;
-            
-            case STAC_DEAD:
-                if (me->dead.f != NULL) {
-                    me->dead.f(me->dead.p);
-                }
-                break;
-        }
-
-        processed = true;
-    }
-    return processed;
-}
-
-/*************
- * Callbacks *
- *************/
-
-void ALIVE_CHECKER_onSetup(ALIVE_CHECKER* me, ALIVE_CHECKER_CALLBACK_FUNCTION f, void* p) {
-    me->setup.f = f;
-    me->setup.p = p;
-}
-
-void ALIVE_CHECKER_onBorn(ALIVE_CHECKER* me, ALIVE_CHECKER_CALLBACK_FUNCTION f, void* p) {
-    me->born.f = f;
-    me->born.p = p;
-}
-
-void ALIVE_CHECKER_onWait(ALIVE_CHECKER* me, ALIVE_CHECKER_CALLBACK_FUNCTION f, void* p) {
-    me->wait.f = f;
-    me->wait.p = p;
-}
-
-void ALIVE_CHECKER_onDead(ALIVE_CHECKER* me, ALIVE_CHECKER_CALLBACK_FUNCTION f, void* p) {
-    me->dead.f = f;
-    me->dead.p = p;
-}
-
-/************
- * EMITTERS *
- ************/
-
-void ALIVE_CHECKER_emitBorn(ALIVE_CHECKER* me, uint16_t t, int64_t data) {
-    POST(me, &ALIVE_CHECKER_processEvent, evACborn, t, data);
-}
-
-void ALIVE_CHECKER_emitReady(ALIVE_CHECKER* me, uint16_t t, int64_t data) {
-    POST(me, &ALIVE_CHECKER_processEvent, evACready, t, data);
-}
-
-void ALIVE_CHECKER_emitPoll(ALIVE_CHECKER* me, uint16_t t, int64_t data) {
-    POST(me, &ALIVE_CHECKER_processEvent, evACpoll, t, data);
-}
-
-/***********
- * SETTERS *
- ***********/
-
-void ALIVE_CHECKER_setAliveTime(ALIVE_CHECKER* me, uint8_t v) {
-    me->aliveTime = v;
-}
-
-void ALIVE_CHECKER_setIsAlive(ALIVE_CHECKER* me, bool v) {
-    me->aliveTime = v;
-}
-
-void ALIVE_CHECKER_ISALIVE(ALIVE_CHECKER* me) {
-    ALIVE_CHECKER_setIsAlive(me, true);
-}

306-controller_interface.X/middleware/alive_checker.h

@@ -1,134 +0,0 @@
-/**
- * @author R<>mi Heredero
- * @version 1.0.0
- * @date August 2023
- * @file alive_checker.h
- */
-#ifndef ALIVE_CHECKER_H
-#define ALIVE_CHECKER_H
-
-#include "../xf/xf.h"
-
-typedef enum {
-    STAC_INIT,
-    STAC_SETUP,
-    STAC_BORN,
-    STAC_WAIT,
-    STAC_DEAD
-} ALIVE_CHECKER_STATES;
-
-typedef enum {
-    evACinit = 15,
-    evACborn,
-    evACready,
-    evACpoll
-} ALIVE_CHECKER_EVENTS;
-
-typedef void (*ALIVE_CHECKER_CALLBACK_FUNCTION)(void*);
-typedef struct {
-    ALIVE_CHECKER_CALLBACK_FUNCTION f; // function
-    void* p; // param(s)
-} ALIVE_CHECKER_CALLBACK;
-
-typedef struct {
-    ALIVE_CHECKER_STATES state;
-    bool isAlive;
-    uint8_t aliveTime;
-    ALIVE_CHECKER_CALLBACK setup;
-    ALIVE_CHECKER_CALLBACK born;
-    ALIVE_CHECKER_CALLBACK wait;
-    ALIVE_CHECKER_CALLBACK dead;
-} ALIVE_CHECKER;
-
-/**
- * Initialize the ALIVE_CHECKER
- * @param me the ALIVE_CHECKER itself
- */
-void ALIVE_CHECKER_init(ALIVE_CHECKER* me);
-
-/**
- * Start the ALIVE_CHECKER state machine
- * @param me the ALIVE_CHECKER itself
- */
-void ALIVE_CHECKER_startBehaviour(ALIVE_CHECKER* me);
-
-/**
- * Process the event
- * @param ev the event to process
- * @return true if the event is processed
- */
-bool ALIVE_CHECKER_processEvent(Event* ev);
-
-/*************
- * Callbacks *
- *************/
-
-/**
- * Set the callback function to call when the ALIVE_CHECKER is entering state setup
- * @param me the ALIVE_CHECKER itself
- * @param f the function to call
- * @param p the param(s) to pass to the function
- */
-void ALIVE_CHECKER_onSetup(ALIVE_CHECKER* me, ALIVE_CHECKER_CALLBACK_FUNCTION f, void* p);
-
-/**
- * Set the callback function to call when the ALIVE_CHECKER is entering state born
- * @param me the ALIVE_CHECKER itself
- * @param f the function to call
- * @param p the param(s) to pass to the function
- */
-void ALIVE_CHECKER_onBorn(ALIVE_CHECKER* me, ALIVE_CHECKER_CALLBACK_FUNCTION f, void* p);
-
-/**
- * Set the callback function to call when the ALIVE_CHECKER is entering state wait
- * @param me the ALIVE_CHECKER itself
- * @param f the function to call
- * @param p the param(s) to pass to the function
- */
-void ALIVE_CHECKER_onWait(ALIVE_CHECKER* me, ALIVE_CHECKER_CALLBACK_FUNCTION f, void* p);
-
-/**
- * Set the callback function to call when the ALIVE_CHECKER is entering state dead
- * @param me the ALIVE_CHECKER itself
- * @param f the function to call
- * @param p the param(s) to pass to the function
- */
-void ALIVE_CHECKER_onDead(ALIVE_CHECKER* me, ALIVE_CHECKER_CALLBACK_FUNCTION f, void* p);
-
-/************
- * EMITTERS *
- ************/
-
-/**
- * Emit the born event
- * @param me the ALIVE_CHECKER itself
- * @param t time to wait in ms before triggering event
- * @param data data to put on the event for XF
- */
-void ALIVE_CHECKER_emitBorn(ALIVE_CHECKER* me, uint16_t t, int64_t data);
-
-/**
- * Emit the ready event
- * @param me the ALIVE_CHECKER itself
- * @param t time to wait in ms before triggering event
- * @param data data to put on the event for XF
- */
-void ALIVE_CHECKER_emitReady(ALIVE_CHECKER* me, uint16_t t, int64_t data);
-
-/**
- * Emit the poll event
- * @param me the ALIVE_CHECKER itself
- * @param t time to wait in ms before triggering event
- * @param data data to put on the event for XF
- */
-void ALIVE_CHECKER_emitPoll(ALIVE_CHECKER* me, uint16_t t, int64_t data);
-
-/***********
- * SETTERS *
- ***********/
-
-void ALIVE_CHECKER_setAliveTime(ALIVE_CHECKER* me, uint8_t v);
-void ALIVE_CHECKER_setIsAlive(ALIVE_CHECKER* me, bool v);
-void ALIVE_CHECKER_ISALIVE(ALIVE_CHECKER* me); // Use this one when you receive CAN message
-
-#endif

306-controller_interface.X/middleware/blinker.c

@@ -0,0 +1,189 @@
+/**
+ * @author Rémi Heredero
+ * @version 1.0.0
+ * @date July 2023
+ * @file blinker.c
+ */
+
+#include "blinker.h"
+
+void BLINKER_init(BLINKER* me){
+    me->state = STBL_INIT;
+    me->timeOn = 500;
+    me->timeOff = 500;
+    me->numberOfBlink = 3;
+    me->nBlinkIsOn = false;
+    me->remainBlinks = 3;
+    me->wait.f = NULL;
+    me->on.f = NULL;
+    me->off.f = NULL;
+    me->finished.f = NULL;
+}
+
+void BLINKER_startBehaviour(BLINKER* me) {
+    POST(me, &BLINKER_processEvent, evBLinit, 0, 0);
+}
+
+bool BLINKER_processEvent(Event* ev) {
+    bool processed = false;
+    BLINKER* me = (BLINKER*)Event_getTarget(ev);
+    BLINKER_STATES oldState = me->state;
+    evIDT evid = Event_getId(ev);
+    
+    switch (me->state) {        // onState
+        case STBL_INIT:
+            if (ev->id == evBLinit) {
+                me->state = STBL_WAIT;
+            }
+            break;
+        
+        case STBL_WAIT:
+            me->remainBlinks = me->numberOfBlink;
+            if(evid == evBLblinkN) {
+                me->state = STBL_ON;
+                me->nBlinkIsOn = true;
+                BLINKER_emitTimer(me, me->timeOn);
+            }
+            if(evid == evBLblink) {
+                me->state = STBL_ON;
+                me->nBlinkIsOn = false;
+                BLINKER_emitTimer(me, me->timeOn);
+            }
+            break;
+        
+        case STBL_ON:
+            if (me->nBlinkIsOn) {
+                me->remainBlinks = (me->remainBlinks) - 1;
+            }
+            if (evid == evBLtimer) {
+                me->state = STBL_OFF;
+                BLINKER_emitTimer(me, me->timeOff);
+            }
+            break;
+        
+        case STBL_OFF:
+            if (evid == evBLtimer) {
+                if (me->remainBlinks == 0) {
+                    me->state = STBL_WAIT;
+                    if (me->finished.f != NULL) {
+                        me->finished.f(me->finished.p);
+                    }
+                } else {
+                    me->state = STBL_ON;
+                    BLINKER_emitTimer(me, me->timeOn);
+                }
+            }
+            break;
+    }
+
+    if(oldState != me->state){
+        switch (oldState) {     // onExit
+            case STBL_INIT:
+                break;
+            
+            case STBL_WAIT:
+                break;
+            
+            case STBL_ON:
+                break;
+            
+            case STBL_OFF:
+                break;
+        }
+
+        switch (me->state) {    // onEntry
+            case STBL_INIT:
+                break;
+            
+            case STBL_WAIT:
+                if (me->wait.f != NULL) {
+                    me->wait.f(me->wait.p);
+                }
+                break;
+            
+            case STBL_ON:
+                if (me->on.f != NULL) {
+                    me->on.f(me->on.p);
+                }
+                break;
+            
+            case STBL_OFF:
+                if (me->off.f != NULL) {
+                    me->off.f(me->off.p);
+                }
+                break;
+        }
+
+        processed = true;
+    }
+    return processed;
+}
+
+/*************
+ * Callbacks *
+ *************/
+
+void BLINKER_onWait(BLINKER* me, BLINKER_CALLBACK_FUNCTION f, void* p) {
+    me->wait.f = f;
+    me->wait.p = p;
+}
+
+void BLINKER_onOn(BLINKER* me, BLINKER_CALLBACK_FUNCTION f, void* p) {
+    me->on.f = f;
+    me->on.p = p;
+}
+
+void BLINKER_onOff(BLINKER* me, BLINKER_CALLBACK_FUNCTION f, void* p) {
+    me->off.f = f;
+    me->off.p = p;
+}
+
+void BLINKER_onFinished(BLINKER* me, BLINKER_CALLBACK_FUNCTION f, void* p) {
+    me->finished.f = f;
+    me->finished.p = p;
+}
+
+/************
+ * EMITTERS *
+ ************/
+
+void BLINKER_emitBlink(BLINKER* me, uint16_t t) {
+    POST(me, &BLINKER_processEvent, evBLblink, t, 0);
+}
+
+void BLINKER_emitBlinkN(BLINKER* me, uint16_t t) {
+    POST(me, &BLINKER_processEvent, evBLblinkN, t, 0);
+}
+
+void BLINKER_emitTimer(BLINKER* me, uint16_t t) {
+    POST(me, &BLINKER_processEvent, evBLtimer, t, 0);
+}
+
+/***********
+ * SETTERS *
+ ***********/
+
+void BLINKER_setTimeOn(BLINKER* me, uint16_t v) {
+    me->timeOn = v;
+}
+
+void BLINKER_setTimeOff(BLINKER* me, uint16_t v) {
+    me->timeOff = v;
+}
+
+void BLINKER_setNumberOfBlink(BLINKER* me, uint8_t v) {
+    me->numberOfBlink = v;
+}
+
+void BLINKER_setNBlinkIsOn(BLINKER* me, bool v) {
+    me->nBlinkIsOn = v;
+}
+
+void BLINKER_setRemainBlinks(BLINKER* me, uint8_t v) {
+    me->remainBlinks = v;
+}
+
+
+void BLINKER_endBlink(BLINKER* me) {
+    me->remainBlinks = 0;
+}

306-controller_interface.X/middleware/blinker.h

@@ -0,0 +1,167 @@
+/**
+ * @author Rémi Heredero
+ * @version 1.0.0
+ * @date July 2023
+ * @file blinker.h
+ */
+#ifndef BLINKER_H
+#define BLINKER_H
+
+#include "../xf/xf.h"
+
+typedef enum {
+    STBL_INIT,
+    STBL_WAIT,
+    STBL_ON,
+    STBL_OFF
+} BLINKER_STATES;
+
+typedef enum {
+    evBLinit = 200,
+    evBLblink,
+    evBLblinkN,
+    evBLtimer
+} BLINKER_EVENTS;
+
+typedef void (*BLINKER_CALLBACK_FUNCTION)(void*);
+typedef struct {
+    BLINKER_CALLBACK_FUNCTION f; // function
+    void* p; // param(s)
+} BLINKER_CALLBACK;
+
+typedef struct {
+    BLINKER_STATES state; //Actual state
+    uint16_t timeOn; // Time on
+    uint16_t timeOff; // Time off
+    uint8_t numberOfBlink; // Number of blink for this blinker when start with blinkN
+    bool nBlinkIsOn; // If the nBlink way is enable
+    uint8_t remainBlinks; // Actual remain blink
+    BLINKER_CALLBACK wait;
+    BLINKER_CALLBACK on;
+    BLINKER_CALLBACK off;
+    BLINKER_CALLBACK finished;
+} BLINKER;
+
+/**
+ * Initialize the BLINKER
+ * @param me the BLINKER itself
+ */
+void BLINKER_init(BLINKER* me);
+
+/**
+ * Start the BLINKER state machine
+ * @param me the BLINKER itself
+ */
+void BLINKER_startBehaviour(BLINKER* me);
+
+/**
+ * Process the event
+ * @param ev the event to process
+ * @return true if the event is processed
+ */
+bool BLINKER_processEvent(Event* ev);
+
+/*************
+ * Callbacks *
+ *************/
+
+/**
+ * Set the callback function to call when the BLINKER is entering state wait
+ * @param me the BLINKER itself
+ * @param f the function to call
+ * @param p the param(s) to pass to the function
+ */
+void BLINKER_onWait(BLINKER* me, BLINKER_CALLBACK_FUNCTION f, void* p);
+
+/**
+ * Set the callback function to call when the BLINKER is entering state on
+ * @param me the BLINKER itself
+ * @param f the function to call
+ * @param p the param(s) to pass to the function
+ */
+void BLINKER_onOn(BLINKER* me, BLINKER_CALLBACK_FUNCTION f, void* p);
+
+/**
+ * Set the callback function to call when the BLINKER is entering state off
+ * @param me the BLINKER itself
+ * @param f the function to call
+ * @param p the param(s) to pass to the function
+ */
+void BLINKER_onOff(BLINKER* me, BLINKER_CALLBACK_FUNCTION f, void* p);
+
+/**
+ * Set the callabck function to call when the BLINKER is entering state finished
+ * @param me the BLINKER itself
+ * @param f the function to call
+ * @param t the param(s) to pass to the function
+ */
+void BLINKER_onFinished(BLINKER* me, BLINKER_CALLBACK_FUNCTION f, void* p);
+
+/************
+ * EMITTERS *
+ ************/
+
+/**
+ * Emit the blink event
+ * @param me the BLINKER itself
+ * @param t time to wait in ms before triggering event
+ */void BLINKER_emitBlink(BLINKER* me, uint16_t t);
+
+/**
+ * Emit the blinkn event
+ * @param me the BLINKER itself
+ * @param t time to wait in ms before triggering event
+ */void BLINKER_emitBlinkN(BLINKER* me, uint16_t t);
+
+/**
+ * Emit the timer event
+ * @param me the BLINKER itself
+ * @param t time to wait in ms before triggering event
+ */void BLINKER_emitTimer(BLINKER* me, uint16_t t);
+
+/***********
+ * SETTERS *
+ ***********/
+
+/**
+ * Set the time on
+ * @param me the BLINKER itself
+ * @param v the value to set
+ */
+void BLINKER_setTimeOn(BLINKER* me, uint16_t v);
+
+/**
+ * Set the time off
+ * @param me the BLINKER itself
+ * @param v the value to set
+ */
+void BLINKER_setTimeOff(BLINKER* me, uint16_t v);
+
+/**
+ * Set the number of blink
+ * @param me the BLINKER itself
+ * @param v the value to set
+ */
+void BLINKER_setNumberOfBlink(BLINKER* me, uint8_t v);
+
+/**
+ * Set the nBlinkIsOn
+ * @param me the BLINKER itself
+ * @param v the value to set
+ */
+void BLINKER_setNBlinkIsOn(BLINKER* me, bool v);
+
+/**
+ * Set the remain blink(s)
+ * @param me the BLINKER itself
+ * @param v the value to set
+ */
+void BLINKER_setRemainBlinks(BLINKER* me, uint8_t v);
+
+/**
+ * Stop to blink if it was indefinitely blinking
+ * @param me the blinker itself
+ */
+void BLINKER_endBlink(BLINKER* me);
+
+#endif

306-controller_interface.X/middleware/can_interface.c

@@ -1,5 +1,5 @@
 /**
- * @author R<>mi Heredero
+ * @author R<>mi Heredero
  * @version 1.0.0
  * @date August 2023
  * @file can_interface.c
@@ -34,12 +34,11 @@ typedef union {
         uint8_t byte2;
         uint8_t byte3;
     } separate;
-    struct {
+    uint32_t full;
-        uint32_t bytes;
-    } full;
 } CAN_4_BYTES;
 
 void CAN_init(){
+    CAN_myself.state = STCA_INIT;
     CAN_myself.receiveCan = NULL;
     CAN_myself.sender = 0;
 }
@@ -55,6 +54,12 @@ bool CAN_processEvent(Event* ev) {
     evIDT evid = Event_getId(ev);
     
     uint64_t data = Event_getData(ev);
+    CAN_4_BYTES tmpData;
+    uCAN_MSG canMsg;
+    uint32_t canData = (uint32_t) data;
+    uint8_t idMsg;
+    uint8_t idRecipient;
+    uint8_t idSender;
     
         
     switch (me->state) {        // onState
@@ -69,37 +74,115 @@ bool CAN_processEvent(Event* ev) {
             // New message arrive
             if (ev->id == evCAnewMsg) {
                 if (me->receiveCan != NULL) {
-                    uint32_t canData = (uint32_t) data;
                     data = data>>32;
 
-                    CAN_4_BYTES tmpData;
+                    tmpData.full = data;
-                    tmpData.full.bytes = data;
+                    idMsg = tmpData.separate.byte0;
-                    uint8_t idMsg = tmpData.separate.byte0;
                     idMsg = idMsg >> 4;
                     idMsg = idMsg & 0xF;
-                    uint8_t idRecipient = tmpData.separate.byte1;
+                    idRecipient = tmpData.separate.byte1;
                     idRecipient = idRecipient & 0xF;
-                    uint8_t idSender = tmpData.separate.byte1;
+                    idSender = tmpData.separate.byte1;
                     idSender = idSender >> 4;
 
-                    me->receiveCan(idSender, idMsg, canData);
+                    me->receiveCan(idSender, idMsg, false, canData);
+                }
+            }
+            
+            if (ev->id == evCAnewRTR) {
+                if (me->receiveCan != NULL) {
+                    data = data>>32;
+
+                    tmpData.full = data;
+                    idMsg = tmpData.separate.byte0;
+                    idMsg = idMsg >> 4;
+                    idMsg = idMsg & 0xF;
+                    idRecipient = tmpData.separate.byte1;
+                    idRecipient = idRecipient & 0xF;
+                    idSender = tmpData.separate.byte1;
+                    idSender = idSender >> 4;
+
+                    me->receiveCan(idSender, idMsg, true, canData);
                 }
             }
             
             // Send a message
-            if (ev->id == evCAsend) {
+            if (ev->id == evCAsend4) {
-                uCAN_MSG canMsg;
                 canMsg.frame.idType = dSTANDARD_CAN_MSG_ID_2_0B;    // standard
                 canMsg.frame.dlc = 4;                               // 4 bytes to send
                 canMsg.frame.rtr = 0;                               // no remote frame
-                canMsg.frame.data3 = (uint8_t) data;
+                canMsg.frame.data0 = (uint8_t) data;
-                data = data >> 8;
-                canMsg.frame.data2 = (uint8_t) data;
                 data = data >> 8;
                 canMsg.frame.data1 = (uint8_t) data;
                 data = data >> 8;
+                canMsg.frame.data2 = (uint8_t) data;
+                data = data >> 8;
+                canMsg.frame.data3 = (uint8_t) data;
+                data = data >> 8;
+                canMsg.frame.id = (uint32_t) data;
+                CAN_transmit(&canMsg);
+            }
+            
+            if (ev->id == evCAsend2) {
+                canMsg.frame.idType = dSTANDARD_CAN_MSG_ID_2_0B;    // standard
+                canMsg.frame.dlc = 2;                               // 4 bytes to send
+                canMsg.frame.rtr = 0;                               // no remote frame
                 canMsg.frame.data0 = (uint8_t) data;
                 data = data >> 8;
+                canMsg.frame.data1 = (uint8_t) data;
+                data = data >> 8;
+                canMsg.frame.data2 = (uint8_t) data;
+                data = data >> 8;
+                canMsg.frame.data3 = (uint8_t) data;
+                data = data >> 8;
+                canMsg.frame.id = (uint32_t) data;
+                CAN_transmit(&canMsg);
+            }
+            
+            if (ev->id == evCAsend1) {
+                canMsg.frame.idType = dSTANDARD_CAN_MSG_ID_2_0B;    // standard
+                canMsg.frame.dlc = 1;                               // 4 bytes to send
+                canMsg.frame.rtr = 0;                               // no remote frame
+                canMsg.frame.data0 = (uint8_t) data;
+                data = data >> 8;
+                canMsg.frame.data1 = (uint8_t) data;
+                data = data >> 8;
+                canMsg.frame.data2 = (uint8_t) data;
+                data = data >> 8;
+                canMsg.frame.data3 = (uint8_t) data;
+                data = data >> 8;
+                canMsg.frame.id = (uint32_t) data;
+                CAN_transmit(&canMsg);
+            }
+            
+            if (ev->id == evCAsend0) {
+                canMsg.frame.idType = dSTANDARD_CAN_MSG_ID_2_0B;    // standard
+                canMsg.frame.dlc = 0;                               // 4 bytes to send
+                canMsg.frame.rtr = 0;                               // no remote frame
+                canMsg.frame.data0 = (uint8_t) data;
+                data = data >> 8;
+                canMsg.frame.data1 = (uint8_t) data;
+                data = data >> 8;
+                canMsg.frame.data2 = (uint8_t) data;
+                data = data >> 8;
+                canMsg.frame.data3 = (uint8_t) data;
+                data = data >> 8;
+                canMsg.frame.id = (uint32_t) data;
+                CAN_transmit(&canMsg);
+            }
+            
+            if (ev->id == evCAsendRTR) {
+                canMsg.frame.idType = dSTANDARD_CAN_MSG_ID_2_0B;    // standard
+                canMsg.frame.dlc = 0;                               // 4 bytes to send
+                canMsg.frame.rtr = 1;                               // no remote frame
+                canMsg.frame.data0 = (uint8_t) data;
+                data = data >> 8;
+                canMsg.frame.data1 = (uint8_t) data;
+                data = data >> 8;
+                canMsg.frame.data2 = (uint8_t) data;
+                data = data >> 8;
+                canMsg.frame.data3 = (uint8_t) data;
+                data = data >> 8;
                 canMsg.frame.id = (uint32_t) data;
                 CAN_transmit(&canMsg);
             }
@@ -146,14 +229,18 @@ void CAN_newMsg() {
     CAN_receive(&canMsg);
     data = canMsg.frame.id;
     data = data<<12;
-    data = data | canMsg.frame.data0;
+    data = data | canMsg.frame.data3;
-    data = data<<8;
-    data = data | canMsg.frame.data1;
     data = data<<8;
     data = data | canMsg.frame.data2;
     data = data<<8;
-    data = data | canMsg.frame.data3;
+    data = data | canMsg.frame.data1;
-    POST(&CAN_myself, &CAN_processEvent, evCAnewMsg, 0, data);
+    data = data<<8;
+    data = data | canMsg.frame.data0;
+    if(canMsg.frame.rtr) {
+        POST(&CAN_myself, &CAN_processEvent, evCAnewRTR, 0, data);
+    } else {
+        POST(&CAN_myself, &CAN_processEvent, evCAnewMsg, 0, data);
+    }
 }
 
 void CAN_Send(uint8_t idRecipient, uint8_t idMsg, uint32_t data) {
@@ -161,7 +248,50 @@ void CAN_Send(uint8_t idRecipient, uint8_t idMsg, uint32_t data) {
     tmpData = (tmpData<<4) | idRecipient;
     tmpData = (tmpData<<4) | idMsg;
     tmpData = (tmpData<<32) | data;
-    POST(&CAN_myself, &CAN_processEvent, evCAsend, 0, tmpData);
+    POST(&CAN_myself, &CAN_processEvent, evCAsend4, 0, tmpData);
+}
+
+void CAN_send_4_bytes(uint8_t idRecipient, uint8_t idMsg, uint8_t byte0, uint8_t byte1, uint8_t byte2, uint8_t byte3) {
+    uint64_t tmpData = CAN_myself.sender;
+    tmpData = (tmpData<<4) | idRecipient;
+    tmpData = (tmpData<<4) | idMsg;
+    tmpData = (tmpData<<8) | byte3;
+    tmpData = (tmpData<<8) | byte2;
+    tmpData = (tmpData<<8) | byte1;
+    tmpData = (tmpData<<8) | byte0;
+    POST(&CAN_myself, &CAN_processEvent, evCAsend4, 0, tmpData);
+}
+
+void CAN_send_2_bytes(uint8_t idRecipient, uint8_t idMsg, uint16_t data) {
+    uint64_t tmpData = CAN_myself.sender;
+    tmpData = (tmpData<<4) | idRecipient;
+    tmpData = (tmpData<<4) | idMsg;
+    tmpData = (tmpData<<32) | data;
+    POST(&CAN_myself, &CAN_processEvent, evCAsend2, 0, tmpData);
+}
+
+void CAN_send_1_byte(uint8_t idRecipient, uint8_t idMsg, uint8_t data) {
+    uint64_t tmpData = CAN_myself.sender;
+    tmpData = (tmpData<<4) | idRecipient;
+    tmpData = (tmpData<<4) | idMsg;
+    tmpData = (tmpData<<32) | data;
+    POST(&CAN_myself, &CAN_processEvent, evCAsend1, 0, tmpData);
+}
+
+void CAN_send_0_byte(uint8_t idRecipient, uint8_t idMsg) {
+    uint64_t tmpData = CAN_myself.sender;
+    tmpData = (tmpData<<4) | idRecipient;
+    tmpData = (tmpData<<4) | idMsg;
+    tmpData = tmpData<<32;
+    POST(&CAN_myself, &CAN_processEvent, evCAsend0, 0, tmpData);
+}
+
+void CAN_send_rtr(uint8_t idRecipient, uint8_t idMsg) {
+    uint64_t tmpData = CAN_myself.sender;
+    tmpData = (tmpData<<4) | idRecipient;
+    tmpData = (tmpData<<4) | idMsg;
+    tmpData = tmpData<<32;
+    POST(&CAN_myself, &CAN_processEvent, evCAsendRTR, 0, tmpData);
 }
 
 /***********

306-controller_interface.X/middleware/can_interface.h

@@ -10,17 +10,22 @@
 #include "../xf/xf.h"
 
 typedef enum {
-    STCA_INIT,
+    STCA_INIT = 10,
     STCA_PROCESS
 } CAN_STATES;
 
 typedef enum {
     evCAinit = 10,
     evCAnewMsg,
-    evCAsend
+    evCAnewRTR,
+    evCAsend4,
+    evCAsend2,
+    evCAsend1,
+    evCAsend0,
+    evCAsendRTR
 } CAN_EVENTS;
 
-typedef void (*CAN_CALLBACK)(uint8_t, uint8_t, uint32_t);
+typedef void (*CAN_CALLBACK)(uint8_t, uint8_t, bool, uint32_t);
 
 typedef struct {
     CAN_STATES state;
@@ -78,6 +83,12 @@ void CAN_newMsg();
  */
 void CAN_Send(uint8_t idRecipient, uint8_t idMsg, uint32_t data);
 
+void CAN_send_4_bytes(uint8_t idRecipient, uint8_t idMsg, uint8_t byte0, uint8_t byte1, uint8_t byte2, uint8_t byte3);
+void CAN_send_2_bytes(uint8_t idRecipient, uint8_t idMsg, uint16_t data);
+void CAN_send_1_byte(uint8_t idRecipient, uint8_t idMsg, uint8_t data);
+void CAN_send_0_byte(uint8_t idRecipient, uint8_t idMsg);
+void CAN_send_rtr(uint8_t idRecipient, uint8_t idMsg);
+
 /***********
  * SETTERS *
  ***********/

306-controller_interface.X/nbproject/Makefile-default.mk

@@ -0,0 +1,460 @@
+#
+# Generated Makefile - do not edit!
+#
+# Edit the Makefile in the project folder instead (../Makefile). Each target
+# has a -pre and a -post target defined where you can add customized code.
+#
+# This makefile implements configuration specific macros and targets.
+
+
+# Include project Makefile
+ifeq "${IGNORE_LOCAL}" "TRUE"
+# do not include local makefile. User is passing all local related variables already
+else
+include Makefile
+# Include makefile containing local settings
+ifeq "$(wildcard nbproject/Makefile-local-default.mk)" "nbproject/Makefile-local-default.mk"
+include nbproject/Makefile-local-default.mk
+endif
+endif
+
+# Environment
+MKDIR=gnumkdir -p
+RM=rm -f 
+MV=mv 
+CP=cp 
+
+# Macros
+CND_CONF=default
+ifeq ($(TYPE_IMAGE), DEBUG_RUN)
+IMAGE_TYPE=debug
+OUTPUT_SUFFIX=elf
+DEBUGGABLE_SUFFIX=elf
+FINAL_IMAGE=${DISTDIR}/306-controller_interface.X.${IMAGE_TYPE}.${OUTPUT_SUFFIX}
+else
+IMAGE_TYPE=production
+OUTPUT_SUFFIX=hex
+DEBUGGABLE_SUFFIX=elf
+FINAL_IMAGE=${DISTDIR}/306-controller_interface.X.${IMAGE_TYPE}.${OUTPUT_SUFFIX}
+endif
+
+ifeq ($(COMPARE_BUILD), true)
+COMPARISON_BUILD=-mafrlcsj
+else
+COMPARISON_BUILD=
+endif
+
+# Object Directory
+OBJECTDIR=build/${CND_CONF}/${IMAGE_TYPE}
+
+# Distribution Directory
+DISTDIR=dist/${CND_CONF}/${IMAGE_TYPE}
+
+# Source Files Quoted if spaced
+SOURCEFILES_QUOTED_IF_SPACED=app/factory/factory.c app/can_message.c app/kartculator.c app/eeprom.c app/drive.c app/steering.c board/led/led.c mcc_generated_files/interrupt_manager.c mcc_generated_files/tmr0.c mcc_generated_files/pin_manager.c mcc_generated_files/device_config.c mcc_generated_files/mcc.c mcc_generated_files/ecan.c mcc_generated_files/memory.c middleware/can_interface.c middleware/alive.c middleware/blinker.c xf/event.c xf/xf.c main.c
+
+# Object Files Quoted if spaced
+OBJECTFILES_QUOTED_IF_SPACED=${OBJECTDIR}/app/factory/factory.p1 ${OBJECTDIR}/app/can_message.p1 ${OBJECTDIR}/app/kartculator.p1 ${OBJECTDIR}/app/eeprom.p1 ${OBJECTDIR}/app/drive.p1 ${OBJECTDIR}/app/steering.p1 ${OBJECTDIR}/board/led/led.p1 ${OBJECTDIR}/mcc_generated_files/interrupt_manager.p1 ${OBJECTDIR}/mcc_generated_files/tmr0.p1 ${OBJECTDIR}/mcc_generated_files/pin_manager.p1 ${OBJECTDIR}/mcc_generated_files/device_config.p1 ${OBJECTDIR}/mcc_generated_files/mcc.p1 ${OBJECTDIR}/mcc_generated_files/ecan.p1 ${OBJECTDIR}/mcc_generated_files/memory.p1 ${OBJECTDIR}/middleware/can_interface.p1 ${OBJECTDIR}/middleware/alive.p1 ${OBJECTDIR}/middleware/blinker.p1 ${OBJECTDIR}/xf/event.p1 ${OBJECTDIR}/xf/xf.p1 ${OBJECTDIR}/main.p1
+POSSIBLE_DEPFILES=${OBJECTDIR}/app/factory/factory.p1.d ${OBJECTDIR}/app/can_message.p1.d ${OBJECTDIR}/app/kartculator.p1.d ${OBJECTDIR}/app/eeprom.p1.d ${OBJECTDIR}/app/drive.p1.d ${OBJECTDIR}/app/steering.p1.d ${OBJECTDIR}/board/led/led.p1.d ${OBJECTDIR}/mcc_generated_files/interrupt_manager.p1.d ${OBJECTDIR}/mcc_generated_files/tmr0.p1.d ${OBJECTDIR}/mcc_generated_files/pin_manager.p1.d ${OBJECTDIR}/mcc_generated_files/device_config.p1.d ${OBJECTDIR}/mcc_generated_files/mcc.p1.d ${OBJECTDIR}/mcc_generated_files/ecan.p1.d ${OBJECTDIR}/mcc_generated_files/memory.p1.d ${OBJECTDIR}/middleware/can_interface.p1.d ${OBJECTDIR}/middleware/alive.p1.d ${OBJECTDIR}/middleware/blinker.p1.d ${OBJECTDIR}/xf/event.p1.d ${OBJECTDIR}/xf/xf.p1.d ${OBJECTDIR}/main.p1.d
+
+# Object Files
+OBJECTFILES=${OBJECTDIR}/app/factory/factory.p1 ${OBJECTDIR}/app/can_message.p1 ${OBJECTDIR}/app/kartculator.p1 ${OBJECTDIR}/app/eeprom.p1 ${OBJECTDIR}/app/drive.p1 ${OBJECTDIR}/app/steering.p1 ${OBJECTDIR}/board/led/led.p1 ${OBJECTDIR}/mcc_generated_files/interrupt_manager.p1 ${OBJECTDIR}/mcc_generated_files/tmr0.p1 ${OBJECTDIR}/mcc_generated_files/pin_manager.p1 ${OBJECTDIR}/mcc_generated_files/device_config.p1 ${OBJECTDIR}/mcc_generated_files/mcc.p1 ${OBJECTDIR}/mcc_generated_files/ecan.p1 ${OBJECTDIR}/mcc_generated_files/memory.p1 ${OBJECTDIR}/middleware/can_interface.p1 ${OBJECTDIR}/middleware/alive.p1 ${OBJECTDIR}/middleware/blinker.p1 ${OBJECTDIR}/xf/event.p1 ${OBJECTDIR}/xf/xf.p1 ${OBJECTDIR}/main.p1
+
+# Source Files
+SOURCEFILES=app/factory/factory.c app/can_message.c app/kartculator.c app/eeprom.c app/drive.c app/steering.c board/led/led.c mcc_generated_files/interrupt_manager.c mcc_generated_files/tmr0.c mcc_generated_files/pin_manager.c mcc_generated_files/device_config.c mcc_generated_files/mcc.c mcc_generated_files/ecan.c mcc_generated_files/memory.c middleware/can_interface.c middleware/alive.c middleware/blinker.c xf/event.c xf/xf.c main.c
+
+
+
+CFLAGS=
+ASFLAGS=
+LDLIBSOPTIONS=
+
+############# Tool locations ##########################################
+# If you copy a project from one host to another, the path where the  #
+# compiler is installed may be different.                             #
+# If you open this project with MPLAB X in the new host, this         #
+# makefile will be regenerated and the paths will be corrected.       #
+#######################################################################
+# fixDeps replaces a bunch of sed/cat/printf statements that slow down the build
+FIXDEPS=fixDeps
+
+.build-conf:  ${BUILD_SUBPROJECTS}
+ifneq ($(INFORMATION_MESSAGE), )
+	@echo $(INFORMATION_MESSAGE)
+endif
+	${MAKE}  -f nbproject/Makefile-default.mk ${DISTDIR}/306-controller_interface.X.${IMAGE_TYPE}.${OUTPUT_SUFFIX}
+
+MP_PROCESSOR_OPTION=18F26K83
+# ------------------------------------------------------------------------------------
+# Rules for buildStep: compile
+ifeq ($(TYPE_IMAGE), DEBUG_RUN)
+${OBJECTDIR}/app/factory/factory.p1: app/factory/factory.c  nbproject/Makefile-${CND_CONF}.mk 
+	@${MKDIR} "${OBJECTDIR}/app/factory" 
+	@${RM} ${OBJECTDIR}/app/factory/factory.p1.d 
+	@${RM} ${OBJECTDIR}/app/factory/factory.p1 
+	${MP_CC} $(MP_EXTRA_CC_PRE) -mcpu=$(MP_PROCESSOR_OPTION) -c  -D__DEBUG=1  -mdebugger=pickit3   -mdfp="${DFP_DIR}/xc8"  -fno-short-double -fno-short-float -memi=wordwrite -O0 -fasmfile -maddrqual=ignore -xassembler-with-cpp -mwarn=3 -Wa,-a -DXPRJ_default=$(CND_CONF)  -msummary=-psect,-class,+mem,-hex,-file  -ginhx32 -Wl,--data-init -mno-keep-startup -mno-download -mdefault-config-bits $(COMPARISON_BUILD)  -std=c99 -gdwarf-3 -mstack=reentrant:auto:auto:auto     -o ${OBJECTDIR}/app/factory/factory.p1 app/factory/factory.c 
+	@-${MV} ${OBJECTDIR}/app/factory/factory.d ${OBJECTDIR}/app/factory/factory.p1.d 
+	@${FIXDEPS} ${OBJECTDIR}/app/factory/factory.p1.d $(SILENT) -rsi ${MP_CC_DIR}../  
+	
+${OBJECTDIR}/app/can_message.p1: app/can_message.c  nbproject/Makefile-${CND_CONF}.mk 
+	@${MKDIR} "${OBJECTDIR}/app" 
+	@${RM} ${OBJECTDIR}/app/can_message.p1.d 
+	@${RM} ${OBJECTDIR}/app/can_message.p1 
+	${MP_CC} $(MP_EXTRA_CC_PRE) -mcpu=$(MP_PROCESSOR_OPTION) -c  -D__DEBUG=1  -mdebugger=pickit3   -mdfp="${DFP_DIR}/xc8"  -fno-short-double -fno-short-float -memi=wordwrite -O0 -fasmfile -maddrqual=ignore -xassembler-with-cpp -mwarn=3 -Wa,-a -DXPRJ_default=$(CND_CONF)  -msummary=-psect,-class,+mem,-hex,-file  -ginhx32 -Wl,--data-init -mno-keep-startup -mno-download -mdefault-config-bits $(COMPARISON_BUILD)  -std=c99 -gdwarf-3 -mstack=reentrant:auto:auto:auto     -o ${OBJECTDIR}/app/can_message.p1 app/can_message.c 
+	@-${MV} ${OBJECTDIR}/app/can_message.d ${OBJECTDIR}/app/can_message.p1.d 
+	@${FIXDEPS} ${OBJECTDIR}/app/can_message.p1.d $(SILENT) -rsi ${MP_CC_DIR}../  
+	
+${OBJECTDIR}/app/kartculator.p1: app/kartculator.c  nbproject/Makefile-${CND_CONF}.mk 
+	@${MKDIR} "${OBJECTDIR}/app" 
+	@${RM} ${OBJECTDIR}/app/kartculator.p1.d 
+	@${RM} ${OBJECTDIR}/app/kartculator.p1 
+	${MP_CC} $(MP_EXTRA_CC_PRE) -mcpu=$(MP_PROCESSOR_OPTION) -c  -D__DEBUG=1  -mdebugger=pickit3   -mdfp="${DFP_DIR}/xc8"  -fno-short-double -fno-short-float -memi=wordwrite -O0 -fasmfile -maddrqual=ignore -xassembler-with-cpp -mwarn=3 -Wa,-a -DXPRJ_default=$(CND_CONF)  -msummary=-psect,-class,+mem,-hex,-file  -ginhx32 -Wl,--data-init -mno-keep-startup -mno-download -mdefault-config-bits $(COMPARISON_BUILD)  -std=c99 -gdwarf-3 -mstack=reentrant:auto:auto:auto     -o ${OBJECTDIR}/app/kartculator.p1 app/kartculator.c 
+	@-${MV} ${OBJECTDIR}/app/kartculator.d ${OBJECTDIR}/app/kartculator.p1.d 
+	@${FIXDEPS} ${OBJECTDIR}/app/kartculator.p1.d $(SILENT) -rsi ${MP_CC_DIR}../  
+	
+${OBJECTDIR}/app/eeprom.p1: app/eeprom.c  nbproject/Makefile-${CND_CONF}.mk 
+	@${MKDIR} "${OBJECTDIR}/app" 
+	@${RM} ${OBJECTDIR}/app/eeprom.p1.d 
+	@${RM} ${OBJECTDIR}/app/eeprom.p1 
+	${MP_CC} $(MP_EXTRA_CC_PRE) -mcpu=$(MP_PROCESSOR_OPTION) -c  -D__DEBUG=1  -mdebugger=pickit3   -mdfp="${DFP_DIR}/xc8"  -fno-short-double -fno-short-float -memi=wordwrite -O0 -fasmfile -maddrqual=ignore -xassembler-with-cpp -mwarn=3 -Wa,-a -DXPRJ_default=$(CND_CONF)  -msummary=-psect,-class,+mem,-hex,-file  -ginhx32 -Wl,--data-init -mno-keep-startup -mno-download -mdefault-config-bits $(COMPARISON_BUILD)  -std=c99 -gdwarf-3 -mstack=reentrant:auto:auto:auto     -o ${OBJECTDIR}/app/eeprom.p1 app/eeprom.c 
+	@-${MV} ${OBJECTDIR}/app/eeprom.d ${OBJECTDIR}/app/eeprom.p1.d 
+	@${FIXDEPS} ${OBJECTDIR}/app/eeprom.p1.d $(SILENT) -rsi ${MP_CC_DIR}../  
+	
+${OBJECTDIR}/app/drive.p1: app/drive.c  nbproject/Makefile-${CND_CONF}.mk 
+	@${MKDIR} "${OBJECTDIR}/app" 
+	@${RM} ${OBJECTDIR}/app/drive.p1.d 
+	@${RM} ${OBJECTDIR}/app/drive.p1 
+	${MP_CC} $(MP_EXTRA_CC_PRE) -mcpu=$(MP_PROCESSOR_OPTION) -c  -D__DEBUG=1  -mdebugger=pickit3   -mdfp="${DFP_DIR}/xc8"  -fno-short-double -fno-short-float -memi=wordwrite -O0 -fasmfile -maddrqual=ignore -xassembler-with-cpp -mwarn=3 -Wa,-a -DXPRJ_default=$(CND_CONF)  -msummary=-psect,-class,+mem,-hex,-file  -ginhx32 -Wl,--data-init -mno-keep-startup -mno-download -mdefault-config-bits $(COMPARISON_BUILD)  -std=c99 -gdwarf-3 -mstack=reentrant:auto:auto:auto     -o ${OBJECTDIR}/app/drive.p1 app/drive.c 
+	@-${MV} ${OBJECTDIR}/app/drive.d ${OBJECTDIR}/app/drive.p1.d 
+	@${FIXDEPS} ${OBJECTDIR}/app/drive.p1.d $(SILENT) -rsi ${MP_CC_DIR}../  
+	
+${OBJECTDIR}/app/steering.p1: app/steering.c  nbproject/Makefile-${CND_CONF}.mk 
+	@${MKDIR} "${OBJECTDIR}/app" 
+	@${RM} ${OBJECTDIR}/app/steering.p1.d 
+	@${RM} ${OBJECTDIR}/app/steering.p1 
+	${MP_CC} $(MP_EXTRA_CC_PRE) -mcpu=$(MP_PROCESSOR_OPTION) -c  -D__DEBUG=1  -mdebugger=pickit3   -mdfp="${DFP_DIR}/xc8"  -fno-short-double -fno-short-float -memi=wordwrite -O0 -fasmfile -maddrqual=ignore -xassembler-with-cpp -mwarn=3 -Wa,-a -DXPRJ_default=$(CND_CONF)  -msummary=-psect,-class,+mem,-hex,-file  -ginhx32 -Wl,--data-init -mno-keep-startup -mno-download -mdefault-config-bits $(COMPARISON_BUILD)  -std=c99 -gdwarf-3 -mstack=reentrant:auto:auto:auto     -o ${OBJECTDIR}/app/steering.p1 app/steering.c 
+	@-${MV} ${OBJECTDIR}/app/steering.d ${OBJECTDIR}/app/steering.p1.d 
+	@${FIXDEPS} ${OBJECTDIR}/app/steering.p1.d $(SILENT) -rsi ${MP_CC_DIR}../  
+	
+${OBJECTDIR}/board/led/led.p1: board/led/led.c  nbproject/Makefile-${CND_CONF}.mk 
+	@${MKDIR} "${OBJECTDIR}/board/led" 
+	@${RM} ${OBJECTDIR}/board/led/led.p1.d 
+	@${RM} ${OBJECTDIR}/board/led/led.p1 
+	${MP_CC} $(MP_EXTRA_CC_PRE) -mcpu=$(MP_PROCESSOR_OPTION) -c  -D__DEBUG=1  -mdebugger=pickit3   -mdfp="${DFP_DIR}/xc8"  -fno-short-double -fno-short-float -memi=wordwrite -O0 -fasmfile -maddrqual=ignore -xassembler-with-cpp -mwarn=3 -Wa,-a -DXPRJ_default=$(CND_CONF)  -msummary=-psect,-class,+mem,-hex,-file  -ginhx32 -Wl,--data-init -mno-keep-startup -mno-download -mdefault-config-bits $(COMPARISON_BUILD)  -std=c99 -gdwarf-3 -mstack=reentrant:auto:auto:auto     -o ${OBJECTDIR}/board/led/led.p1 board/led/led.c 
+	@-${MV} ${OBJECTDIR}/board/led/led.d ${OBJECTDIR}/board/led/led.p1.d 
+	@${FIXDEPS} ${OBJECTDIR}/board/led/led.p1.d $(SILENT) -rsi ${MP_CC_DIR}../  
+	
+${OBJECTDIR}/mcc_generated_files/interrupt_manager.p1: mcc_generated_files/interrupt_manager.c  nbproject/Makefile-${CND_CONF}.mk 
+	@${MKDIR} "${OBJECTDIR}/mcc_generated_files" 
+	@${RM} ${OBJECTDIR}/mcc_generated_files/interrupt_manager.p1.d 
+	@${RM} ${OBJECTDIR}/mcc_generated_files/interrupt_manager.p1 
+	${MP_CC} $(MP_EXTRA_CC_PRE) -mcpu=$(MP_PROCESSOR_OPTION) -c  -D__DEBUG=1  -mdebugger=pickit3   -mdfp="${DFP_DIR}/xc8"  -fno-short-double -fno-short-float -memi=wordwrite -O0 -fasmfile -maddrqual=ignore -xassembler-with-cpp -mwarn=3 -Wa,-a -DXPRJ_default=$(CND_CONF)  -msummary=-psect,-class,+mem,-hex,-file  -ginhx32 -Wl,--data-init -mno-keep-startup -mno-download -mdefault-config-bits $(COMPARISON_BUILD)  -std=c99 -gdwarf-3 -mstack=reentrant:auto:auto:auto     -o ${OBJECTDIR}/mcc_generated_files/interrupt_manager.p1 mcc_generated_files/interrupt_manager.c 
+	@-${MV} ${OBJECTDIR}/mcc_generated_files/interrupt_manager.d ${OBJECTDIR}/mcc_generated_files/interrupt_manager.p1.d 
+	@${FIXDEPS} ${OBJECTDIR}/mcc_generated_files/interrupt_manager.p1.d $(SILENT) -rsi ${MP_CC_DIR}../  
+	
+${OBJECTDIR}/mcc_generated_files/tmr0.p1: mcc_generated_files/tmr0.c  nbproject/Makefile-${CND_CONF}.mk 
+	@${MKDIR} "${OBJECTDIR}/mcc_generated_files" 
+	@${RM} ${OBJECTDIR}/mcc_generated_files/tmr0.p1.d 
+	@${RM} ${OBJECTDIR}/mcc_generated_files/tmr0.p1 
+	${MP_CC} $(MP_EXTRA_CC_PRE) -mcpu=$(MP_PROCESSOR_OPTION) -c  -D__DEBUG=1  -mdebugger=pickit3   -mdfp="${DFP_DIR}/xc8"  -fno-short-double -fno-short-float -memi=wordwrite -O0 -fasmfile -maddrqual=ignore -xassembler-with-cpp -mwarn=3 -Wa,-a -DXPRJ_default=$(CND_CONF)  -msummary=-psect,-class,+mem,-hex,-file  -ginhx32 -Wl,--data-init -mno-keep-startup -mno-download -mdefault-config-bits $(COMPARISON_BUILD)  -std=c99 -gdwarf-3 -mstack=reentrant:auto:auto:auto     -o ${OBJECTDIR}/mcc_generated_files/tmr0.p1 mcc_generated_files/tmr0.c 
+	@-${MV} ${OBJECTDIR}/mcc_generated_files/tmr0.d ${OBJECTDIR}/mcc_generated_files/tmr0.p1.d 
+	@${FIXDEPS} ${OBJECTDIR}/mcc_generated_files/tmr0.p1.d $(SILENT) -rsi ${MP_CC_DIR}../  
+	
+${OBJECTDIR}/mcc_generated_files/pin_manager.p1: mcc_generated_files/pin_manager.c  nbproject/Makefile-${CND_CONF}.mk 
+	@${MKDIR} "${OBJECTDIR}/mcc_generated_files" 
+	@${RM} ${OBJECTDIR}/mcc_generated_files/pin_manager.p1.d 
+	@${RM} ${OBJECTDIR}/mcc_generated_files/pin_manager.p1 
+	${MP_CC} $(MP_EXTRA_CC_PRE) -mcpu=$(MP_PROCESSOR_OPTION) -c  -D__DEBUG=1  -mdebugger=pickit3   -mdfp="${DFP_DIR}/xc8"  -fno-short-double -fno-short-float -memi=wordwrite -O0 -fasmfile -maddrqual=ignore -xassembler-with-cpp -mwarn=3 -Wa,-a -DXPRJ_default=$(CND_CONF)  -msummary=-psect,-class,+mem,-hex,-file  -ginhx32 -Wl,--data-init -mno-keep-startup -mno-download -mdefault-config-bits $(COMPARISON_BUILD)  -std=c99 -gdwarf-3 -mstack=reentrant:auto:auto:auto     -o ${OBJECTDIR}/mcc_generated_files/pin_manager.p1 mcc_generated_files/pin_manager.c 
+	@-${MV} ${OBJECTDIR}/mcc_generated_files/pin_manager.d ${OBJECTDIR}/mcc_generated_files/pin_manager.p1.d 
+	@${FIXDEPS} ${OBJECTDIR}/mcc_generated_files/pin_manager.p1.d $(SILENT) -rsi ${MP_CC_DIR}../  
+	
+${OBJECTDIR}/mcc_generated_files/device_config.p1: mcc_generated_files/device_config.c  nbproject/Makefile-${CND_CONF}.mk 
+	@${MKDIR} "${OBJECTDIR}/mcc_generated_files" 
+	@${RM} ${OBJECTDIR}/mcc_generated_files/device_config.p1.d 
+	@${RM} ${OBJECTDIR}/mcc_generated_files/device_config.p1 
+	${MP_CC} $(MP_EXTRA_CC_PRE) -mcpu=$(MP_PROCESSOR_OPTION) -c  -D__DEBUG=1  -mdebugger=pickit3   -mdfp="${DFP_DIR}/xc8"  -fno-short-double -fno-short-float -memi=wordwrite -O0 -fasmfile -maddrqual=ignore -xassembler-with-cpp -mwarn=3 -Wa,-a -DXPRJ_default=$(CND_CONF)  -msummary=-psect,-class,+mem,-hex,-file  -ginhx32 -Wl,--data-init -mno-keep-startup -mno-download -mdefault-config-bits $(COMPARISON_BUILD)  -std=c99 -gdwarf-3 -mstack=reentrant:auto:auto:auto     -o ${OBJECTDIR}/mcc_generated_files/device_config.p1 mcc_generated_files/device_config.c 
+	@-${MV} ${OBJECTDIR}/mcc_generated_files/device_config.d ${OBJECTDIR}/mcc_generated_files/device_config.p1.d 
+	@${FIXDEPS} ${OBJECTDIR}/mcc_generated_files/device_config.p1.d $(SILENT) -rsi ${MP_CC_DIR}../  
+	
+${OBJECTDIR}/mcc_generated_files/mcc.p1: mcc_generated_files/mcc.c  nbproject/Makefile-${CND_CONF}.mk 
+	@${MKDIR} "${OBJECTDIR}/mcc_generated_files" 
+	@${RM} ${OBJECTDIR}/mcc_generated_files/mcc.p1.d 
+	@${RM} ${OBJECTDIR}/mcc_generated_files/mcc.p1 
+	${MP_CC} $(MP_EXTRA_CC_PRE) -mcpu=$(MP_PROCESSOR_OPTION) -c  -D__DEBUG=1  -mdebugger=pickit3   -mdfp="${DFP_DIR}/xc8"  -fno-short-double -fno-short-float -memi=wordwrite -O0 -fasmfile -maddrqual=ignore -xassembler-with-cpp -mwarn=3 -Wa,-a -DXPRJ_default=$(CND_CONF)  -msummary=-psect,-class,+mem,-hex,-file  -ginhx32 -Wl,--data-init -mno-keep-startup -mno-download -mdefault-config-bits $(COMPARISON_BUILD)  -std=c99 -gdwarf-3 -mstack=reentrant:auto:auto:auto     -o ${OBJECTDIR}/mcc_generated_files/mcc.p1 mcc_generated_files/mcc.c 
+	@-${MV} ${OBJECTDIR}/mcc_generated_files/mcc.d ${OBJECTDIR}/mcc_generated_files/mcc.p1.d 
+	@${FIXDEPS} ${OBJECTDIR}/mcc_generated_files/mcc.p1.d $(SILENT) -rsi ${MP_CC_DIR}../  
+	
+${OBJECTDIR}/mcc_generated_files/ecan.p1: mcc_generated_files/ecan.c  nbproject/Makefile-${CND_CONF}.mk 
+	@${MKDIR} "${OBJECTDIR}/mcc_generated_files" 
+	@${RM} ${OBJECTDIR}/mcc_generated_files/ecan.p1.d 
+	@${RM} ${OBJECTDIR}/mcc_generated_files/ecan.p1 
+	${MP_CC} $(MP_EXTRA_CC_PRE) -mcpu=$(MP_PROCESSOR_OPTION) -c  -D__DEBUG=1  -mdebugger=pickit3   -mdfp="${DFP_DIR}/xc8"  -fno-short-double -fno-short-float -memi=wordwrite -O0 -fasmfile -maddrqual=ignore -xassembler-with-cpp -mwarn=3 -Wa,-a -DXPRJ_default=$(CND_CONF)  -msummary=-psect,-class,+mem,-hex,-file  -ginhx32 -Wl,--data-init -mno-keep-startup -mno-download -mdefault-config-bits $(COMPARISON_BUILD)  -std=c99 -gdwarf-3 -mstack=reentrant:auto:auto:auto     -o ${OBJECTDIR}/mcc_generated_files/ecan.p1 mcc_generated_files/ecan.c 
+	@-${MV} ${OBJECTDIR}/mcc_generated_files/ecan.d ${OBJECTDIR}/mcc_generated_files/ecan.p1.d 
+	@${FIXDEPS} ${OBJECTDIR}/mcc_generated_files/ecan.p1.d $(SILENT) -rsi ${MP_CC_DIR}../  
+	
+${OBJECTDIR}/mcc_generated_files/memory.p1: mcc_generated_files/memory.c  nbproject/Makefile-${CND_CONF}.mk 
+	@${MKDIR} "${OBJECTDIR}/mcc_generated_files" 
+	@${RM} ${OBJECTDIR}/mcc_generated_files/memory.p1.d 
+	@${RM} ${OBJECTDIR}/mcc_generated_files/memory.p1 
+	${MP_CC} $(MP_EXTRA_CC_PRE) -mcpu=$(MP_PROCESSOR_OPTION) -c  -D__DEBUG=1  -mdebugger=pickit3   -mdfp="${DFP_DIR}/xc8"  -fno-short-double -fno-short-float -memi=wordwrite -O0 -fasmfile -maddrqual=ignore -xassembler-with-cpp -mwarn=3 -Wa,-a -DXPRJ_default=$(CND_CONF)  -msummary=-psect,-class,+mem,-hex,-file  -ginhx32 -Wl,--data-init -mno-keep-startup -mno-download -mdefault-config-bits $(COMPARISON_BUILD)  -std=c99 -gdwarf-3 -mstack=reentrant:auto:auto:auto     -o ${OBJECTDIR}/mcc_generated_files/memory.p1 mcc_generated_files/memory.c 
+	@-${MV} ${OBJECTDIR}/mcc_generated_files/memory.d ${OBJECTDIR}/mcc_generated_files/memory.p1.d 
+	@${FIXDEPS} ${OBJECTDIR}/mcc_generated_files/memory.p1.d $(SILENT) -rsi ${MP_CC_DIR}../  
+	
+${OBJECTDIR}/middleware/can_interface.p1: middleware/can_interface.c  nbproject/Makefile-${CND_CONF}.mk 
+	@${MKDIR} "${OBJECTDIR}/middleware" 
+	@${RM} ${OBJECTDIR}/middleware/can_interface.p1.d 
+	@${RM} ${OBJECTDIR}/middleware/can_interface.p1 
+	${MP_CC} $(MP_EXTRA_CC_PRE) -mcpu=$(MP_PROCESSOR_OPTION) -c  -D__DEBUG=1  -mdebugger=pickit3   -mdfp="${DFP_DIR}/xc8"  -fno-short-double -fno-short-float -memi=wordwrite -O0 -fasmfile -maddrqual=ignore -xassembler-with-cpp -mwarn=3 -Wa,-a -DXPRJ_default=$(CND_CONF)  -msummary=-psect,-class,+mem,-hex,-file  -ginhx32 -Wl,--data-init -mno-keep-startup -mno-download -mdefault-config-bits $(COMPARISON_BUILD)  -std=c99 -gdwarf-3 -mstack=reentrant:auto:auto:auto     -o ${OBJECTDIR}/middleware/can_interface.p1 middleware/can_interface.c 
+	@-${MV} ${OBJECTDIR}/middleware/can_interface.d ${OBJECTDIR}/middleware/can_interface.p1.d 
+	@${FIXDEPS} ${OBJECTDIR}/middleware/can_interface.p1.d $(SILENT) -rsi ${MP_CC_DIR}../  
+	
+${OBJECTDIR}/middleware/alive.p1: middleware/alive.c  nbproject/Makefile-${CND_CONF}.mk 
+	@${MKDIR} "${OBJECTDIR}/middleware" 
+	@${RM} ${OBJECTDIR}/middleware/alive.p1.d 
+	@${RM} ${OBJECTDIR}/middleware/alive.p1 
+	${MP_CC} $(MP_EXTRA_CC_PRE) -mcpu=$(MP_PROCESSOR_OPTION) -c  -D__DEBUG=1  -mdebugger=pickit3   -mdfp="${DFP_DIR}/xc8"  -fno-short-double -fno-short-float -memi=wordwrite -O0 -fasmfile -maddrqual=ignore -xassembler-with-cpp -mwarn=3 -Wa,-a -DXPRJ_default=$(CND_CONF)  -msummary=-psect,-class,+mem,-hex,-file  -ginhx32 -Wl,--data-init -mno-keep-startup -mno-download -mdefault-config-bits $(COMPARISON_BUILD)  -std=c99 -gdwarf-3 -mstack=reentrant:auto:auto:auto     -o ${OBJECTDIR}/middleware/alive.p1 middleware/alive.c 
+	@-${MV} ${OBJECTDIR}/middleware/alive.d ${OBJECTDIR}/middleware/alive.p1.d 
+	@${FIXDEPS} ${OBJECTDIR}/middleware/alive.p1.d $(SILENT) -rsi ${MP_CC_DIR}../  
+	
+${OBJECTDIR}/middleware/blinker.p1: middleware/blinker.c  nbproject/Makefile-${CND_CONF}.mk 
+	@${MKDIR} "${OBJECTDIR}/middleware" 
+	@${RM} ${OBJECTDIR}/middleware/blinker.p1.d 
+	@${RM} ${OBJECTDIR}/middleware/blinker.p1 
+	${MP_CC} $(MP_EXTRA_CC_PRE) -mcpu=$(MP_PROCESSOR_OPTION) -c  -D__DEBUG=1  -mdebugger=pickit3   -mdfp="${DFP_DIR}/xc8"  -fno-short-double -fno-short-float -memi=wordwrite -O0 -fasmfile -maddrqual=ignore -xassembler-with-cpp -mwarn=3 -Wa,-a -DXPRJ_default=$(CND_CONF)  -msummary=-psect,-class,+mem,-hex,-file  -ginhx32 -Wl,--data-init -mno-keep-startup -mno-download -mdefault-config-bits $(COMPARISON_BUILD)  -std=c99 -gdwarf-3 -mstack=reentrant:auto:auto:auto     -o ${OBJECTDIR}/middleware/blinker.p1 middleware/blinker.c 
+	@-${MV} ${OBJECTDIR}/middleware/blinker.d ${OBJECTDIR}/middleware/blinker.p1.d 
+	@${FIXDEPS} ${OBJECTDIR}/middleware/blinker.p1.d $(SILENT) -rsi ${MP_CC_DIR}../  
+	
+${OBJECTDIR}/xf/event.p1: xf/event.c  nbproject/Makefile-${CND_CONF}.mk 
+	@${MKDIR} "${OBJECTDIR}/xf" 
+	@${RM} ${OBJECTDIR}/xf/event.p1.d 
+	@${RM} ${OBJECTDIR}/xf/event.p1 
+	${MP_CC} $(MP_EXTRA_CC_PRE) -mcpu=$(MP_PROCESSOR_OPTION) -c  -D__DEBUG=1  -mdebugger=pickit3   -mdfp="${DFP_DIR}/xc8"  -fno-short-double -fno-short-float -memi=wordwrite -O0 -fasmfile -maddrqual=ignore -xassembler-with-cpp -mwarn=3 -Wa,-a -DXPRJ_default=$(CND_CONF)  -msummary=-psect,-class,+mem,-hex,-file  -ginhx32 -Wl,--data-init -mno-keep-startup -mno-download -mdefault-config-bits $(COMPARISON_BUILD)  -std=c99 -gdwarf-3 -mstack=reentrant:auto:auto:auto     -o ${OBJECTDIR}/xf/event.p1 xf/event.c 
+	@-${MV} ${OBJECTDIR}/xf/event.d ${OBJECTDIR}/xf/event.p1.d 
+	@${FIXDEPS} ${OBJECTDIR}/xf/event.p1.d $(SILENT) -rsi ${MP_CC_DIR}../  
+	
+${OBJECTDIR}/xf/xf.p1: xf/xf.c  nbproject/Makefile-${CND_CONF}.mk 
+	@${MKDIR} "${OBJECTDIR}/xf" 
+	@${RM} ${OBJECTDIR}/xf/xf.p1.d 
+	@${RM} ${OBJECTDIR}/xf/xf.p1 
+	${MP_CC} $(MP_EXTRA_CC_PRE) -mcpu=$(MP_PROCESSOR_OPTION) -c  -D__DEBUG=1  -mdebugger=pickit3   -mdfp="${DFP_DIR}/xc8"  -fno-short-double -fno-short-float -memi=wordwrite -O0 -fasmfile -maddrqual=ignore -xassembler-with-cpp -mwarn=3 -Wa,-a -DXPRJ_default=$(CND_CONF)  -msummary=-psect,-class,+mem,-hex,-file  -ginhx32 -Wl,--data-init -mno-keep-startup -mno-download -mdefault-config-bits $(COMPARISON_BUILD)  -std=c99 -gdwarf-3 -mstack=reentrant:auto:auto:auto     -o ${OBJECTDIR}/xf/xf.p1 xf/xf.c 
+	@-${MV} ${OBJECTDIR}/xf/xf.d ${OBJECTDIR}/xf/xf.p1.d 
+	@${FIXDEPS} ${OBJECTDIR}/xf/xf.p1.d $(SILENT) -rsi ${MP_CC_DIR}../  
+	
+${OBJECTDIR}/main.p1: main.c  nbproject/Makefile-${CND_CONF}.mk 
+	@${MKDIR} "${OBJECTDIR}" 
+	@${RM} ${OBJECTDIR}/main.p1.d 
+	@${RM} ${OBJECTDIR}/main.p1 
+	${MP_CC} $(MP_EXTRA_CC_PRE) -mcpu=$(MP_PROCESSOR_OPTION) -c  -D__DEBUG=1  -mdebugger=pickit3   -mdfp="${DFP_DIR}/xc8"  -fno-short-double -fno-short-float -memi=wordwrite -O0 -fasmfile -maddrqual=ignore -xassembler-with-cpp -mwarn=3 -Wa,-a -DXPRJ_default=$(CND_CONF)  -msummary=-psect,-class,+mem,-hex,-file  -ginhx32 -Wl,--data-init -mno-keep-startup -mno-download -mdefault-config-bits $(COMPARISON_BUILD)  -std=c99 -gdwarf-3 -mstack=reentrant:auto:auto:auto     -o ${OBJECTDIR}/main.p1 main.c 
+	@-${MV} ${OBJECTDIR}/main.d ${OBJECTDIR}/main.p1.d 
+	@${FIXDEPS} ${OBJECTDIR}/main.p1.d $(SILENT) -rsi ${MP_CC_DIR}../  
+	
+else
+${OBJECTDIR}/app/factory/factory.p1: app/factory/factory.c  nbproject/Makefile-${CND_CONF}.mk 
+	@${MKDIR} "${OBJECTDIR}/app/factory" 
+	@${RM} ${OBJECTDIR}/app/factory/factory.p1.d 
+	@${RM} ${OBJECTDIR}/app/factory/factory.p1 
+	${MP_CC} $(MP_EXTRA_CC_PRE) -mcpu=$(MP_PROCESSOR_OPTION) -c   -mdfp="${DFP_DIR}/xc8"  -fno-short-double -fno-short-float -memi=wordwrite -O0 -fasmfile -maddrqual=ignore -xassembler-with-cpp -mwarn=3 -Wa,-a -DXPRJ_default=$(CND_CONF)  -msummary=-psect,-class,+mem,-hex,-file  -ginhx32 -Wl,--data-init -mno-keep-startup -mno-download -mdefault-config-bits $(COMPARISON_BUILD)  -std=c99 -gdwarf-3 -mstack=reentrant:auto:auto:auto     -o ${OBJECTDIR}/app/factory/factory.p1 app/factory/factory.c 
+	@-${MV} ${OBJECTDIR}/app/factory/factory.d ${OBJECTDIR}/app/factory/factory.p1.d 
+	@${FIXDEPS} ${OBJECTDIR}/app/factory/factory.p1.d $(SILENT) -rsi ${MP_CC_DIR}../  
+	
+${OBJECTDIR}/app/can_message.p1: app/can_message.c  nbproject/Makefile-${CND_CONF}.mk 
+	@${MKDIR} "${OBJECTDIR}/app" 
+	@${RM} ${OBJECTDIR}/app/can_message.p1.d 
+	@${RM} ${OBJECTDIR}/app/can_message.p1 
+	${MP_CC} $(MP_EXTRA_CC_PRE) -mcpu=$(MP_PROCESSOR_OPTION) -c   -mdfp="${DFP_DIR}/xc8"  -fno-short-double -fno-short-float -memi=wordwrite -O0 -fasmfile -maddrqual=ignore -xassembler-with-cpp -mwarn=3 -Wa,-a -DXPRJ_default=$(CND_CONF)  -msummary=-psect,-class,+mem,-hex,-file  -ginhx32 -Wl,--data-init -mno-keep-startup -mno-download -mdefault-config-bits $(COMPARISON_BUILD)  -std=c99 -gdwarf-3 -mstack=reentrant:auto:auto:auto     -o ${OBJECTDIR}/app/can_message.p1 app/can_message.c 
+	@-${MV} ${OBJECTDIR}/app/can_message.d ${OBJECTDIR}/app/can_message.p1.d 
+	@${FIXDEPS} ${OBJECTDIR}/app/can_message.p1.d $(SILENT) -rsi ${MP_CC_DIR}../  
+	
+${OBJECTDIR}/app/kartculator.p1: app/kartculator.c  nbproject/Makefile-${CND_CONF}.mk 
+	@${MKDIR} "${OBJECTDIR}/app" 
+	@${RM} ${OBJECTDIR}/app/kartculator.p1.d 
+	@${RM} ${OBJECTDIR}/app/kartculator.p1 
+	${MP_CC} $(MP_EXTRA_CC_PRE) -mcpu=$(MP_PROCESSOR_OPTION) -c   -mdfp="${DFP_DIR}/xc8"  -fno-short-double -fno-short-float -memi=wordwrite -O0 -fasmfile -maddrqual=ignore -xassembler-with-cpp -mwarn=3 -Wa,-a -DXPRJ_default=$(CND_CONF)  -msummary=-psect,-class,+mem,-hex,-file  -ginhx32 -Wl,--data-init -mno-keep-startup -mno-download -mdefault-config-bits $(COMPARISON_BUILD)  -std=c99 -gdwarf-3 -mstack=reentrant:auto:auto:auto     -o ${OBJECTDIR}/app/kartculator.p1 app/kartculator.c 
+	@-${MV} ${OBJECTDIR}/app/kartculator.d ${OBJECTDIR}/app/kartculator.p1.d 
+	@${FIXDEPS} ${OBJECTDIR}/app/kartculator.p1.d $(SILENT) -rsi ${MP_CC_DIR}../  
+	
+${OBJECTDIR}/app/eeprom.p1: app/eeprom.c  nbproject/Makefile-${CND_CONF}.mk 
+	@${MKDIR} "${OBJECTDIR}/app" 
+	@${RM} ${OBJECTDIR}/app/eeprom.p1.d 
+	@${RM} ${OBJECTDIR}/app/eeprom.p1 
+	${MP_CC} $(MP_EXTRA_CC_PRE) -mcpu=$(MP_PROCESSOR_OPTION) -c   -mdfp="${DFP_DIR}/xc8"  -fno-short-double -fno-short-float -memi=wordwrite -O0 -fasmfile -maddrqual=ignore -xassembler-with-cpp -mwarn=3 -Wa,-a -DXPRJ_default=$(CND_CONF)  -msummary=-psect,-class,+mem,-hex,-file  -ginhx32 -Wl,--data-init -mno-keep-startup -mno-download -mdefault-config-bits $(COMPARISON_BUILD)  -std=c99 -gdwarf-3 -mstack=reentrant:auto:auto:auto     -o ${OBJECTDIR}/app/eeprom.p1 app/eeprom.c 
+	@-${MV} ${OBJECTDIR}/app/eeprom.d ${OBJECTDIR}/app/eeprom.p1.d 
+	@${FIXDEPS} ${OBJECTDIR}/app/eeprom.p1.d $(SILENT) -rsi ${MP_CC_DIR}../  
+	
+${OBJECTDIR}/app/drive.p1: app/drive.c  nbproject/Makefile-${CND_CONF}.mk 
+	@${MKDIR} "${OBJECTDIR}/app" 
+	@${RM} ${OBJECTDIR}/app/drive.p1.d 
+	@${RM} ${OBJECTDIR}/app/drive.p1 
+	${MP_CC} $(MP_EXTRA_CC_PRE) -mcpu=$(MP_PROCESSOR_OPTION) -c   -mdfp="${DFP_DIR}/xc8"  -fno-short-double -fno-short-float -memi=wordwrite -O0 -fasmfile -maddrqual=ignore -xassembler-with-cpp -mwarn=3 -Wa,-a -DXPRJ_default=$(CND_CONF)  -msummary=-psect,-class,+mem,-hex,-file  -ginhx32 -Wl,--data-init -mno-keep-startup -mno-download -mdefault-config-bits $(COMPARISON_BUILD)  -std=c99 -gdwarf-3 -mstack=reentrant:auto:auto:auto     -o ${OBJECTDIR}/app/drive.p1 app/drive.c 
+	@-${MV} ${OBJECTDIR}/app/drive.d ${OBJECTDIR}/app/drive.p1.d 
+	@${FIXDEPS} ${OBJECTDIR}/app/drive.p1.d $(SILENT) -rsi ${MP_CC_DIR}../  
+	
+${OBJECTDIR}/app/steering.p1: app/steering.c  nbproject/Makefile-${CND_CONF}.mk 
+	@${MKDIR} "${OBJECTDIR}/app" 
+	@${RM} ${OBJECTDIR}/app/steering.p1.d 
+	@${RM} ${OBJECTDIR}/app/steering.p1 
+	${MP_CC} $(MP_EXTRA_CC_PRE) -mcpu=$(MP_PROCESSOR_OPTION) -c   -mdfp="${DFP_DIR}/xc8"  -fno-short-double -fno-short-float -memi=wordwrite -O0 -fasmfile -maddrqual=ignore -xassembler-with-cpp -mwarn=3 -Wa,-a -DXPRJ_default=$(CND_CONF)  -msummary=-psect,-class,+mem,-hex,-file  -ginhx32 -Wl,--data-init -mno-keep-startup -mno-download -mdefault-config-bits $(COMPARISON_BUILD)  -std=c99 -gdwarf-3 -mstack=reentrant:auto:auto:auto     -o ${OBJECTDIR}/app/steering.p1 app/steering.c 
+	@-${MV} ${OBJECTDIR}/app/steering.d ${OBJECTDIR}/app/steering.p1.d 
+	@${FIXDEPS} ${OBJECTDIR}/app/steering.p1.d $(SILENT) -rsi ${MP_CC_DIR}../  
+	
+${OBJECTDIR}/board/led/led.p1: board/led/led.c  nbproject/Makefile-${CND_CONF}.mk 
+	@${MKDIR} "${OBJECTDIR}/board/led" 
+	@${RM} ${OBJECTDIR}/board/led/led.p1.d 
+	@${RM} ${OBJECTDIR}/board/led/led.p1 
+	${MP_CC} $(MP_EXTRA_CC_PRE) -mcpu=$(MP_PROCESSOR_OPTION) -c   -mdfp="${DFP_DIR}/xc8"  -fno-short-double -fno-short-float -memi=wordwrite -O0 -fasmfile -maddrqual=ignore -xassembler-with-cpp -mwarn=3 -Wa,-a -DXPRJ_default=$(CND_CONF)  -msummary=-psect,-class,+mem,-hex,-file  -ginhx32 -Wl,--data-init -mno-keep-startup -mno-download -mdefault-config-bits $(COMPARISON_BUILD)  -std=c99 -gdwarf-3 -mstack=reentrant:auto:auto:auto     -o ${OBJECTDIR}/board/led/led.p1 board/led/led.c 
+	@-${MV} ${OBJECTDIR}/board/led/led.d ${OBJECTDIR}/board/led/led.p1.d 
+	@${FIXDEPS} ${OBJECTDIR}/board/led/led.p1.d $(SILENT) -rsi ${MP_CC_DIR}../  
+	
+${OBJECTDIR}/mcc_generated_files/interrupt_manager.p1: mcc_generated_files/interrupt_manager.c  nbproject/Makefile-${CND_CONF}.mk 
+	@${MKDIR} "${OBJECTDIR}/mcc_generated_files" 
+	@${RM} ${OBJECTDIR}/mcc_generated_files/interrupt_manager.p1.d 
+	@${RM} ${OBJECTDIR}/mcc_generated_files/interrupt_manager.p1 
+	${MP_CC} $(MP_EXTRA_CC_PRE) -mcpu=$(MP_PROCESSOR_OPTION) -c   -mdfp="${DFP_DIR}/xc8"  -fno-short-double -fno-short-float -memi=wordwrite -O0 -fasmfile -maddrqual=ignore -xassembler-with-cpp -mwarn=3 -Wa,-a -DXPRJ_default=$(CND_CONF)  -msummary=-psect,-class,+mem,-hex,-file  -ginhx32 -Wl,--data-init -mno-keep-startup -mno-download -mdefault-config-bits $(COMPARISON_BUILD)  -std=c99 -gdwarf-3 -mstack=reentrant:auto:auto:auto     -o ${OBJECTDIR}/mcc_generated_files/interrupt_manager.p1 mcc_generated_files/interrupt_manager.c 
+	@-${MV} ${OBJECTDIR}/mcc_generated_files/interrupt_manager.d ${OBJECTDIR}/mcc_generated_files/interrupt_manager.p1.d 
+	@${FIXDEPS} ${OBJECTDIR}/mcc_generated_files/interrupt_manager.p1.d $(SILENT) -rsi ${MP_CC_DIR}../  
+	
+${OBJECTDIR}/mcc_generated_files/tmr0.p1: mcc_generated_files/tmr0.c  nbproject/Makefile-${CND_CONF}.mk 
+	@${MKDIR} "${OBJECTDIR}/mcc_generated_files" 
+	@${RM} ${OBJECTDIR}/mcc_generated_files/tmr0.p1.d 
+	@${RM} ${OBJECTDIR}/mcc_generated_files/tmr0.p1 
+	${MP_CC} $(MP_EXTRA_CC_PRE) -mcpu=$(MP_PROCESSOR_OPTION) -c   -mdfp="${DFP_DIR}/xc8"  -fno-short-double -fno-short-float -memi=wordwrite -O0 -fasmfile -maddrqual=ignore -xassembler-with-cpp -mwarn=3 -Wa,-a -DXPRJ_default=$(CND_CONF)  -msummary=-psect,-class,+mem,-hex,-file  -ginhx32 -Wl,--data-init -mno-keep-startup -mno-download -mdefault-config-bits $(COMPARISON_BUILD)  -std=c99 -gdwarf-3 -mstack=reentrant:auto:auto:auto     -o ${OBJECTDIR}/mcc_generated_files/tmr0.p1 mcc_generated_files/tmr0.c 
+	@-${MV} ${OBJECTDIR}/mcc_generated_files/tmr0.d ${OBJECTDIR}/mcc_generated_files/tmr0.p1.d 
+	@${FIXDEPS} ${OBJECTDIR}/mcc_generated_files/tmr0.p1.d $(SILENT) -rsi ${MP_CC_DIR}../  
+	
+${OBJECTDIR}/mcc_generated_files/pin_manager.p1: mcc_generated_files/pin_manager.c  nbproject/Makefile-${CND_CONF}.mk 
+	@${MKDIR} "${OBJECTDIR}/mcc_generated_files" 
+	@${RM} ${OBJECTDIR}/mcc_generated_files/pin_manager.p1.d 
+	@${RM} ${OBJECTDIR}/mcc_generated_files/pin_manager.p1 
+	${MP_CC} $(MP_EXTRA_CC_PRE) -mcpu=$(MP_PROCESSOR_OPTION) -c   -mdfp="${DFP_DIR}/xc8"  -fno-short-double -fno-short-float -memi=wordwrite -O0 -fasmfile -maddrqual=ignore -xassembler-with-cpp -mwarn=3 -Wa,-a -DXPRJ_default=$(CND_CONF)  -msummary=-psect,-class,+mem,-hex,-file  -ginhx32 -Wl,--data-init -mno-keep-startup -mno-download -mdefault-config-bits $(COMPARISON_BUILD)  -std=c99 -gdwarf-3 -mstack=reentrant:auto:auto:auto     -o ${OBJECTDIR}/mcc_generated_files/pin_manager.p1 mcc_generated_files/pin_manager.c 
+	@-${MV} ${OBJECTDIR}/mcc_generated_files/pin_manager.d ${OBJECTDIR}/mcc_generated_files/pin_manager.p1.d 
+	@${FIXDEPS} ${OBJECTDIR}/mcc_generated_files/pin_manager.p1.d $(SILENT) -rsi ${MP_CC_DIR}../  
+	
+${OBJECTDIR}/mcc_generated_files/device_config.p1: mcc_generated_files/device_config.c  nbproject/Makefile-${CND_CONF}.mk 
+	@${MKDIR} "${OBJECTDIR}/mcc_generated_files" 
+	@${RM} ${OBJECTDIR}/mcc_generated_files/device_config.p1.d 
+	@${RM} ${OBJECTDIR}/mcc_generated_files/device_config.p1 
+	${MP_CC} $(MP_EXTRA_CC_PRE) -mcpu=$(MP_PROCESSOR_OPTION) -c   -mdfp="${DFP_DIR}/xc8"  -fno-short-double -fno-short-float -memi=wordwrite -O0 -fasmfile -maddrqual=ignore -xassembler-with-cpp -mwarn=3 -Wa,-a -DXPRJ_default=$(CND_CONF)  -msummary=-psect,-class,+mem,-hex,-file  -ginhx32 -Wl,--data-init -mno-keep-startup -mno-download -mdefault-config-bits $(COMPARISON_BUILD)  -std=c99 -gdwarf-3 -mstack=reentrant:auto:auto:auto     -o ${OBJECTDIR}/mcc_generated_files/device_config.p1 mcc_generated_files/device_config.c 
+	@-${MV} ${OBJECTDIR}/mcc_generated_files/device_config.d ${OBJECTDIR}/mcc_generated_files/device_config.p1.d 
+	@${FIXDEPS} ${OBJECTDIR}/mcc_generated_files/device_config.p1.d $(SILENT) -rsi ${MP_CC_DIR}../  
+	
+${OBJECTDIR}/mcc_generated_files/mcc.p1: mcc_generated_files/mcc.c  nbproject/Makefile-${CND_CONF}.mk 
+	@${MKDIR} "${OBJECTDIR}/mcc_generated_files" 
+	@${RM} ${OBJECTDIR}/mcc_generated_files/mcc.p1.d 
+	@${RM} ${OBJECTDIR}/mcc_generated_files/mcc.p1 
+	${MP_CC} $(MP_EXTRA_CC_PRE) -mcpu=$(MP_PROCESSOR_OPTION) -c   -mdfp="${DFP_DIR}/xc8"  -fno-short-double -fno-short-float -memi=wordwrite -O0 -fasmfile -maddrqual=ignore -xassembler-with-cpp -mwarn=3 -Wa,-a -DXPRJ_default=$(CND_CONF)  -msummary=-psect,-class,+mem,-hex,-file  -ginhx32 -Wl,--data-init -mno-keep-startup -mno-download -mdefault-config-bits $(COMPARISON_BUILD)  -std=c99 -gdwarf-3 -mstack=reentrant:auto:auto:auto     -o ${OBJECTDIR}/mcc_generated_files/mcc.p1 mcc_generated_files/mcc.c 
+	@-${MV} ${OBJECTDIR}/mcc_generated_files/mcc.d ${OBJECTDIR}/mcc_generated_files/mcc.p1.d 
+	@${FIXDEPS} ${OBJECTDIR}/mcc_generated_files/mcc.p1.d $(SILENT) -rsi ${MP_CC_DIR}../  
+	
+${OBJECTDIR}/mcc_generated_files/ecan.p1: mcc_generated_files/ecan.c  nbproject/Makefile-${CND_CONF}.mk 
+	@${MKDIR} "${OBJECTDIR}/mcc_generated_files" 
+	@${RM} ${OBJECTDIR}/mcc_generated_files/ecan.p1.d 
+	@${RM} ${OBJECTDIR}/mcc_generated_files/ecan.p1 
+	${MP_CC} $(MP_EXTRA_CC_PRE) -mcpu=$(MP_PROCESSOR_OPTION) -c   -mdfp="${DFP_DIR}/xc8"  -fno-short-double -fno-short-float -memi=wordwrite -O0 -fasmfile -maddrqual=ignore -xassembler-with-cpp -mwarn=3 -Wa,-a -DXPRJ_default=$(CND_CONF)  -msummary=-psect,-class,+mem,-hex,-file  -ginhx32 -Wl,--data-init -mno-keep-startup -mno-download -mdefault-config-bits $(COMPARISON_BUILD)  -std=c99 -gdwarf-3 -mstack=reentrant:auto:auto:auto     -o ${OBJECTDIR}/mcc_generated_files/ecan.p1 mcc_generated_files/ecan.c 
+	@-${MV} ${OBJECTDIR}/mcc_generated_files/ecan.d ${OBJECTDIR}/mcc_generated_files/ecan.p1.d 
+	@${FIXDEPS} ${OBJECTDIR}/mcc_generated_files/ecan.p1.d $(SILENT) -rsi ${MP_CC_DIR}../  
+	
+${OBJECTDIR}/mcc_generated_files/memory.p1: mcc_generated_files/memory.c  nbproject/Makefile-${CND_CONF}.mk 
+	@${MKDIR} "${OBJECTDIR}/mcc_generated_files" 
+	@${RM} ${OBJECTDIR}/mcc_generated_files/memory.p1.d 
+	@${RM} ${OBJECTDIR}/mcc_generated_files/memory.p1 
+	${MP_CC} $(MP_EXTRA_CC_PRE) -mcpu=$(MP_PROCESSOR_OPTION) -c   -mdfp="${DFP_DIR}/xc8"  -fno-short-double -fno-short-float -memi=wordwrite -O0 -fasmfile -maddrqual=ignore -xassembler-with-cpp -mwarn=3 -Wa,-a -DXPRJ_default=$(CND_CONF)  -msummary=-psect,-class,+mem,-hex,-file  -ginhx32 -Wl,--data-init -mno-keep-startup -mno-download -mdefault-config-bits $(COMPARISON_BUILD)  -std=c99 -gdwarf-3 -mstack=reentrant:auto:auto:auto     -o ${OBJECTDIR}/mcc_generated_files/memory.p1 mcc_generated_files/memory.c 
+	@-${MV} ${OBJECTDIR}/mcc_generated_files/memory.d ${OBJECTDIR}/mcc_generated_files/memory.p1.d 
+	@${FIXDEPS} ${OBJECTDIR}/mcc_generated_files/memory.p1.d $(SILENT) -rsi ${MP_CC_DIR}../  
+	
+${OBJECTDIR}/middleware/can_interface.p1: middleware/can_interface.c  nbproject/Makefile-${CND_CONF}.mk 
+	@${MKDIR} "${OBJECTDIR}/middleware" 
+	@${RM} ${OBJECTDIR}/middleware/can_interface.p1.d 
+	@${RM} ${OBJECTDIR}/middleware/can_interface.p1 
+	${MP_CC} $(MP_EXTRA_CC_PRE) -mcpu=$(MP_PROCESSOR_OPTION) -c   -mdfp="${DFP_DIR}/xc8"  -fno-short-double -fno-short-float -memi=wordwrite -O0 -fasmfile -maddrqual=ignore -xassembler-with-cpp -mwarn=3 -Wa,-a -DXPRJ_default=$(CND_CONF)  -msummary=-psect,-class,+mem,-hex,-file  -ginhx32 -Wl,--data-init -mno-keep-startup -mno-download -mdefault-config-bits $(COMPARISON_BUILD)  -std=c99 -gdwarf-3 -mstack=reentrant:auto:auto:auto     -o ${OBJECTDIR}/middleware/can_interface.p1 middleware/can_interface.c 
+	@-${MV} ${OBJECTDIR}/middleware/can_interface.d ${OBJECTDIR}/middleware/can_interface.p1.d 
+	@${FIXDEPS} ${OBJECTDIR}/middleware/can_interface.p1.d $(SILENT) -rsi ${MP_CC_DIR}../  
+	
+${OBJECTDIR}/middleware/alive.p1: middleware/alive.c  nbproject/Makefile-${CND_CONF}.mk 
+	@${MKDIR} "${OBJECTDIR}/middleware" 
+	@${RM} ${OBJECTDIR}/middleware/alive.p1.d 
+	@${RM} ${OBJECTDIR}/middleware/alive.p1 
+	${MP_CC} $(MP_EXTRA_CC_PRE) -mcpu=$(MP_PROCESSOR_OPTION) -c   -mdfp="${DFP_DIR}/xc8"  -fno-short-double -fno-short-float -memi=wordwrite -O0 -fasmfile -maddrqual=ignore -xassembler-with-cpp -mwarn=3 -Wa,-a -DXPRJ_default=$(CND_CONF)  -msummary=-psect,-class,+mem,-hex,-file  -ginhx32 -Wl,--data-init -mno-keep-startup -mno-download -mdefault-config-bits $(COMPARISON_BUILD)  -std=c99 -gdwarf-3 -mstack=reentrant:auto:auto:auto     -o ${OBJECTDIR}/middleware/alive.p1 middleware/alive.c 
+	@-${MV} ${OBJECTDIR}/middleware/alive.d ${OBJECTDIR}/middleware/alive.p1.d 
+	@${FIXDEPS} ${OBJECTDIR}/middleware/alive.p1.d $(SILENT) -rsi ${MP_CC_DIR}../  
+	
+${OBJECTDIR}/middleware/blinker.p1: middleware/blinker.c  nbproject/Makefile-${CND_CONF}.mk 
+	@${MKDIR} "${OBJECTDIR}/middleware" 
+	@${RM} ${OBJECTDIR}/middleware/blinker.p1.d 
+	@${RM} ${OBJECTDIR}/middleware/blinker.p1 
+	${MP_CC} $(MP_EXTRA_CC_PRE) -mcpu=$(MP_PROCESSOR_OPTION) -c   -mdfp="${DFP_DIR}/xc8"  -fno-short-double -fno-short-float -memi=wordwrite -O0 -fasmfile -maddrqual=ignore -xassembler-with-cpp -mwarn=3 -Wa,-a -DXPRJ_default=$(CND_CONF)  -msummary=-psect,-class,+mem,-hex,-file  -ginhx32 -Wl,--data-init -mno-keep-startup -mno-download -mdefault-config-bits $(COMPARISON_BUILD)  -std=c99 -gdwarf-3 -mstack=reentrant:auto:auto:auto     -o ${OBJECTDIR}/middleware/blinker.p1 middleware/blinker.c 
+	@-${MV} ${OBJECTDIR}/middleware/blinker.d ${OBJECTDIR}/middleware/blinker.p1.d 
+	@${FIXDEPS} ${OBJECTDIR}/middleware/blinker.p1.d $(SILENT) -rsi ${MP_CC_DIR}../  
+	
+${OBJECTDIR}/xf/event.p1: xf/event.c  nbproject/Makefile-${CND_CONF}.mk 
+	@${MKDIR} "${OBJECTDIR}/xf" 
+	@${RM} ${OBJECTDIR}/xf/event.p1.d 
+	@${RM} ${OBJECTDIR}/xf/event.p1 
+	${MP_CC} $(MP_EXTRA_CC_PRE) -mcpu=$(MP_PROCESSOR_OPTION) -c   -mdfp="${DFP_DIR}/xc8"  -fno-short-double -fno-short-float -memi=wordwrite -O0 -fasmfile -maddrqual=ignore -xassembler-with-cpp -mwarn=3 -Wa,-a -DXPRJ_default=$(CND_CONF)  -msummary=-psect,-class,+mem,-hex,-file  -ginhx32 -Wl,--data-init -mno-keep-startup -mno-download -mdefault-config-bits $(COMPARISON_BUILD)  -std=c99 -gdwarf-3 -mstack=reentrant:auto:auto:auto     -o ${OBJECTDIR}/xf/event.p1 xf/event.c 
+	@-${MV} ${OBJECTDIR}/xf/event.d ${OBJECTDIR}/xf/event.p1.d 
+	@${FIXDEPS} ${OBJECTDIR}/xf/event.p1.d $(SILENT) -rsi ${MP_CC_DIR}../  
+	
+${OBJECTDIR}/xf/xf.p1: xf/xf.c  nbproject/Makefile-${CND_CONF}.mk 
+	@${MKDIR} "${OBJECTDIR}/xf" 
+	@${RM} ${OBJECTDIR}/xf/xf.p1.d 
+	@${RM} ${OBJECTDIR}/xf/xf.p1 
+	${MP_CC} $(MP_EXTRA_CC_PRE) -mcpu=$(MP_PROCESSOR_OPTION) -c   -mdfp="${DFP_DIR}/xc8"  -fno-short-double -fno-short-float -memi=wordwrite -O0 -fasmfile -maddrqual=ignore -xassembler-with-cpp -mwarn=3 -Wa,-a -DXPRJ_default=$(CND_CONF)  -msummary=-psect,-class,+mem,-hex,-file  -ginhx32 -Wl,--data-init -mno-keep-startup -mno-download -mdefault-config-bits $(COMPARISON_BUILD)  -std=c99 -gdwarf-3 -mstack=reentrant:auto:auto:auto     -o ${OBJECTDIR}/xf/xf.p1 xf/xf.c 
+	@-${MV} ${OBJECTDIR}/xf/xf.d ${OBJECTDIR}/xf/xf.p1.d 
+	@${FIXDEPS} ${OBJECTDIR}/xf/xf.p1.d $(SILENT) -rsi ${MP_CC_DIR}../  
+	
+${OBJECTDIR}/main.p1: main.c  nbproject/Makefile-${CND_CONF}.mk 
+	@${MKDIR} "${OBJECTDIR}" 
+	@${RM} ${OBJECTDIR}/main.p1.d 
+	@${RM} ${OBJECTDIR}/main.p1 
+	${MP_CC} $(MP_EXTRA_CC_PRE) -mcpu=$(MP_PROCESSOR_OPTION) -c   -mdfp="${DFP_DIR}/xc8"  -fno-short-double -fno-short-float -memi=wordwrite -O0 -fasmfile -maddrqual=ignore -xassembler-with-cpp -mwarn=3 -Wa,-a -DXPRJ_default=$(CND_CONF)  -msummary=-psect,-class,+mem,-hex,-file  -ginhx32 -Wl,--data-init -mno-keep-startup -mno-download -mdefault-config-bits $(COMPARISON_BUILD)  -std=c99 -gdwarf-3 -mstack=reentrant:auto:auto:auto     -o ${OBJECTDIR}/main.p1 main.c 
+	@-${MV} ${OBJECTDIR}/main.d ${OBJECTDIR}/main.p1.d 
+	@${FIXDEPS} ${OBJECTDIR}/main.p1.d $(SILENT) -rsi ${MP_CC_DIR}../  
+	
+endif
+
+# ------------------------------------------------------------------------------------
+# Rules for buildStep: assemble
+ifeq ($(TYPE_IMAGE), DEBUG_RUN)
+else
+endif
+
+# ------------------------------------------------------------------------------------
+# Rules for buildStep: assembleWithPreprocess
+ifeq ($(TYPE_IMAGE), DEBUG_RUN)
+else
+endif
+
+# ------------------------------------------------------------------------------------
+# Rules for buildStep: link
+ifeq ($(TYPE_IMAGE), DEBUG_RUN)
+${DISTDIR}/306-controller_interface.X.${IMAGE_TYPE}.${OUTPUT_SUFFIX}: ${OBJECTFILES}  nbproject/Makefile-${CND_CONF}.mk    
+	@${MKDIR} ${DISTDIR} 
+	${MP_CC} $(MP_EXTRA_LD_PRE) -mcpu=$(MP_PROCESSOR_OPTION) -Wl,-Map=${DISTDIR}/306-controller_interface.X.${IMAGE_TYPE}.map  -D__DEBUG=1  -mdebugger=pickit3  -DXPRJ_default=$(CND_CONF)  -Wl,--defsym=__MPLAB_BUILD=1   -mdfp="${DFP_DIR}/xc8"  -fno-short-double -fno-short-float -memi=wordwrite -O0 -fasmfile -maddrqual=ignore -xassembler-with-cpp -mwarn=3 -Wa,-a -msummary=-psect,-class,+mem,-hex,-file  -ginhx32 -Wl,--data-init -mno-keep-startup -mno-download -mdefault-config-bits -std=c99 -gdwarf-3 -mstack=reentrant:auto:auto:auto        $(COMPARISON_BUILD) -Wl,--memorysummary,${DISTDIR}/memoryfile.xml -o ${DISTDIR}/306-controller_interface.X.${IMAGE_TYPE}.${DEBUGGABLE_SUFFIX}  ${OBJECTFILES_QUOTED_IF_SPACED}     
+	@${RM} ${DISTDIR}/306-controller_interface.X.${IMAGE_TYPE}.hex 
+	
+else
+${DISTDIR}/306-controller_interface.X.${IMAGE_TYPE}.${OUTPUT_SUFFIX}: ${OBJECTFILES}  nbproject/Makefile-${CND_CONF}.mk   
+	@${MKDIR} ${DISTDIR} 
+	${MP_CC} $(MP_EXTRA_LD_PRE) -mcpu=$(MP_PROCESSOR_OPTION) -Wl,-Map=${DISTDIR}/306-controller_interface.X.${IMAGE_TYPE}.map  -DXPRJ_default=$(CND_CONF)  -Wl,--defsym=__MPLAB_BUILD=1   -mdfp="${DFP_DIR}/xc8"  -fno-short-double -fno-short-float -memi=wordwrite -O0 -fasmfile -maddrqual=ignore -xassembler-with-cpp -mwarn=3 -Wa,-a -msummary=-psect,-class,+mem,-hex,-file  -ginhx32 -Wl,--data-init -mno-keep-startup -mno-download -mdefault-config-bits -std=c99 -gdwarf-3 -mstack=reentrant:auto:auto:auto     $(COMPARISON_BUILD) -Wl,--memorysummary,${DISTDIR}/memoryfile.xml -o ${DISTDIR}/306-controller_interface.X.${IMAGE_TYPE}.${DEBUGGABLE_SUFFIX}  ${OBJECTFILES_QUOTED_IF_SPACED}     
+	
+endif
+
+
+# Subprojects
+.build-subprojects:
+
+
+# Subprojects
+.clean-subprojects:
+
+# Clean Targets
+.clean-conf: ${CLEAN_SUBPROJECTS}
+	${RM} -r ${OBJECTDIR}
+	${RM} -r ${DISTDIR}
+
+# Enable dependency checking
+.dep.inc: .depcheck-impl
+
+DEPFILES=$(wildcard ${POSSIBLE_DEPFILES})
+ifneq (${DEPFILES},)
+include ${DEPFILES}
+endif

306-controller_interface.X/nbproject/Makefile-impl.mk

@@ -0,0 +1,69 @@
+#
+# Generated Makefile - do not edit!
+#
+# Edit the Makefile in the project folder instead (../Makefile). Each target
+# has a pre- and a post- target defined where you can add customization code.
+#
+# This makefile implements macros and targets common to all configurations.
+#
+# NOCDDL
+
+
+# Building and Cleaning subprojects are done by default, but can be controlled with the SUB
+# macro. If SUB=no, subprojects will not be built or cleaned. The following macro
+# statements set BUILD_SUB-CONF and CLEAN_SUB-CONF to .build-reqprojects-conf
+# and .clean-reqprojects-conf unless SUB has the value 'no'
+SUB_no=NO
+SUBPROJECTS=${SUB_${SUB}}
+BUILD_SUBPROJECTS_=.build-subprojects
+BUILD_SUBPROJECTS_NO=
+BUILD_SUBPROJECTS=${BUILD_SUBPROJECTS_${SUBPROJECTS}}
+CLEAN_SUBPROJECTS_=.clean-subprojects
+CLEAN_SUBPROJECTS_NO=
+CLEAN_SUBPROJECTS=${CLEAN_SUBPROJECTS_${SUBPROJECTS}}
+
+
+# Project Name
+PROJECTNAME=306-controller_interface.X
+
+# Active Configuration
+DEFAULTCONF=default
+CONF=${DEFAULTCONF}
+
+# All Configurations
+ALLCONFS=default 
+
+
+# build
+.build-impl: .build-pre
+	${MAKE} -f nbproject/Makefile-${CONF}.mk SUBPROJECTS=${SUBPROJECTS} .build-conf
+
+
+# clean
+.clean-impl: .clean-pre
+	${MAKE} -f nbproject/Makefile-${CONF}.mk SUBPROJECTS=${SUBPROJECTS} .clean-conf
+
+# clobber
+.clobber-impl: .clobber-pre .depcheck-impl
+	    ${MAKE} SUBPROJECTS=${SUBPROJECTS} CONF=default clean
+
+
+
+# all
+.all-impl: .all-pre .depcheck-impl
+	    ${MAKE} SUBPROJECTS=${SUBPROJECTS} CONF=default build
+
+
+
+# dependency checking support
+.depcheck-impl:
+#	@echo "# This code depends on make tool being used" >.dep.inc
+#	@if [ -n "${MAKE_VERSION}" ]; then \
+#	    echo "DEPFILES=\$$(wildcard \$$(addsuffix .d, \$${OBJECTFILES}))" >>.dep.inc; \
+#	    echo "ifneq (\$${DEPFILES},)" >>.dep.inc; \
+#	    echo "include \$${DEPFILES}" >>.dep.inc; \
+#	    echo "endif" >>.dep.inc; \
+#	else \
+#	    echo ".KEEP_STATE:" >>.dep.inc; \
+#	    echo ".KEEP_STATE_FILE:.make.state.\$${CONF}" >>.dep.inc; \
+#	fi

306-controller_interface.X/nbproject/Makefile-local-default.mk

@@ -0,0 +1,37 @@
+#
+# Generated Makefile - do not edit!
+#
+#
+# This file contains information about the location of compilers and other tools.
+# If you commmit this file into your revision control server, you will be able to 
+# to checkout the project and build it from the command line with make. However,
+# if more than one person works on the same project, then this file might show
+# conflicts since different users are bound to have compilers in different places.
+# In that case you might choose to not commit this file and let MPLAB X recreate this file
+# for each user. The disadvantage of not commiting this file is that you must run MPLAB X at
+# least once so the file gets created and the project can be built. Finally, you can also
+# avoid using this file at all if you are only building from the command line with make.
+# You can invoke make with the values of the macros:
+# $ makeMP_CC="/opt/microchip/mplabc30/v3.30c/bin/pic30-gcc" ...  
+#
+SHELL=cmd.exe
+PATH_TO_IDE_BIN=C:/Program Files/Microchip/MPLABX/v6.15/mplab_platform/platform/../mplab_ide/modules/../../bin/
+# Adding MPLAB X bin directory to path.
+PATH:=C:/Program Files/Microchip/MPLABX/v6.15/mplab_platform/platform/../mplab_ide/modules/../../bin/:$(PATH)
+# Path to java used to run MPLAB X when this makefile was created
+MP_JAVA_PATH="C:\Program Files\Microchip\MPLABX\v6.15\sys\java\zulu8.64.0.19-ca-fx-jre8.0.345-win_x64/bin/"
+OS_CURRENT="$(shell uname -s)"
+MP_CC="C:\Program Files\Microchip\xc8\v2.41\bin\xc8-cc.exe"
+# MP_CPPC is not defined
+# MP_BC is not defined
+MP_AS="C:\Program Files\Microchip\xc8\v2.41\bin\xc8-cc.exe"
+MP_LD="C:\Program Files\Microchip\xc8\v2.41\bin\xc8-cc.exe"
+MP_AR="C:\Program Files\Microchip\xc8\v2.41\bin\xc8-ar.exe"
+DEP_GEN=${MP_JAVA_PATH}java -jar "C:/Program Files/Microchip/MPLABX/v6.15/mplab_platform/platform/../mplab_ide/modules/../../bin/extractobjectdependencies.jar"
+MP_CC_DIR="C:\Program Files\Microchip\xc8\v2.41\bin"
+# MP_CPPC_DIR is not defined
+# MP_BC_DIR is not defined
+MP_AS_DIR="C:\Program Files\Microchip\xc8\v2.41\bin"
+MP_LD_DIR="C:\Program Files\Microchip\xc8\v2.41\bin"
+MP_AR_DIR="C:\Program Files\Microchip\xc8\v2.41\bin"
+DFP_DIR=C:/Program Files/Microchip/MPLABX/v6.15/packs/Microchip/PIC18F-K_DFP/1.11.281

306-controller_interface.X/nbproject/Makefile-variables.mk

@@ -0,0 +1,10 @@
+#
+# Generated - do not edit!
+#
+# NOCDDL
+#
+CND_BASEDIR=`pwd`
+# default configuration
+CND_ARTIFACT_DIR_default=dist/default/production
+CND_ARTIFACT_NAME_default=306-controller_interface.X.production.hex
+CND_ARTIFACT_PATH_default=dist/default/production/306-controller_interface.X.production.hex

306-controller_interface.X/nbproject/configurations.xml

@@ -7,6 +7,11 @@
       <logicalFolder name="app" displayName="app" projectFiles="true">
         <itemPath>app/factory/factory.h</itemPath>
         <itemPath>app/car.h</itemPath>
+        <itemPath>app/can_message.h</itemPath>
+        <itemPath>app/kartculator.h</itemPath>
+        <itemPath>app/eeprom.h</itemPath>
+        <itemPath>app/drive.h</itemPath>
+        <itemPath>app/steering.h</itemPath>
       </logicalFolder>
       <logicalFolder name="board" displayName="board" projectFiles="true">
         <itemPath>board/led/led.h</itemPath>
@@ -24,7 +29,8 @@
       </logicalFolder>
       <logicalFolder name="middleware" displayName="middleware" projectFiles="true">
         <itemPath>middleware/can_interface.h</itemPath>
-        <itemPath>middleware/alive_checker.h</itemPath>
+        <itemPath>middleware/alive.h</itemPath>
+        <itemPath>middleware/blinker.h</itemPath>
       </logicalFolder>
       <logicalFolder name="xf" displayName="xf" projectFiles="true">
         <itemPath>xf/event.h</itemPath>
@@ -41,6 +47,11 @@
                    projectFiles="true">
       <logicalFolder name="app" displayName="app" projectFiles="true">
         <itemPath>app/factory/factory.c</itemPath>
+        <itemPath>app/can_message.c</itemPath>
+        <itemPath>app/kartculator.c</itemPath>
+        <itemPath>app/eeprom.c</itemPath>
+        <itemPath>app/drive.c</itemPath>
+        <itemPath>app/steering.c</itemPath>
       </logicalFolder>
       <logicalFolder name="board" displayName="board" projectFiles="true">
         <itemPath>board/led/led.c</itemPath>
@@ -58,7 +69,8 @@
       </logicalFolder>
       <logicalFolder name="middleware" displayName="middleware" projectFiles="true">
         <itemPath>middleware/can_interface.c</itemPath>
-        <itemPath>middleware/alive_checker.c</itemPath>
+        <itemPath>middleware/alive.c</itemPath>
+        <itemPath>middleware/blinker.c</itemPath>
       </logicalFolder>
       <logicalFolder name="xf" displayName="xf" projectFiles="true">
         <itemPath>xf/event.c</itemPath>
@@ -82,7 +94,7 @@
     <conf name="default" type="2">
       <toolsSet>
         <developmentServer>localhost</developmentServer>
-        <targetDevice>PIC18F25K83</targetDevice>
+        <targetDevice>PIC18F26K83</targetDevice>
         <targetHeader></targetHeader>
         <targetPluginBoard></targetPluginBoard>
         <platformTool>PICkit3PlatformTool</platformTool>
@@ -91,7 +103,7 @@
         <platform>3</platform>
       </toolsSet>
       <packs>
-        <pack name="PIC18F-K_DFP" vendor="Microchip" version="1.5.114"/>
+        <pack name="PIC18F-K_DFP" vendor="Microchip" version="1.11.281"/>
       </packs>
       <ScriptingSettings>
       </ScriptingSettings>
@@ -210,8 +222,10 @@
         <property key="debugoptions.debug-startup" value="Use system settings"/>
         <property key="debugoptions.reset-behaviour" value="Use system settings"/>
         <property key="debugoptions.useswbreakpoints" value="false"/>
-        <property key="firmware.download.all" value="false"/>
+        <property key="event.recorder.enabled" value="false"/>
+        <property key="event.recorder.scvd.files" value=""/>
         <property key="hwtoolclock.frcindebug" value="false"/>
+        <property key="lastid" value=""/>
         <property key="memories.aux" value="false"/>
         <property key="memories.bootflash" value="true"/>
         <property key="memories.configurationmemory" value="true"/>
@@ -241,7 +255,7 @@
         <property key="programoptions.programcalmem" value="false"/>
         <property key="programoptions.programuserotp" value="false"/>
         <property key="programoptions.testmodeentrymethod" value="VDDFirst"/>
-        <property key="programoptions.usehighvoltageonmclr" value="true"/>
+        <property key="programoptions.usehighvoltageonmclr" value="false"/>
         <property key="programoptions.uselvpprogramming" value="false"/>
         <property key="voltagevalue" value="5.0"/>
       </PICkit3PlatformTool>
@@ -255,8 +269,11 @@
         <property key="debugoptions.debug-startup" value="Use system settings"/>
         <property key="debugoptions.reset-behaviour" value="Use system settings"/>
         <property key="debugoptions.useswbreakpoints" value="false"/>
+        <property key="event.recorder.enabled" value="false"/>
+        <property key="event.recorder.scvd.files" value=""/>
         <property key="firmware.download.all" value="false"/>
         <property key="hwtoolclock.frcindebug" value="false"/>
+        <property key="lastid" value=""/>
         <property key="memories.aux" value="false"/>
         <property key="memories.bootflash" value="true"/>
         <property key="memories.configurationmemory" value="true"/>
@@ -286,7 +303,7 @@
         <property key="programoptions.programcalmem" value="false"/>
         <property key="programoptions.programuserotp" value="false"/>
         <property key="programoptions.testmodeentrymethod" value="VDDFirst"/>
-        <property key="programoptions.usehighvoltageonmclr" value="true"/>
+        <property key="programoptions.usehighvoltageonmclr" value="false"/>
         <property key="programoptions.uselvpprogramming" value="false"/>
         <property key="voltagevalue" value="5.0"/>
       </Tool>
@@ -296,16 +313,19 @@
       </XC8-CO>
       <XC8-config-global>
         <property key="advanced-elf" value="true"/>
+        <property key="constdata-progmem" value="true"/>
         <property key="gcc-opt-driver-new" value="true"/>
         <property key="gcc-opt-std" value="-std=c99"/>
         <property key="gcc-output-file-format" value="dwarf-3"/>
+        <property key="mapped-progmem" value="false"/>
         <property key="omit-pack-options" value="false"/>
         <property key="omit-pack-options-new" value="1"/>
         <property key="output-file-format" value="-mcof,+elf"/>
+        <property key="smart-io-format" value=""/>
         <property key="stack-size-high" value="auto"/>
         <property key="stack-size-low" value="auto"/>
         <property key="stack-size-main" value="auto"/>
-        <property key="stack-type" value="compiled"/>
+        <property key="stack-type" value="reentrant"/>
         <property key="user-pack-device-support" value=""/>
         <property key="wpo-lto" value="false"/>
       </XC8-config-global>

306-controller_interface.X/xf/xf.h

@@ -27,8 +27,8 @@ typedef struct Timer_        // timer structure
 /*----------------------------------------------------------------------------*/
 /* depending on usage, change MAXTIMER and MAXEVENT                           */
 /*----------------------------------------------------------------------------*/
-#define MAXTIMER 8          // number of timers in our system
+#define MAXTIMER 25          // number of timers in our system
-#define MAXEVENT 12         // number of events in our system 
+#define MAXEVENT 20         // number of events in our system 
 
 #define NULLTIMER 0         // no value for time
 #define TICKINTERVAL 10     // this is the ticktimers duration

UML/alive.uxf

@@ -4,10 +4,10 @@
   <element>
     <id>UMLSpecialState</id>
     <coordinates>
-      <x>266</x>
+      <x>714</x>
-      <y>98</y>
+      <y>28</y>
-      <w>28</w>
+      <w>56</w>
-      <h>28</h>
+      <h>56</h>
     </coordinates>
     <panel_attributes>type=initial</panel_attributes>
     <additional_attributes/>
@@ -15,164 +15,257 @@
   <element>
     <id>Relation</id>
     <coordinates>
-      <x>266</x>
+      <x>462</x>
-      <y>112</y>
+      <y>70</y>
-      <w>112</w>
+      <w>308</w>
-      <h>98</h>
+      <h>154</h>
     </coordinates>
     <panel_attributes>lt=-&gt;
-evACinit</panel_attributes>
+evInitChecker</panel_attributes>
-    <additional_attributes>10.0;10.0;10.0;50.0</additional_attributes>
+    <additional_attributes>200.0;10.0;200.0;50.0;10.0;50.0;10.0;90.0</additional_attributes>
   </element>
   <element>
     <id>UMLState</id>
     <coordinates>
-      <x>210</x>
+      <x>350</x>
-      <y>182</y>
+      <y>196</y>
-      <w>140</w>
+      <w>266</w>
-      <h>56</h>
+      <h>112</h>
     </coordinates>
-    <panel_attributes>STAC_SETUP</panel_attributes>
+    <panel_attributes>SETUP
-    <additional_attributes/>
+--
-  </element>
+/entry: sendParamsOnCan
-  <element>
+/entry: checker = true</panel_attributes>
-    <id>UMLNote</id>
-    <coordinates>
-      <x>434</x>
-      <y>182</y>
-      <w>140</w>
-      <h>42</h>
-    </coordinates>
-    <panel_attributes>Send params</panel_attributes>
     <additional_attributes/>
   </element>
   <element>
     <id>Relation</id>
     <coordinates>
-      <x>266</x>
+      <x>462</x>
-      <y>224</y>
+      <y>294</y>
-      <w>126</w>
+      <w>98</w>
       <h>98</h>
     </coordinates>
     <panel_attributes>lt=-&gt;
-evACborn</panel_attributes>
+m1=evBorn</panel_attributes>
     <additional_attributes>10.0;10.0;10.0;50.0</additional_attributes>
   </element>
   <element>
     <id>UMLState</id>
     <coordinates>
-      <x>210</x>
+      <x>350</x>
-      <y>294</y>
+      <y>364</y>
-      <w>140</w>
+      <w>266</w>
-      <h>56</h>
-    </coordinates>
-    <panel_attributes>STAC_BORN</panel_attributes>
-    <additional_attributes/>
-  </element>
-  <element>
-    <id>UMLState</id>
-    <coordinates>
-      <x>168</x>
-      <y>406</y>
-      <w>224</w>
       <h>84</h>
     </coordinates>
-    <panel_attributes>STAC_WAIT
+    <panel_attributes>BORN
 --
-/entry: isAlive = false</panel_attributes>
+/entry: init</panel_attributes>
+    <additional_attributes/>
+  </element>
+  <element>
+    <id>UMLState</id>
+    <coordinates>
+      <x>350</x>
+      <y>504</y>
+      <w>266</w>
+      <h>112</h>
+    </coordinates>
+    <panel_attributes>WAIT
+--
+/entry: start children class
+--
+isAlive = false</panel_attributes>
     <additional_attributes/>
   </element>
   <element>
     <id>Relation</id>
     <coordinates>
-      <x>266</x>
+      <x>462</x>
-      <y>336</y>
+      <y>434</y>
-      <w>140</w>
+      <w>112</w>
       <h>98</h>
     </coordinates>
     <panel_attributes>lt=-&gt;
-evACready</panel_attributes>
+m1=evReady</panel_attributes>
     <additional_attributes>10.0;10.0;10.0;50.0</additional_attributes>
   </element>
   <element>
     <id>UMLState</id>
     <coordinates>
-      <x>210</x>
+      <x>350</x>
-      <y>658</y>
+      <y>784</y>
-      <w>140</w>
+      <w>266</w>
-      <h>56</h>
+      <h>84</h>
     </coordinates>
-    <panel_attributes>STAC_DEAD</panel_attributes>
+    <panel_attributes>DEAD
+--
+</panel_attributes>
     <additional_attributes/>
   </element>
   <element>
     <id>Relation</id>
     <coordinates>
-      <x>266</x>
+      <x>280</x>
-      <y>476</y>
-      <w>112</w>
-      <h>98</h>
-    </coordinates>
-    <panel_attributes>lt=-&gt;
-evACpoll</panel_attributes>
-    <additional_attributes>10.0;10.0;10.0;50.0</additional_attributes>
-  </element>
-  <element>
-    <id>UMLSpecialState</id>
-    <coordinates>
-      <x>252</x>
       <y>546</y>
-      <w>56</w>
+      <w>210</w>
-      <h>56</h>
+      <h>182</h>
     </coordinates>
-    <panel_attributes>type=decision</panel_attributes>
+    <panel_attributes>lt=-&gt;
-    <additional_attributes/>
+m1=evPoll\n[isAlive]</panel_attributes>
+    <additional_attributes>80.0;50.0;80.0;110.0;10.0;110.0;10.0;10.0;50.0;10.0</additional_attributes>
   </element>
   <element>
     <id>Relation</id>
     <coordinates>
-      <x>266</x>
+      <x>224</x>
-      <y>588</y>
+      <y>252</y>
-      <w>84</w>
+      <w>378</w>
-      <h>98</h>
+      <h>700</h>
     </coordinates>
     <panel_attributes>lt=-&gt;
-m1=[else]</panel_attributes>
+m1=evResurrect</panel_attributes>
-    <additional_attributes>10.0;10.0;10.0;50.0</additional_attributes>
+    <additional_attributes>180.0;440.0;180.0;480.0;10.0;480.0;10.0;10.0;90.0;10.0</additional_attributes>
+  </element>
+  <element>
+    <id>Relation</id>
+    <coordinates>
+      <x>462</x>
+      <y>602</y>
+      <w>112</w>
+      <h>210</h>
+    </coordinates>
+    <panel_attributes>lt=-&gt;
+m1=evPoll\n[default]</panel_attributes>
+    <additional_attributes>10.0;10.0;10.0;130.0</additional_attributes>
+  </element>
+  <element>
+    <id>Relation</id>
+    <coordinates>
+      <x>728</x>
+      <y>70</y>
+      <w>308</w>
+      <h>154</h>
+    </coordinates>
+    <panel_attributes>lt=-&gt;
+evInitSender</panel_attributes>
+    <additional_attributes>10.0;10.0;10.0;50.0;200.0;50.0;200.0;90.0</additional_attributes>
+  </element>
+  <element>
+    <id>Relation</id>
+    <coordinates>
+      <x>784</x>
+      <y>252</y>
+      <w>224</w>
+      <h>140</h>
+    </coordinates>
+    <panel_attributes>lt=-&gt;
+m1=evPoll\n[else]</panel_attributes>
+    <additional_attributes>100.0;40.0;100.0;70.0;10.0;70.0;10.0;10.0;60.0;10.0</additional_attributes>
   </element>
   <element>
     <id>UMLNote</id>
     <coordinates>
-      <x>434</x>
+      <x>784</x>
-      <y>294</y>
+      <y>28</y>
       <w>140</w>
-      <h>42</h>
+      <h>56</h>
     </coordinates>
-    <panel_attributes>Reset / Init</panel_attributes>
+    <panel_attributes>read time on
+EPROM</panel_attributes>
+    <additional_attributes/>
+  </element>
+  <element>
+    <id>UMLState</id>
+    <coordinates>
+      <x>868</x>
+      <y>196</y>
+      <w>266</w>
+      <h>112</h>
+    </coordinates>
+    <panel_attributes>ALIVE
+--
+\entry: sender = true
+--
+sendAliveOnCan</panel_attributes>
+    <additional_attributes/>
+  </element>
+  <element>
+    <id>UMLState</id>
+    <coordinates>
+      <x>868</x>
+      <y>518</y>
+      <w>266</w>
+      <h>84</h>
+    </coordinates>
+    <panel_attributes>lt=..
+BREAK
+-..
+</panel_attributes>
     <additional_attributes/>
   </element>
   <element>
     <id>Relation</id>
     <coordinates>
-      <x>294</x>
+      <x>994</x>
-      <y>420</y>
+      <y>294</y>
-      <w>182</w>
+      <w>210</w>
-      <h>196</h>
+      <h>252</h>
     </coordinates>
-    <panel_attributes>lt=-&gt;
+    <panel_attributes>lt=..&gt;
-m1=[alive]</panel_attributes>
+m1=evPoll\n[time==0]\n[haveBreak]</panel_attributes>
-    <additional_attributes>10.0;110.0;110.0;110.0;110.0;10.0;70.0;10.0</additional_attributes>
+    <additional_attributes>60.0;10.0;60.0;110.0;10.0;110.0;10.0;160.0</additional_attributes>
   </element>
   <element>
     <id>Relation</id>
     <coordinates>
-      <x>140</x>
+      <x>560</x>
-      <y>308</y>
+      <y>546</y>
-      <w>168</w>
+      <w>336</w>
-      <h>490</h>
+      <h>182</h>
     </coordinates>
-    <panel_attributes>lt=-&gt;
+    <panel_attributes>lt=..&gt;
-evACborn</panel_attributes>
+m1=evPoll\n[time==0]\n[haveBreak]</panel_attributes>
-    <additional_attributes>100.0;290.0;100.0;330.0;10.0;330.0;10.0;10.0;50.0;10.0</additional_attributes>
+    <additional_attributes>10.0;50.0;10.0;110.0;90.0;110.0;170.0;10.0;220.0;10.0</additional_attributes>
+  </element>
+  <element>
+    <id>Relation</id>
+    <coordinates>
+      <x>602</x>
+      <y>546</y>
+      <w>420</w>
+      <h>182</h>
+    </coordinates>
+    <panel_attributes>lt=..&gt;
+m1=evStart\n[checker]</panel_attributes>
+    <additional_attributes>220.0;40.0;220.0;110.0;140.0;110.0;60.0;10.0;10.0;10.0</additional_attributes>
+  </element>
+  <element>
+    <id>Relation</id>
+    <coordinates>
+      <x>1078</x>
+      <y>252</y>
+      <w>182</w>
+      <h>476</h>
+    </coordinates>
+    <panel_attributes>lt=..&gt;
+m1=evStart\n[sender]</panel_attributes>
+    <additional_attributes>10.0;250.0;10.0;320.0;110.0;320.0;110.0;10.0;40.0;10.0</additional_attributes>
+  </element>
+  <element>
+    <id>UMLNote</id>
+    <coordinates>
+      <x>868</x>
+      <y>728</y>
+      <w>266</w>
+      <h>154</h>
+    </coordinates>
+    <panel_attributes>lt=..
+break part can be disable
+with setHaveBreak(false)
+
+not all childrens have a break
+for time at 0</panel_attributes>
+    <additional_attributes/>
   </element>
 </diagram>

UML/can.puml

@@ -0,0 +1,29 @@
+@startuml
+
+actor CAN_BUS as bus
+participant interrupt as ISR
+queue XF as xf
+participant ecan as ecan
+participant canInterface as can
+control canMessageController as msg
+
+
+bus -\\ ISR ++  : can message
+ISR -> can : newMsg
+can -> ecan : read
+ecan --> can : message
+can -> xf : POST XF
+destroy ISR
+    group TICK XF
+xf o-> can : receiveCan()
+can -> msg : processIncoming()
+msg -> can : create message
+can -> xf : POST XF
+    end
+    group TICK XF
+xf o-> can : sendCan()
+can -> ecan : write
+ecan -\\ bus : can message
+    end
+
+@enduml

UML/can.uxf

@@ -5,9 +5,9 @@
     <id>UMLNote</id>
     <coordinates>
       <x>645</x>
-      <y>255</y>
+      <y>75</y>
-      <w>675</w>
+      <w>750</w>
-      <h>525</h>
+      <h>765</h>
     </coordinates>
     <panel_attributes>_*How to use CAN interface*_
 
@@ -23,19 +23,30 @@ CAN_setSender(idSender);
 CAN_startBehaviour();
 
 *Somewhere for process input can message:*
-void receiveCan(uint8_t idSender, uint8_t idMsg, uint32_t canData) {
+void receiveCan(uint8_t idSender, uint8_t idMsg, bool rtr, uint32_t canData) {
     .....
 }
 
 *For send can message: *
-CAN_sendCanMsg(uint8_t idRecipient, uint8_t idMsg, uint32_t data);</panel_attributes>
+CAN_Send(uint8_t idRecipient, uint8_t idMsg, uint32_t data);
+CAN_send_4_bytes(
+        uint8_t idRecipient,
+        uint8_t idMsg,
+        uint8_t byte0,
+        uint8_t byte1,
+        uint8_t byte2,
+        uint8_t byte3);
+CAN_send_2_bytes(uint8_t idRecipient, uint8_t idMsg, uint16_t data);
+CAN_send_1_byte(uint8_t idRecipient, uint8_t idMsg, uint8_t data);
+CAN_send_0_byte(uint8_t idRecipient, uint8_t idMsg);
+CAN_send_rtr(uint8_t idRecipient, uint8_t idMsg);</panel_attributes>
     <additional_attributes/>
   </element>
   <element>
     <id>Relation</id>
     <coordinates>
-      <x>360</x>
+      <x>375</x>
-      <y>330</y>
+      <y>255</y>
       <w>90</w>
       <h>135</h>
     </coordinates>
@@ -47,8 +58,8 @@ evInit
   <element>
     <id>UMLSpecialState</id>
     <coordinates>
-      <x>360</x>
+      <x>375</x>
-      <y>315</y>
+      <y>240</y>
       <w>30</w>
       <h>30</h>
     </coordinates>
@@ -58,37 +69,37 @@ evInit
   <element>
     <id>UMLState</id>
     <coordinates>
-      <x>240</x>
+      <x>255</x>
-      <y>435</y>
+      <y>360</y>
       <w>270</w>
       <h>90</h>
     </coordinates>
-    <panel_attributes>STCA_PROCESS</panel_attributes>
+    <panel_attributes>PROCESS</panel_attributes>
     <additional_attributes/>
   </element>
   <element>
     <id>Relation</id>
     <coordinates>
-      <x>450</x>
+      <x>465</x>
-      <y>465</y>
+      <y>390</y>
       <w>180</w>
       <h>180</h>
     </coordinates>
     <panel_attributes>lt=-&gt;
-m1=evCAsend
+m1=evSend
 m1=\n/sendCan()</panel_attributes>
     <additional_attributes>10.0;40.0;10.0;100.0;100.0;100.0;100.0;10.0;40.0;10.0</additional_attributes>
   </element>
   <element>
     <id>Relation</id>
     <coordinates>
-      <x>135</x>
+      <x>150</x>
-      <y>465</y>
+      <y>390</y>
       <w>300</w>
       <h>180</h>
     </coordinates>
     <panel_attributes>lt=-&gt;
-m1= evCAnewMsg
+m1= evNewMsg
 m1= \n/receiveCan()
 </panel_attributes>
     <additional_attributes>100.0;40.0;100.0;100.0;10.0;100.0;10.0;10.0;70.0;10.0</additional_attributes>

UML/class.uxf

@@ -1,13 +1,13 @@
 <?xml version="1.0" encoding="UTF-8" standalone="no"?>
 <diagram program="umlet" version="15.0.0">
-  <zoom_level>7</zoom_level>
+  <zoom_level>10</zoom_level>
   <element>
     <id>UMLClass</id>
     <coordinates>
-      <x>105</x>
+      <x>80</x>
-      <y>77</y>
+      <y>100</y>
-      <w>301</w>
+      <w>430</w>
-      <h>126</h>
+      <h>180</h>
     </coordinates>
     <panel_attributes>CAN_INTERFACE
 --
@@ -28,10 +28,10 @@ CAN_setSender(idSender: uint8_t): void</panel_attributes>
   <element>
     <id>UMLClass</id>
     <coordinates>
-      <x>315</x>
+      <x>0</x>
-      <y>350</y>
+      <y>390</y>
-      <w>301</w>
+      <w>430</w>
-      <h>126</h>
+      <h>180</h>
     </coordinates>
     <panel_attributes>JOYSTICK
 --
@@ -51,10 +51,33 @@ CAN_setSender(idSender: uint8_t): void</panel_attributes>
   <element>
     <id>UMLClass</id>
     <coordinates>
-      <x>812</x>
+      <x>580</x>
-      <y>154</y>
+      <y>370</y>
-      <w>322</w>
+      <w>490</w>
-      <h>504</h>
+      <h>210</h>
+    </coordinates>
+    <panel_attributes>MEMORY_CST
+--
++CM_processIncome(idSender: uint8_t, idMsg: uint8_t, data: uint32_t): void
++CM_CONTROLLER_ALIVE(p: void*): void
++CM_JOY_SETUP(p: void*): void
++CM_DISPLAY_SETUP(p: void*): void
++CM_DISPLAY_SPEED(p: void*): void
++CM_DISPLAY_DIRECTION(p: void*): void
++CM_DRIVE_SETUP(p: void*): void
++CM_DRIVE_POWER(p: void*): void
++CM_STEERING_SETUP(p: void*): void
++CM_STEERING_SET(p: void*): void
++CM_SUPPLY_SETUP(p: void*): void</panel_attributes>
+    <additional_attributes/>
+  </element>
+  <element>
+    <id>UMLClass</id>
+    <coordinates>
+      <x>1140</x>
+      <y>40</y>
+      <w>460</w>
+      <h>720</h>
     </coordinates>
     <panel_attributes>MEMORY_CST
 --

UML/drive.uxf

@@ -0,0 +1,137 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<diagram program="umlet" version="15.0.0">
+  <zoom_level>15</zoom_level>
+  <element>
+    <id>Relation</id>
+    <coordinates>
+      <x>660</x>
+      <y>90</y>
+      <w>210</w>
+      <h>120</h>
+    </coordinates>
+    <panel_attributes>lt=-&gt;
+evInit
+/startAliveChecker
+</panel_attributes>
+    <additional_attributes>10.0;10.0;10.0;60.0</additional_attributes>
+  </element>
+  <element>
+    <id>UMLSpecialState</id>
+    <coordinates>
+      <x>660</x>
+      <y>75</y>
+      <w>30</w>
+      <h>30</h>
+    </coordinates>
+    <panel_attributes>type=initial</panel_attributes>
+    <additional_attributes/>
+  </element>
+  <element>
+    <id>UMLState</id>
+    <coordinates>
+      <x>540</x>
+      <y>405</y>
+      <w>270</w>
+      <h>105</h>
+    </coordinates>
+    <panel_attributes>RUN
+--
+/entry: LED ON
+--
+emitPollTorqueEv</panel_attributes>
+    <additional_attributes/>
+  </element>
+  <element>
+    <id>Relation</id>
+    <coordinates>
+      <x>735</x>
+      <y>450</y>
+      <w>195</w>
+      <h>270</h>
+    </coordinates>
+    <panel_attributes>lt=-&gt;
+m1= evPollTorque\n/sendTorque
+</panel_attributes>
+    <additional_attributes>10.0;100.0;10.0;160.0;110.0;160.0;110.0;10.0;50.0;10.0</additional_attributes>
+  </element>
+  <element>
+    <id>UMLState</id>
+    <coordinates>
+      <x>495</x>
+      <y>180</y>
+      <w>360</w>
+      <h>135</h>
+    </coordinates>
+    <panel_attributes>WAIT
+--
+ALIVE_emitBorn(ALdrive(), 0, 0);
+ALIVE_emitReady(ALdrive(), 100, 0);
+setAliveTime</panel_attributes>
+    <additional_attributes/>
+  </element>
+  <element>
+    <id>Relation</id>
+    <coordinates>
+      <x>660</x>
+      <y>300</y>
+      <w>120</w>
+      <h>135</h>
+    </coordinates>
+    <panel_attributes>lt=-&gt;
+m1=evStart\n(onWait)
+</panel_attributes>
+    <additional_attributes>10.0;10.0;10.0;70.0</additional_attributes>
+  </element>
+  <element>
+    <id>Relation</id>
+    <coordinates>
+      <x>735</x>
+      <y>450</y>
+      <w>195</w>
+      <h>180</h>
+    </coordinates>
+    <panel_attributes>lt=-&gt;
+m1= evPollSpeed\n/sendSpeed
+</panel_attributes>
+    <additional_attributes>10.0;40.0;10.0;100.0;110.0;100.0;110.0;10.0;50.0;10.0</additional_attributes>
+  </element>
+  <element>
+    <id>Relation</id>
+    <coordinates>
+      <x>390</x>
+      <y>240</y>
+      <w>345</w>
+      <h>555</h>
+    </coordinates>
+    <panel_attributes>lt=-&gt;
+m1= evResurrect\n(onBorn)
+</panel_attributes>
+    <additional_attributes>130.0;300.0;130.0;350.0;10.0;350.0;10.0;10.0;70.0;10.0</additional_attributes>
+  </element>
+  <element>
+    <id>UMLState</id>
+    <coordinates>
+      <x>450</x>
+      <y>600</y>
+      <w>270</w>
+      <h>90</h>
+    </coordinates>
+    <panel_attributes>DEAD
+--
+/entry: LED OFF</panel_attributes>
+    <additional_attributes/>
+  </element>
+  <element>
+    <id>Relation</id>
+    <coordinates>
+      <x>570</x>
+      <y>495</y>
+      <w>135</w>
+      <h>135</h>
+    </coordinates>
+    <panel_attributes>lt=-&gt;
+m1=evStop\n(onDead)
+</panel_attributes>
+    <additional_attributes>10.0;10.0;10.0;70.0</additional_attributes>
+  </element>
+</diagram>

UML/steering.uxf

@@ -0,0 +1,124 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<diagram program="umlet" version="15.0.0">
+  <zoom_level>15</zoom_level>
+  <element>
+    <id>Relation</id>
+    <coordinates>
+      <x>660</x>
+      <y>90</y>
+      <w>210</w>
+      <h>120</h>
+    </coordinates>
+    <panel_attributes>lt=-&gt;
+evInit
+/startAliveChecker
+</panel_attributes>
+    <additional_attributes>10.0;10.0;10.0;60.0</additional_attributes>
+  </element>
+  <element>
+    <id>UMLSpecialState</id>
+    <coordinates>
+      <x>660</x>
+      <y>75</y>
+      <w>30</w>
+      <h>30</h>
+    </coordinates>
+    <panel_attributes>type=initial</panel_attributes>
+    <additional_attributes/>
+  </element>
+  <element>
+    <id>UMLState</id>
+    <coordinates>
+      <x>540</x>
+      <y>405</y>
+      <w>270</w>
+      <h>105</h>
+    </coordinates>
+    <panel_attributes>RUN
+--
+/entry: LED ON
+--
+emitPollDirEv</panel_attributes>
+    <additional_attributes/>
+  </element>
+  <element>
+    <id>UMLState</id>
+    <coordinates>
+      <x>480</x>
+      <y>180</y>
+      <w>390</w>
+      <h>135</h>
+    </coordinates>
+    <panel_attributes>WAIT
+--
+ALIVE_emitBorn(ALsteering(), 0, 0);
+ALIVE_emitReady(ALsteering(), 100, 0);
+setAliveTime</panel_attributes>
+    <additional_attributes/>
+  </element>
+  <element>
+    <id>Relation</id>
+    <coordinates>
+      <x>660</x>
+      <y>300</y>
+      <w>120</w>
+      <h>135</h>
+    </coordinates>
+    <panel_attributes>lt=-&gt;
+m1=evStart\n(onWait)
+</panel_attributes>
+    <additional_attributes>10.0;10.0;10.0;70.0</additional_attributes>
+  </element>
+  <element>
+    <id>Relation</id>
+    <coordinates>
+      <x>735</x>
+      <y>450</y>
+      <w>195</w>
+      <h>180</h>
+    </coordinates>
+    <panel_attributes>lt=-&gt;
+m1= evPollDir\n/sendDir
+</panel_attributes>
+    <additional_attributes>10.0;40.0;10.0;100.0;110.0;100.0;110.0;10.0;50.0;10.0</additional_attributes>
+  </element>
+  <element>
+    <id>Relation</id>
+    <coordinates>
+      <x>390</x>
+      <y>240</y>
+      <w>345</w>
+      <h>555</h>
+    </coordinates>
+    <panel_attributes>lt=-&gt;
+m1= evResurrect\n(onBorn)
+</panel_attributes>
+    <additional_attributes>130.0;300.0;130.0;350.0;10.0;350.0;10.0;10.0;60.0;10.0</additional_attributes>
+  </element>
+  <element>
+    <id>UMLState</id>
+    <coordinates>
+      <x>450</x>
+      <y>600</y>
+      <w>270</w>
+      <h>90</h>
+    </coordinates>
+    <panel_attributes>DEAD
+--
+/entry: LED OFF</panel_attributes>
+    <additional_attributes/>
+  </element>
+  <element>
+    <id>Relation</id>
+    <coordinates>
+      <x>570</x>
+      <y>495</y>
+      <w>135</w>
+      <h>135</h>
+    </coordinates>
+    <panel_attributes>lt=-&gt;
+m1=evStop\n(onDead)
+</panel_attributes>
+    <additional_attributes>10.0;10.0;10.0;70.0</additional_attributes>
+  </element>
+</diagram>

UML/watchdog.uxf

@@ -0,0 +1,74 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<diagram program="umlet" version="15.0.0">
+  <zoom_level>15</zoom_level>
+  <element>
+    <id>UMLSpecialState</id>
+    <coordinates>
+      <x>315</x>
+      <y>270</y>
+      <w>30</w>
+      <h>30</h>
+    </coordinates>
+    <panel_attributes>type=initial</panel_attributes>
+    <additional_attributes/>
+  </element>
+  <element>
+    <id>Relation</id>
+    <coordinates>
+      <x>315</x>
+      <y>285</y>
+      <w>120</w>
+      <h>105</h>
+    </coordinates>
+    <panel_attributes>lt=-&gt;
+evWDinit</panel_attributes>
+    <additional_attributes>10.0;10.0;10.0;50.0</additional_attributes>
+  </element>
+  <element>
+    <id>UMLState</id>
+    <coordinates>
+      <x>255</x>
+      <y>360</y>
+      <w>150</w>
+      <h>60</h>
+    </coordinates>
+    <panel_attributes>STWD_ALIVE</panel_attributes>
+    <additional_attributes/>
+  </element>
+  <element>
+    <id>Relation</id>
+    <coordinates>
+      <x>180</x>
+      <y>375</y>
+      <w>270</w>
+      <h>135</h>
+    </coordinates>
+    <panel_attributes>lt=-&gt;
+m1=evWDpoll</panel_attributes>
+    <additional_attributes>100.0;30.0;100.0;70.0;10.0;70.0;10.0;10.0;50.0;10.0</additional_attributes>
+  </element>
+  <element>
+    <id>UMLNote</id>
+    <coordinates>
+      <x>480</x>
+      <y>360</y>
+      <w>150</w>
+      <h>60</h>
+    </coordinates>
+    <panel_attributes>send alive
+by CAN</panel_attributes>
+    <additional_attributes/>
+  </element>
+  <element>
+    <id>UMLNote</id>
+    <coordinates>
+      <x>375</x>
+      <y>225</y>
+      <w>150</w>
+      <h>60</h>
+    </coordinates>
+    <panel_attributes>read time on
+EPROM</panel_attributes>
+    <additional_attributes/>
+  </element>
+</diagram>

busmaster_config.cfx

@@ -0,0 +1,981 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<BUSMASTER_CONFIGURATION>
+  <Global_Configuration>
+    <BUSMASTER_Version>3.2.2</BUSMASTER_Version>
+    <IsMsgFilterEnabled>FALSE</IsMsgFilterEnabled>
+    <IsMsgFilterEnabledLin>FALSE</IsMsgFilterEnabledLin>
+    <IsReplayFilterEnabled>FALSE</IsReplayFilterEnabled>
+    <IsLogFilterEnabled>FALSE</IsLogFilterEnabled>
+    <IsLogFilterLINEnabled>FALSE</IsLogFilterLINEnabled>
+    <IsLoggingEnabled>FALSE</IsLoggingEnabled>
+    <IsMsgIntepretationEnabled>TRUE</IsMsgIntepretationEnabled>
+    <IsOverWriteEnabled>TRUE</IsOverWriteEnabled>
+    <DisplayTimeMode>SYSTEM</DisplayTimeMode>
+    <DisplayNumericMode>FALSE</DisplayNumericMode>
+    <LogOnConnect_CAN>FALSE</LogOnConnect_CAN>
+    <LogOnConnect_J1939>FALSE</LogOnConnect_J1939>
+    <LogOnConnect_LIN>FALSE</LogOnConnect_LIN>
+    <Window_Position>
+      <Visibility>SHOWNORMAL</Visibility>
+      <WindowPlacement>HIDE</WindowPlacement>
+      <Top>765</Top>
+      <Left>0</Left>
+      <Bottom>874</Bottom>
+      <Right>1532</Right>
+    </Window_Position>
+  </Global_Configuration>
+  <Module_Configuration>
+    <CAN_Database_Files>
+      <FilePath>threewheeler.DBF</FilePath>
+    </CAN_Database_Files>
+    <Bus_Statistics>
+      <CAN_Statistics>
+        <COLUMN>
+          <ID>Parameter</ID>
+          <Order>1</Order>
+          <Width>200</Width>
+          <IsVisible>1</IsVisible>
+        </COLUMN>
+        <COLUMN>
+          <ID>Channel 1</ID>
+          <Order>2</Order>
+          <Width>90</Width>
+          <IsVisible>1</IsVisible>
+        </COLUMN>
+      </CAN_Statistics>
+      <Window_Position>
+        <Visibility>SHOWNORMAL</Visibility>
+        <WindowPlacement>RESTORETOMAXIMIZED</WindowPlacement>
+        <Top>291</Top>
+        <Left>403</Left>
+        <Bottom>788</Bottom>
+        <Right>825</Right>
+      </Window_Position>
+    </Bus_Statistics>
+    <J1939_Database_Files/>
+    <CAN_DIL_Section>
+      <DriverName>MHS Tiny-CAN</DriverName>
+      <ControllerMode>Unknown</ControllerMode>
+      <ControllerSettings>
+        <Channel>
+          <BaudRate>250</BaudRate>
+          <CNF1>7</CNF1>
+          <CNF2>B8</CNF2>
+          <CNF3>5</CNF3>
+          <BTR0>00</BTR0>
+          <BTR1>1C</BTR1>
+          <Clock>16</Clock>
+          <SamplePerc>75</SamplePerc>
+          <Sampling>1</Sampling>
+          <BTLCycles>10</BTLCycles>
+          <Warning_Limit>96</Warning_Limit>
+          <Propagation_Delay>ALL</Propagation_Delay>
+          <SJW>4</SJW>
+          <AccCodeByte1_0>0</AccCodeByte1_0>
+          <AccCodeByte1_1>0</AccCodeByte1_1>
+          <AccCodeByte2_0>0</AccCodeByte2_0>
+          <AccCodeByte2_1>0</AccCodeByte2_1>
+          <AccCodeByte3_0>0</AccCodeByte3_0>
+          <AccCodeByte3_1>0</AccCodeByte3_1>
+          <AccCodeByte4_0>0</AccCodeByte4_0>
+          <AccCodeByte4_1>0</AccCodeByte4_1>
+          <AccMaskByte1_0>FF</AccMaskByte1_0>
+          <AccMaskByte1_1>FF</AccMaskByte1_1>
+          <AccMaskByte2_0>FF</AccMaskByte2_0>
+          <AccMaskByte2_1>FF</AccMaskByte2_1>
+          <AccMaskByte3_0>FF</AccMaskByte3_0>
+          <AccMaskByte3_1>FF</AccMaskByte3_1>
+          <AccMaskByte4_0>FF</AccMaskByte4_0>
+          <AccMaskByte4_1>FF</AccMaskByte4_1>
+          <HardwareDesc>Simulation</HardwareDesc>
+          <ItemUnderFocus>64</ItemUnderFocus>
+          <BTR0BTR1>0</BTR0BTR1>
+          <AccFilterMode>0</AccFilterMode>
+          <ControllerMode>1</ControllerMode>
+          <SelfReception>1</SelfReception>
+          <HWFilterType_0>0</HWFilterType_0>
+          <HWFilterType_1>0</HWFilterType_1>
+          <Debug>0</Debug>
+          <PassiveMode>0</PassiveMode>
+          <HWTimestamps>0</HWTimestamps>
+          <Location/>
+          <LowSpeed>0</LowSpeed>
+          <CANFD_BaudRate>2000000</CANFD_BaudRate>
+          <CANFD_SamplePoint>70</CANFD_SamplePoint>
+          <CANFD_BTLCycles>10</CANFD_BTLCycles>
+          <CANFD_SJW>3</CANFD_SJW>
+          <CANFD_TxDelayCompensation>0</CANFD_TxDelayCompensation>
+          <CANFD_TxSecondarySamplePoint>0</CANFD_TxSecondarySamplePoint>
+        </Channel>
+      </ControllerSettings>
+    </CAN_DIL_Section>
+    <CAN_Filters>
+      <Filter>
+        <Name>display</Name>
+        <Type>PASS</Type>
+        <FilterMessage>
+          <IdFrom>306</IdFrom>
+          <IdTo>306</IdTo>
+          <Direction>ALL</Direction>
+          <IDType>ALL</IDType>
+          <MsgType>ALL</MsgType>
+          <Channel>0</Channel>
+        </FilterMessage>
+        <FilterMessage>
+          <IdFrom>307</IdFrom>
+          <IdTo>307</IdTo>
+          <Direction>ALL</Direction>
+          <IDType>ALL</IDType>
+          <MsgType>ALL</MsgType>
+          <Channel>0</Channel>
+        </FilterMessage>
+        <FilterMessage>
+          <IdFrom>48</IdFrom>
+          <IdTo>48</IdTo>
+          <Direction>ALL</Direction>
+          <IDType>ALL</IDType>
+          <MsgType>ALL</MsgType>
+          <Channel>0</Channel>
+        </FilterMessage>
+        <FilterMessage>
+          <IdFrom>799</IdFrom>
+          <IdTo>799</IdTo>
+          <Direction>ALL</Direction>
+          <IDType>ALL</IDType>
+          <MsgType>ALL</MsgType>
+          <Channel>0</Channel>
+        </FilterMessage>
+        <FilterMessage>
+          <IdFrom>1585</IdFrom>
+          <IdTo>1585</IdTo>
+          <Direction>ALL</Direction>
+          <IDType>ALL</IDType>
+          <MsgType>ALL</MsgType>
+          <Channel>0</Channel>
+        </FilterMessage>
+        <FilterMessage>
+          <IdFrom>1586</IdFrom>
+          <IdTo>1586</IdTo>
+          <Direction>ALL</Direction>
+          <IDType>ALL</IDType>
+          <MsgType>ALL</MsgType>
+          <Channel>0</Channel>
+        </FilterMessage>
+        <FilterMessage>
+          <IdFrom>1587</IdFrom>
+          <IdTo>1587</IdTo>
+          <Direction>ALL</Direction>
+          <IDType>ALL</IDType>
+          <MsgType>ALL</MsgType>
+          <Channel>0</Channel>
+        </FilterMessage>
+      </Filter>
+      <Filter>
+        <Name>drive</Name>
+        <Type>PASS</Type>
+        <FilterMessage>
+          <IdFrom>320</IdFrom>
+          <IdTo>320</IdTo>
+          <Direction>ALL</Direction>
+          <IDType>ALL</IDType>
+          <MsgType>ALL</MsgType>
+          <Channel>0</Channel>
+        </FilterMessage>
+        <FilterMessage>
+          <IdFrom>321</IdFrom>
+          <IdTo>321</IdTo>
+          <Direction>ALL</Direction>
+          <IDType>ALL</IDType>
+          <MsgType>ALL</MsgType>
+          <Channel>0</Channel>
+        </FilterMessage>
+        <FilterMessage>
+          <IdFrom>1040</IdFrom>
+          <IdTo>1040</IdTo>
+          <Direction>ALL</Direction>
+          <IDType>ALL</IDType>
+          <MsgType>ALL</MsgType>
+          <Channel>0</Channel>
+        </FilterMessage>
+        <FilterMessage>
+          <IdFrom>1055</IdFrom>
+          <IdTo>1055</IdTo>
+          <Direction>ALL</Direction>
+          <IDType>ALL</IDType>
+          <MsgType>ALL</MsgType>
+          <Channel>0</Channel>
+        </FilterMessage>
+      </Filter>
+      <Filter>
+        <Name>joy</Name>
+        <Type>PASS</Type>
+        <FilterMessage>
+          <IdFrom>288</IdFrom>
+          <IdTo>288</IdTo>
+          <Direction>ALL</Direction>
+          <IDType>ALL</IDType>
+          <MsgType>ALL</MsgType>
+          <Channel>0</Channel>
+        </FilterMessage>
+        <FilterMessage>
+          <IdFrom>529</IdFrom>
+          <IdTo>529</IdTo>
+          <Direction>ALL</Direction>
+          <IDType>ALL</IDType>
+          <MsgType>ALL</MsgType>
+          <Channel>0</Channel>
+        </FilterMessage>
+        <FilterMessage>
+          <IdFrom>543</IdFrom>
+          <IdTo>543</IdTo>
+          <Direction>ALL</Direction>
+          <IDType>ALL</IDType>
+          <MsgType>ALL</MsgType>
+          <Channel>0</Channel>
+        </FilterMessage>
+      </Filter>
+      <Filter>
+        <Name>noAlive</Name>
+        <Type>STOP</Type>
+        <FilterMessage>
+          <IdFrom>271</IdFrom>
+          <IdTo>271</IdTo>
+          <Direction>ALL</Direction>
+          <IDType>ALL</IDType>
+          <MsgType>ALL</MsgType>
+          <Channel>0</Channel>
+        </FilterMessage>
+        <FilterMessage>
+          <IdFrom>543</IdFrom>
+          <IdTo>543</IdTo>
+          <Direction>ALL</Direction>
+          <IDType>ALL</IDType>
+          <MsgType>ALL</MsgType>
+          <Channel>0</Channel>
+        </FilterMessage>
+        <FilterMessage>
+          <IdFrom>799</IdFrom>
+          <IdTo>799</IdTo>
+          <Direction>ALL</Direction>
+          <IDType>ALL</IDType>
+          <MsgType>ALL</MsgType>
+          <Channel>0</Channel>
+        </FilterMessage>
+        <FilterMessage>
+          <IdFrom>1055</IdFrom>
+          <IdTo>1055</IdTo>
+          <Direction>ALL</Direction>
+          <IDType>ALL</IDType>
+          <MsgType>ALL</MsgType>
+          <Channel>0</Channel>
+        </FilterMessage>
+        <FilterMessage>
+          <IdFrom>1311</IdFrom>
+          <IdTo>1311</IdTo>
+          <Direction>ALL</Direction>
+          <IDType>ALL</IDType>
+          <MsgType>ALL</MsgType>
+          <Channel>0</Channel>
+        </FilterMessage>
+      </Filter>
+      <Filter>
+        <Name>steering</Name>
+        <Type>PASS</Type>
+        <FilterMessage>
+          <IdFrom>336</IdFrom>
+          <IdTo>336</IdTo>
+          <Direction>ALL</Direction>
+          <IDType>ALL</IDType>
+          <MsgType>ALL</MsgType>
+          <Channel>0</Channel>
+        </FilterMessage>
+        <FilterMessage>
+          <IdFrom>337</IdFrom>
+          <IdTo>337</IdTo>
+          <Direction>ALL</Direction>
+          <IDType>ALL</IDType>
+          <MsgType>ALL</MsgType>
+          <Channel>0</Channel>
+        </FilterMessage>
+        <FilterMessage>
+          <IdFrom>1298</IdFrom>
+          <IdTo>1298</IdTo>
+          <Direction>ALL</Direction>
+          <IDType>ALL</IDType>
+          <MsgType>ALL</MsgType>
+          <Channel>0</Channel>
+        </FilterMessage>
+        <FilterMessage>
+          <IdFrom>1311</IdFrom>
+          <IdTo>1311</IdTo>
+          <Direction>ALL</Direction>
+          <IDType>ALL</IDType>
+          <MsgType>ALL</MsgType>
+          <Channel>0</Channel>
+        </FilterMessage>
+        <FilterMessage>
+          <IdFrom>82</IdFrom>
+          <IdTo>82</IdTo>
+          <Direction>ALL</Direction>
+          <IDType>ALL</IDType>
+          <MsgType>ALL</MsgType>
+          <Channel>0</Channel>
+        </FilterMessage>
+      </Filter>
+    </CAN_Filters>
+    <CAN_Signal_Watch>
+      <Message>
+        <Id>529</Id>
+        <Signal>posX</Signal>
+        <Signal>posY</Signal>
+      </Message>
+      <Message>
+        <Id>1040</Id>
+        <Signal>Speed</Signal>
+      </Message>
+      <Message>
+        <Id>321</Id>
+        <Signal>Power</Signal>
+      </Message>
+      <Message>
+        <Id>306</Id>
+        <Signal>Vehiclespeed</Signal>
+      </Message>
+      <Message>
+        <Id>337</Id>
+        <Signal>SteeringPosition</Signal>
+      </Message>
+      <Message>
+        <Id>1311</Id>
+      </Message>
+      <Message>
+        <Id>1294</Id>
+        <Signal>brake</Signal>
+      </Message>
+      <Message>
+        <Id>1540</Id>
+      </Message>
+      <Message>
+        <Id>260</Id>
+        <Signal>headlights</Signal>
+      </Message>
+      <Window_Position>
+        <Visibility>SHOWNORMAL</Visibility>
+        <WindowPlacement>HIDE</WindowPlacement>
+        <Top>186</Top>
+        <Left>513</Left>
+        <Right>960</Right>
+        <Bottom>747</Bottom>
+      </Window_Position>
+      <COLUMN_WIDTH>
+        <MESSAGE_COLUMN>86</MESSAGE_COLUMN>
+        <Raw_Val_Column>86</Raw_Val_Column>
+        <Physical_Val_Column>172</Physical_Val_Column>
+        <Signal_Column>86</Signal_Column>
+      </COLUMN_WIDTH>
+    </CAN_Signal_Watch>
+    <J1939_Signal_Watch>
+      <Window_Position>
+        <Visibility>SHOWNORMAL</Visibility>
+        <WindowPlacement>HIDE</WindowPlacement>
+        <Top>70</Top>
+        <Left>10</Left>
+        <Right>500</Right>
+        <Bottom>300</Bottom>
+      </Window_Position>
+      <COLUMN_WIDTH>
+        <MESSAGE_COLUMN>94</MESSAGE_COLUMN>
+        <Raw_Val_Column>94</Raw_Val_Column>
+        <Physical_Val_Column>189</Physical_Val_Column>
+        <Signal_Column>94</Signal_Column>
+      </COLUMN_WIDTH>
+    </J1939_Signal_Watch>
+    <LIN_Signal_Watch>
+      <Window_Position>
+        <Visibility>SHOWNORMAL</Visibility>
+        <WindowPlacement>HIDE</WindowPlacement>
+        <Top>70</Top>
+        <Left>10</Left>
+        <Right>500</Right>
+        <Bottom>300</Bottom>
+      </Window_Position>
+      <COLUMN_WIDTH>
+        <MESSAGE_COLUMN>94</MESSAGE_COLUMN>
+        <Raw_Val_Column>94</Raw_Val_Column>
+        <Physical_Val_Column>189</Physical_Val_Column>
+        <Signal_Column>94</Signal_Column>
+      </COLUMN_WIDTH>
+    </LIN_Signal_Watch>
+    <CAN_Signal_Graph>
+      <GRAPH_PARAMETERS>
+        <Buffer_Size>5000</Buffer_Size>
+        <Refresh_Rate>1000</Refresh_Rate>
+        <Frame_Color>21760</Frame_Color>
+        <Frame_Style>1</Frame_Style>
+        <Plot_Area_Color>0</Plot_Area_Color>
+        <Grid_Color>12632256</Grid_Color>
+        <Axis_Color>255</Axis_Color>
+        <X_Grid_Lines>10</X_Grid_Lines>
+        <Y_Grid_Lines>5</Y_Grid_Lines>
+        <Active_Axis>2</Active_Axis>
+        <Selected_Action>0</Selected_Action>
+        <Show_Grid>TRUE</Show_Grid>
+        <Display_Type>NORMAL</Display_Type>
+      </GRAPH_PARAMETERS>
+      <GRAPH_ELEMENT>
+        <Message_ID>1586</Message_ID>
+        <Message_Name>DISPLAY_CURRENT</Message_Name>
+        <Frame_Format/>
+        <Element_Name>BatteryCurrent</Element_Name>
+        <Value_Type>Physical</Value_Type>
+        <Line_Type>SOLID</Line_Type>
+        <Line_Color>65280</Line_Color>
+        <Point_Type>2</Point_Type>
+        <Point_Color>8421376</Point_Color>
+        <Visibility>TRUE</Visibility>
+        <Enable>TRUE</Enable>
+        <Display_Type>NORMAL</Display_Type>
+      </GRAPH_ELEMENT>
+      <Window_Position>
+        <Visibility>SHOWNORMAL</Visibility>
+        <Window_Position>HIDE</Window_Position>
+        <Top>39</Top>
+        <Left>74</Left>
+        <Bottom>586</Bottom>
+        <Right>1399</Right>
+      </Window_Position>
+      <Splitter_Window_Col_0>
+        <CxIdeal>479</CxIdeal>
+        <CxMin>0</CxMin>
+      </Splitter_Window_Col_0>
+      <Splitter_Window_Col_1>
+        <CxIdeal>819</CxIdeal>
+        <CxMin>0</CxMin>
+      </Splitter_Window_Col_1>
+      <Splitter_Window_Row_0>
+        <CxIdeal>275</CxIdeal>
+        <CxMin>0</CxMin>
+      </Splitter_Window_Row_0>
+      <Splitter_Window_Row_1>
+        <CxIdeal>222</CxIdeal>
+        <CxMin>0</CxMin>
+      </Splitter_Window_Row_1>
+    </CAN_Signal_Graph>
+    <CAN_Log>
+      <LogOnConnect>0</LogOnConnect>
+    </CAN_Log>
+    <J1939_Log>
+      <LogOnConnect>0</LogOnConnect>
+    </J1939_Log>
+    <LIN_Log>
+      <LogOnConnect>0</LogOnConnect>
+    </LIN_Log>
+    <CAN_Simulated_Systems>
+      <Window_Position>
+        <Visibility>SHOWNORMAL</Visibility>
+        <WindowPlacement>RESTORETOMAXIMIZED</WindowPlacement>
+        <Top>0</Top>
+        <Left>0</Left>
+        <Bottom>577</Bottom>
+        <Right>423</Right>
+      </Window_Position>
+    </CAN_Simulated_Systems>
+    <J1939_Simulated_Systems>
+      <Window_Position>
+        <Visibility>HIDE</Visibility>
+        <WindowPlacement>RESTORETOMAXIMIZED</WindowPlacement>
+        <Top>0</Top>
+        <Left>0</Left>
+        <Bottom>0</Bottom>
+        <Right>0</Right>
+      </Window_Position>
+    </J1939_Simulated_Systems>
+    <CAN_Replay/>
+    <CAN_Message_Window>
+      <Append_Buffer_Size>1474521904</Append_Buffer_Size>
+      <Overwrite_Buffer_Size>23911192</Overwrite_Buffer_Size>
+      <Display_Update_Time>1474521876</Display_Update_Time>
+      <Filter IsEnabled="0">display</Filter>
+      <Filter IsEnabled="0">drive</Filter>
+      <Filter IsEnabled="0">joy</Filter>
+      <Filter IsEnabled="1">noAlive</Filter>
+      <Filter IsEnabled="0">steering</Filter>
+      <COLUMN>
+        <ID/>
+        <Order>5</Order>
+        <IsVisible>1</IsVisible>
+        <Width>19</Width>
+      </COLUMN>
+      <COLUMN>
+        <ID>Time</ID>
+        <Order>4</Order>
+        <IsVisible>1</IsVisible>
+        <Width>129</Width>
+      </COLUMN>
+      <COLUMN>
+        <ID>Tx/Rx</ID>
+        <Order>1</Order>
+        <IsVisible>1</IsVisible>
+        <Width>53</Width>
+      </COLUMN>
+      <COLUMN>
+        <ID>Channel</ID>
+        <Order>2</Order>
+        <IsVisible>0</IsVisible>
+        <Width>0</Width>
+      </COLUMN>
+      <COLUMN>
+        <ID>Msg Type</ID>
+        <Order>3</Order>
+        <IsVisible>0</IsVisible>
+        <Width>0</Width>
+      </COLUMN>
+      <COLUMN>
+        <ID>ID</ID>
+        <Order>6</Order>
+        <IsVisible>1</IsVisible>
+        <Width>69</Width>
+      </COLUMN>
+      <COLUMN>
+        <ID>Message</ID>
+        <Order>7</Order>
+        <IsVisible>1</IsVisible>
+        <Width>143</Width>
+      </COLUMN>
+      <COLUMN>
+        <ID>DLC</ID>
+        <Order>8</Order>
+        <IsVisible>1</IsVisible>
+        <Width>38</Width>
+      </COLUMN>
+      <COLUMN>
+        <ID>Data Byte(s)</ID>
+        <Order>9</Order>
+        <IsVisible>1</IsVisible>
+        <Width>139</Width>
+      </COLUMN>
+      <IsHex>1</IsHex>
+      <IsAppend>0</IsAppend>
+      <IsInterpret>1</IsInterpret>
+      <Time_Mode>SYSTEM</Time_Mode>
+      <Window_Position>
+        <Visibility>SHOWNORMAL</Visibility>
+        <WindowPlacement>SETMINPOSITION</WindowPlacement>
+        <Top>3</Top>
+        <Left>0</Left>
+        <Bottom>627</Bottom>
+        <Right>606</Right>
+      </Window_Position>
+      <Interpretation_Window_Position>
+        <Visibility>SHOWNORMAL</Visibility>
+        <WindowPlacement>RESTORETOMAXIMIZED</WindowPlacement>
+        <Top>181</Top>
+        <Left>12</Left>
+        <Bottom>459</Bottom>
+        <Right>361</Right>
+      </Interpretation_Window_Position>
+    </CAN_Message_Window>
+    <J1939_Message_Window>
+      <COLUMN>
+        <ID/>
+        <Order>1</Order>
+        <IsVisible>0</IsVisible>
+        <Width>0</Width>
+      </COLUMN>
+      <COLUMN>
+        <ID>Time</ID>
+        <Order>2</Order>
+        <IsVisible>1</IsVisible>
+        <Width>91</Width>
+      </COLUMN>
+      <COLUMN>
+        <ID>Channel</ID>
+        <Order>3</Order>
+        <IsVisible>1</IsVisible>
+        <Width>88</Width>
+      </COLUMN>
+      <COLUMN>
+        <ID>CAN ID</ID>
+        <Order>4</Order>
+        <IsVisible>1</IsVisible>
+        <Width>88</Width>
+      </COLUMN>
+      <COLUMN>
+        <ID>PGN</ID>
+        <Order>5</Order>
+        <IsVisible>1</IsVisible>
+        <Width>84</Width>
+      </COLUMN>
+      <COLUMN>
+        <ID>PGN Name</ID>
+        <Order>6</Order>
+        <IsVisible>1</IsVisible>
+        <Width>118</Width>
+      </COLUMN>
+      <COLUMN>
+        <ID>Type</ID>
+        <Order>7</Order>
+        <IsVisible>1</IsVisible>
+        <Width>75</Width>
+      </COLUMN>
+      <COLUMN>
+        <ID>Src</ID>
+        <Order>8</Order>
+        <IsVisible>1</IsVisible>
+        <Width>60</Width>
+      </COLUMN>
+      <COLUMN>
+        <ID>Dest</ID>
+        <Order>9</Order>
+        <IsVisible>1</IsVisible>
+        <Width>57</Width>
+      </COLUMN>
+      <COLUMN>
+        <ID>Priority</ID>
+        <Order>10</Order>
+        <IsVisible>1</IsVisible>
+        <Width>74</Width>
+      </COLUMN>
+      <COLUMN>
+        <ID>Tx/Rx</ID>
+        <Order>11</Order>
+        <IsVisible>1</IsVisible>
+        <Width>73</Width>
+      </COLUMN>
+      <COLUMN>
+        <ID>DLC</ID>
+        <Order>12</Order>
+        <IsVisible>1</IsVisible>
+        <Width>70</Width>
+      </COLUMN>
+      <COLUMN>
+        <ID>Data Byte(s)</ID>
+        <Order>13</Order>
+        <IsVisible>1</IsVisible>
+        <Width>662</Width>
+      </COLUMN>
+      <IsHex>1</IsHex>
+      <IsAppend>1</IsAppend>
+      <IsInterpret>0</IsInterpret>
+      <Time_Mode>SYSTEM</Time_Mode>
+      <Window_Position>
+        <Visibility>SHOWNORMAL</Visibility>
+        <WindowPlacement>SETMINPOSITION</WindowPlacement>
+        <Top>0</Top>
+        <Left>0</Left>
+        <Bottom>549</Bottom>
+        <Right>1556</Right>
+      </Window_Position>
+      <Interpretation_Window_Position>
+        <Visibility>SHOWNORMAL</Visibility>
+        <WindowPlacement>RESTORETOMAXIMIZED</WindowPlacement>
+        <Top>181</Top>
+        <Left>12</Left>
+        <Bottom>459</Bottom>
+        <Right>361</Right>
+      </Interpretation_Window_Position>
+    </J1939_Message_Window>
+    <LIN_Message_Window>
+      <Append_Buffer_Size>5000</Append_Buffer_Size>
+      <Overwrite_Buffer_Size>2000</Overwrite_Buffer_Size>
+      <Display_Update_Time>100</Display_Update_Time>
+      <COLUMN>
+        <ID/>
+        <Order>1</Order>
+        <IsVisible>0</IsVisible>
+        <Width>0</Width>
+      </COLUMN>
+      <COLUMN>
+        <ID>Time</ID>
+        <Order>2</Order>
+        <IsVisible>1</IsVisible>
+        <Width>95</Width>
+      </COLUMN>
+      <COLUMN>
+        <ID>Message</ID>
+        <Order>3</Order>
+        <IsVisible>1</IsVisible>
+        <Width>99</Width>
+      </COLUMN>
+      <COLUMN>
+        <ID>Message Type</ID>
+        <Order>4</Order>
+        <IsVisible>1</IsVisible>
+        <Width>135</Width>
+      </COLUMN>
+      <COLUMN>
+        <ID>Tx/Rx</ID>
+        <Order>5</Order>
+        <IsVisible>1</IsVisible>
+        <Width>85</Width>
+      </COLUMN>
+      <COLUMN>
+        <ID>Channel</ID>
+        <Order>6</Order>
+        <IsVisible>1</IsVisible>
+        <Width>80</Width>
+      </COLUMN>
+      <COLUMN>
+        <ID>DLC</ID>
+        <Order>7</Order>
+        <IsVisible>1</IsVisible>
+        <Width>70</Width>
+      </COLUMN>
+      <COLUMN>
+        <ID>ID</ID>
+        <Order>8</Order>
+        <IsVisible>1</IsVisible>
+        <Width>65</Width>
+      </COLUMN>
+      <COLUMN>
+        <ID>Data Byte(s)</ID>
+        <Order>9</Order>
+        <IsVisible>1</IsVisible>
+        <Width>235</Width>
+      </COLUMN>
+      <COLUMN>
+        <ID>Checksum</ID>
+        <Order>10</Order>
+        <IsVisible>1</IsVisible>
+        <Width>676</Width>
+      </COLUMN>
+      <IsHex>1</IsHex>
+      <IsAppend>1</IsAppend>
+      <IsInterpret>0</IsInterpret>
+      <Time_Mode>SYSTEM</Time_Mode>
+      <Window_Position>
+        <Visibility>SHOWNORMAL</Visibility>
+        <WindowPlacement>SETMINPOSITION</WindowPlacement>
+        <Top>0</Top>
+        <Left>0</Left>
+        <Bottom>549</Bottom>
+        <Right>1556</Right>
+      </Window_Position>
+      <Interpretation_Window_Position>
+        <Visibility>SHOWNORMAL</Visibility>
+        <WindowPlacement>RESTORETOMAXIMIZED</WindowPlacement>
+        <Top>181</Top>
+        <Left>12</Left>
+        <Bottom>459</Bottom>
+        <Right>361</Right>
+      </Interpretation_Window_Position>
+    </LIN_Message_Window>
+    <CAN_Tx_Window>
+      <Window_Position>
+        <Visibility>SHOWNORMAL</Visibility>
+        <WindowPlacement>SETMINPOSITION</WindowPlacement>
+        <Top>4</Top>
+        <Left>648</Left>
+        <Bottom>659</Bottom>
+        <Right>1508</Right>
+      </Window_Position>
+      <Message_List>
+        <Message>
+          <Channel>1</Channel>
+          <Message_ID>16</Message_ID>
+          <IsExtended>FALSE</IsExtended>
+          <IsRtr>FALSE</IsRtr>
+          <DLC>4</DLC>
+          <DataBytes>0,0,0,10</DataBytes>
+          <Repetion>10</Repetion>
+          <Repetition_Enabled>FALSE</Repetition_Enabled>
+          <Key_Value>a</Key_Value>
+          <Key_Enabled>FALSE</Key_Enabled>
+        </Message>
+        <Message>
+          <Channel>1</Channel>
+          <Message_ID>17</Message_ID>
+          <IsExtended>FALSE</IsExtended>
+          <IsRtr>FALSE</IsRtr>
+          <DLC>4</DLC>
+          <DataBytes>0,1,178,7</DataBytes>
+          <Repetion>10</Repetion>
+          <Repetition_Enabled>FALSE</Repetition_Enabled>
+          <Key_Value>a</Key_Value>
+          <Key_Enabled>FALSE</Key_Enabled>
+        </Message>
+        <Message>
+          <Channel>1</Channel>
+          <Message_ID>18</Message_ID>
+          <IsExtended>FALSE</IsExtended>
+          <IsRtr>FALSE</IsRtr>
+          <DLC>4</DLC>
+          <DataBytes>0,0,39,16</DataBytes>
+          <Repetion>10</Repetion>
+          <Repetition_Enabled>FALSE</Repetition_Enabled>
+          <Key_Value>a</Key_Value>
+          <Key_Enabled>FALSE</Key_Enabled>
+        </Message>
+        <Message>
+          <Channel>1</Channel>
+          <Message_ID>19</Message_ID>
+          <IsExtended>FALSE</IsExtended>
+          <IsRtr>FALSE</IsRtr>
+          <DLC>4</DLC>
+          <DataBytes>0,85,115,240</DataBytes>
+          <Repetion>10</Repetion>
+          <Repetition_Enabled>FALSE</Repetition_Enabled>
+          <Key_Value>a</Key_Value>
+          <Key_Enabled>FALSE</Key_Enabled>
+        </Message>
+        <Message>
+          <Channel>1</Channel>
+          <Message_ID>20</Message_ID>
+          <IsExtended>FALSE</IsExtended>
+          <IsRtr>FALSE</IsRtr>
+          <DLC>2</DLC>
+          <DataBytes>0,0</DataBytes>
+          <Repetion>10</Repetion>
+          <Repetition_Enabled>FALSE</Repetition_Enabled>
+          <Key_Value>a</Key_Value>
+          <Key_Enabled>FALSE</Key_Enabled>
+        </Message>
+        <Message>
+          <Channel>1</Channel>
+          <Message_ID>21</Message_ID>
+          <IsExtended>FALSE</IsExtended>
+          <IsRtr>FALSE</IsRtr>
+          <DLC>4</DLC>
+          <DataBytes>0,250,0,0</DataBytes>
+          <Repetion>10</Repetion>
+          <Repetition_Enabled>FALSE</Repetition_Enabled>
+          <Key_Value>a</Key_Value>
+          <Key_Enabled>FALSE</Key_Enabled>
+        </Message>
+        <Message>
+          <Channel>1</Channel>
+          <Message_ID>22</Message_ID>
+          <IsExtended>FALSE</IsExtended>
+          <IsRtr>FALSE</IsRtr>
+          <DLC>4</DLC>
+          <DataBytes>0,5,1,250</DataBytes>
+          <Repetion>10</Repetion>
+          <Repetition_Enabled>FALSE</Repetition_Enabled>
+          <Key_Value>a</Key_Value>
+          <Key_Enabled>FALSE</Key_Enabled>
+        </Message>
+        <Message>
+          <Channel>1</Channel>
+          <Message_ID>23</Message_ID>
+          <IsExtended>FALSE</IsExtended>
+          <IsRtr>FALSE</IsRtr>
+          <DLC>4</DLC>
+          <DataBytes>0,0,0,0</DataBytes>
+          <Repetion>10</Repetion>
+          <Repetition_Enabled>FALSE</Repetition_Enabled>
+          <Key_Value>a</Key_Value>
+          <Key_Enabled>FALSE</Key_Enabled>
+        </Message>
+        <Message>
+          <Channel>1</Channel>
+          <Message_ID>24</Message_ID>
+          <IsExtended>FALSE</IsExtended>
+          <IsRtr>FALSE</IsRtr>
+          <DLC>4</DLC>
+          <DataBytes>0,0,0,0</DataBytes>
+          <Repetion>10</Repetion>
+          <Repetition_Enabled>FALSE</Repetition_Enabled>
+          <Key_Value>a</Key_Value>
+          <Key_Enabled>FALSE</Key_Enabled>
+        </Message>
+        <Message>
+          <Channel>1</Channel>
+          <Message_ID>1540</Message_ID>
+          <IsExtended>FALSE</IsExtended>
+          <IsRtr>FALSE</IsRtr>
+          <DLC>0</DLC>
+          <DataBytes>0</DataBytes>
+          <Repetion>10</Repetion>
+          <Repetition_Enabled>FALSE</Repetition_Enabled>
+          <Key_Value>a</Key_Value>
+          <Key_Enabled>FALSE</Key_Enabled>
+        </Message>
+        <Message>
+          <Channel>1</Channel>
+          <Message_ID>1298</Message_ID>
+          <IsExtended>FALSE</IsExtended>
+          <IsRtr>FALSE</IsRtr>
+          <DLC>4</DLC>
+          <DataBytes>0,0,0,0</DataBytes>
+          <Repetion>10</Repetion>
+          <Repetition_Enabled>FALSE</Repetition_Enabled>
+          <Key_Value>a</Key_Value>
+          <Key_Enabled>FALSE</Key_Enabled>
+        </Message>
+        <Message>
+          <Channel>1</Channel>
+          <Message_ID>337</Message_ID>
+          <IsExtended>FALSE</IsExtended>
+          <IsRtr>FALSE</IsRtr>
+          <DLC>4</DLC>
+          <DataBytes>0,0,78,32</DataBytes>
+          <Repetion>10</Repetion>
+          <Repetition_Enabled>FALSE</Repetition_Enabled>
+          <Key_Value>a</Key_Value>
+          <Key_Enabled>FALSE</Key_Enabled>
+        </Message>
+        <Message>
+          <Channel>1</Channel>
+          <Message_ID>336</Message_ID>
+          <IsExtended>FALSE</IsExtended>
+          <IsRtr>FALSE</IsRtr>
+          <DLC>4</DLC>
+          <DataBytes>0,1,0,0</DataBytes>
+          <Repetion>10</Repetion>
+          <Repetition_Enabled>FALSE</Repetition_Enabled>
+          <Key_Value>a</Key_Value>
+          <Key_Enabled>FALSE</Key_Enabled>
+        </Message>
+      </Message_List>
+    </CAN_Tx_Window>
+    <CAN_Wave_Form_Genarator>
+      <Default_Sampling_Period>125</Default_Sampling_Period>
+      <SignalDefiner_AutoCorrect>1</SignalDefiner_AutoCorrect>
+    </CAN_Wave_Form_Genarator>
+    <LIN_Simulated_Systems>
+      <Window_Position>
+        <Visibility>HIDE</Visibility>
+        <WindowPlacement>RESTORETOMAXIMIZED</WindowPlacement>
+        <Top>0</Top>
+        <Left>0</Left>
+        <Bottom>0</Bottom>
+        <Right>0</Right>
+      </Window_Position>
+    </LIN_Simulated_Systems>
+    <LIN_Cluster_Config>
+      <CHANNEL>
+        <Index>0</Index>
+        <HWUri>Hardware</HWUri>
+        <BaudRate>19200</BaudRate>
+        <ProtocolVersion>LIN 2.0</ProtocolVersion>
+        <Overwrite_Settings>1</Overwrite_Settings>
+        <MasterMode>0</MasterMode>
+        <ECU/>
+      </CHANNEL>
+    </LIN_Cluster_Config>
+    <LIN_Tx_Window>
+      <Window_Position>
+        <Visibility>SHOWNORMAL</Visibility>
+        <WindowPlacement>SETMINPOSITION</WindowPlacement>
+        <Top>1</Top>
+        <Left>4</Left>
+        <Bottom>661</Bottom>
+        <Right>864</Right>
+      </Window_Position>
+      <Message_List/>
+    </LIN_Tx_Window>
+    <LIN_Schedule_Table>
+      <Window_Position>
+        <Visibility>SHOWNORMAL</Visibility>
+        <WindowPlacement>SETMINPOSITION</WindowPlacement>
+        <Top>183</Top>
+        <Left>535</Left>
+        <Bottom>716</Bottom>
+        <Right>1185</Right>
+      </Window_Position>
+      <Channel>
+        <Index>1</Index>
+      </Channel>
+    </LIN_Schedule_Table>
+  </Module_Configuration>
+</BUSMASTER_CONFIGURATION>

threewheeler.DBF

@@ -6,7 +6,7 @@
 
 [BUSMASTER_VERSION] [3.2.2]
 
-[NUMBER_OF_MESSAGES] 25
+[NUMBER_OF_MESSAGES] 33
 
 [START_MSG] JOY_MEASURE,529,3,3,1,S
 [START_SIGNALS] posX,8,1,0,I,127,-128,1,0.000000,1.000000,%,
@@ -38,10 +38,11 @@
 [VALUE_DESCRIPTION] RACE,2
 [END_MSG]
 
-[START_MSG] CONTROL_SETUP,16,4,2,1,S
+[START_MSG] CONTROL_SETUP,16,4,3,1,S
 [START_SIGNALS] AliveTime,8,4,0,U,255,0,1,0.000000,10.000000,mS,
 [VALUE_DESCRIPTION] No alive message,0
 [START_SIGNALS] STEERING_MODE,1,1,0,B,1,0,1,0.000000,1.000000,,
+[START_SIGNALS] ERASE_MEMORY,1,2,0,B,1,0,1,0.000000,1.000000,,
 [END_MSG]
 
 [START_MSG] CONTROL_SPEED_FACTOR,17,4,1,1,S
@@ -71,7 +72,7 @@
 [VALUE_DESCRIPTION] No alive message,0
 [END_MSG]
 
-[START_MSG] DISPLAY_SETUP,48,4,1,1,S
+[START_MSG] DISPLAY_SETUP,304,4,1,1,S
 [START_SIGNALS] AliveTime,8,4,0,U,255,0,1,0.000000,10.000000,ms,
 [END_MSG]
 
@@ -151,3 +152,42 @@
 [START_MSG] STEERING_GET_POS,1298,4,1,1,S
 [START_SIGNALS] POSITION,32,4,0,I,2147483647,-2147483648,0,0.000000,1.000000,qc,
 [END_MSG]
+
+[START_MSG] CONTROL_SETUP_PARAM_JOY,22,4,4,1,S
+[START_SIGNALS] mode,1,1,0,B,1,0,1,0.000000,1.000000,,
+[START_SIGNALS] timeMeasureOrDeltaX,8,2,0,U,255,0,1,0.000000,10.000000,msOrVal,
+[START_SIGNALS] DeltaY,8,3,0,U,255,0,1,0.000000,1.000000,val,
+[START_SIGNALS] aliveTime,8,4,0,U,255,0,1,0.000000,10.000000,ms,
+[END_MSG]
+
+[START_MSG] CONTROL_SETUP_DRIVE,23,4,3,1,S
+[START_SIGNALS] driveAliveTime,8,1,0,U,255,0,1,0.000000,10.000000,ms,
+[START_SIGNALS] driveSpeedTime,8,2,0,U,255,0,1,0.000000,10.000000,ms,
+[START_SIGNALS] driveStopTime,8,3,0,U,255,0,1,0.000000,10.000000,ms,
+[END_MSG]
+
+[START_MSG] CONTROL_SETUP_PARAM_BATTERY,24,4,4,1,S
+[START_SIGNALS] batteryVoltTime,8,1,0,U,255,0,1,0.000000,10.000000,ms,
+[START_SIGNALS] batteryCurentTime,8,2,0,U,255,0,1,0.000000,10.000000,ms,
+[START_SIGNALS] batteryEnergyTime,8,3,0,U,255,0,1,0.000000,10.000000,ms,
+[START_SIGNALS] batteryAliveTime,8,4,0,U,255,0,1,0.000000,10.000000,ms,
+[END_MSG]
+
+[START_MSG] CONTROL_SETUP_PARAM,21,4,2,1,S
+[START_SIGNALS] displayAliveTime,8,1,0,U,255,0,1,0.000000,10.000000,ms,
+[START_SIGNALS] steeringAliveTime,8,2,0,U,255,0,1,0.000000,10.000000,ms,
+[END_MSG]
+
+[START_MSG] BRAKE,1294,1,1,1,S
+[START_SIGNALS] brake,1,1,0,B,1,0,1,0.000000,1.000000,,
+[END_MSG]
+
+[START_MSG] SUPPLY_48V_READY,1540,0,0,1,S
+[END_MSG]
+
+[START_MSG] HEADLIGHTS,260,1,1,1,S
+[START_SIGNALS] headlights,1,1,0,B,1,0,1,0.000000,1.000000,,
+[END_MSG]
+
+[START_MSG] SUPPLY_ALIVE,1551,0,0,1,S
+[END_MSG]