move led controller

add boost by button
Merge develop after race
2023-09-11 17:35:57 +02:00 · 2023-09-11 17:35:15 +02:00 · 2023-09-10 15:19:44 +02:00 · 2023-09-07 16:56:02 +02:00 · 2023-09-07 16:55:24 +02:00 · 2023-09-07 14:20:47 +02:00
41 changed files with 21766 additions and 314 deletions
--- a/306-controller_interface.X/app/can_message.c
+++ b/306-controller_interface.X/app/can_message.c
@@ -29,7 +29,32 @@ typedef union {
    uint16_t full;
 } BYTES_2;

-void CM_processIncome(uint8_t idSender, uint8_t idMsg, uint32_t data){
+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;
@@ -37,6 +62,8 @@ void CM_processIncome(uint8_t idSender, uint8_t idMsg, uint32_t data){
    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){
        
@@ -59,21 +86,21 @@ void CM_processIncome(uint8_t idSender, uint8_t idMsg, uint32_t data){
            
            if(idMsg == 0x1) { // CONTROL_SPEED_FACTOR
                //  valHH   valH    valL    valLL
-                KART_CST.CONTROL_SPEED_FACTOR = data;
+                KART_CST.CONTROL_SPEED_FACTOR = revertData.full;
                MEM_write_4_byte(MEMADD_CONTROL_SPEED_FACTOR, KART_CST.CONTROL_SPEED_FACTOR);
                
            }
            
            if(idMsg == 0x2) { // CONTROL_POWER_FACTOR
                //  valHH   valH    valL    valLL
-                KART_CST.CONTROL_POWER_FACTOR = data;
+                KART_CST.CONTROL_POWER_FACTOR = revertData.full;
                MEM_write_4_byte(MEMADD_CONTROL_POWER_FACTOR, KART_CST.CONTROL_POWER_FACTOR);
-                
+                CAN_Send(0, 5, KART_CST.CONTROL_POWER_FACTOR); 
            }
            
            if(idMsg == 0x3) { // CONTROL_STEERING_FACTOR
                //  valHH   valH    valL    valLL
-                KART_CST.CONTROL_STEERING_FACTOR = data;
+                KART_CST.CONTROL_STEERING_FACTOR = revertData.full;
                MEM_write_4_byte(MEMADD_CONTROL_STEERING_FACTOR, KART_CST.CONTROL_STEERING_FACTOR);
                
            }
@@ -97,7 +124,7 @@ void CM_processIncome(uint8_t idSender, uint8_t idMsg, uint32_t data){
                // TODO set alive times
                // start alives
                CM_DISPLAY_SETUP(NULL);
-                CM_STEERING_SETUP(NULL);
+                CM_STEERING_SETUP(&ALWAYS0);
                
            }
            
@@ -129,7 +156,7 @@ void CM_processIncome(uint8_t idSender, uint8_t idMsg, uint32_t data){
                
                ALIVE_setAliveTime(&drive()->myChecker, KART_CST.DRIVE_ALIVE_TIME);
                ALIVE_emitStart(&drive()->myChecker, 0, 0);
-                CM_DRIVE_SETUP(NULL);
+                CM_DRIVE_SETUP(&ALWAYSFALSE);
                
            }
            
@@ -150,6 +177,14 @@ void CM_processIncome(uint8_t idSender, uint8_t idMsg, uint32_t data){
                
            }
            
+            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;
            
            
@@ -161,6 +196,9 @@ void CM_processIncome(uint8_t idSender, uint8_t idMsg, uint32_t data){
                //  posX    posY    button  -
                calcTorque(incomeData.separate.byte1);
                calcPosition(incomeData.separate.byte0);
+                eKart.button = (bool) incomeData.separate.byte2;
+                STEERING_emitPollDir(steering());
+                
                
            }
            
@@ -188,7 +226,12 @@ void CM_processIncome(uint8_t idSender, uint8_t idMsg, uint32_t data){
            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;
            
@@ -225,6 +268,7 @@ void CM_processIncome(uint8_t idSender, uint8_t idMsg, uint32_t data){
            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
@@ -232,9 +276,26 @@ void CM_processIncome(uint8_t idSender, uint8_t idMsg, uint32_t data){
                
            }
            
+            if(idMsg == 0xE) { // DRIVE_BRAKE
+                //  status  -   -   -
+                eKart.brake = incomeData.separate.byte0;
+            }
+            
            if(idMsg == 0xF) { // STEERING_ALIVE
                //  statusH statusL -   -
-                // TODO steering say ALIVE with his status
+                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;
@@ -244,6 +305,15 @@ void CM_processIncome(uint8_t idSender, uint8_t idMsg, uint32_t data){
         * 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
@@ -330,7 +400,7 @@ 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;
+    uint8_t choice = *(uint8_t*) p;
    switch (choice) {
        case 1:
            tmpData.separate.byte0 = 1;
@@ -378,3 +448,9 @@ void CM_SUPPLY_SETUP(void* p) {
    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);
+}
--- a/306-controller_interface.X/app/can_message.h
+++ b/306-controller_interface.X/app/can_message.h
@@ -12,19 +12,6 @@
 #include <stdbool.h>        // usage of boolean types
 #include "../mcc_generated_files/mcc.h"

-/*
-S   R   M
-1   0   F   CONTROL_ALIVE       -               -                   -                   -
-1	2	0	JOY_SETUP           Mode            Param1              Param2              aliveTime
-1	3	0	DISPLAY_SETUP       reset           -                   -                   aliveTime
-1	3	2	DISPLAY_SPEED       valH            valL                -                   -
-1	3	3	DISPLAY_DIRECTION   direction       -                   -                   -
-1	4	0	DRIVE_SETUP         Reset/init      speedTime           stopTime            aliveTime
-1	4	1	DRIVE_POWER         valH            valL                -                   -
-1	5	0	STEERING_SETUP      Reset/init      homing              setCenter           aliveTime
-1	5	1	STEERING_SET        valHH           valH                valL                valLL
-1	6	0	SETUP_CONTROL       batteryVoltTime batteryCurrentTime  batteryEnergyTime   aliveTime
-*/

 /**
 * Process an incoming message
@@ -32,7 +19,7 @@ S   R   M
 * @param idMsg is of the message
 * @param data data of the message
 */
-void CM_processIncome(uint8_t idSender, uint8_t idMsg, uint32_t data);
+void CM_processIncome(uint8_t idSender, uint8_t idMsg, bool rtr, uint32_t data);

 /**
 * Send alive message from controller
@@ -101,6 +88,12 @@ void CM_STEERING_SET(void* p);
 */
 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 */

--- a/306-controller_interface.X/app/car.h
+++ b/306-controller_interface.X/app/car.h
@@ -43,6 +43,15 @@
 #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;
@@ -65,6 +74,9 @@ typedef struct {
    uint8_t     BATTERY_CURRENT_TIME;
    uint8_t     BATTERY_ENERGY_TIME;
    uint8_t     BATTERY_ALIVE_TIME;
+    uint8_t     CONTROL_PARAM_MAX_CHANGE_STEERING;
+    uint8_t     CONTROL_PARAM_MAX_CHANGE_DRIVE;
+
 } KART_CST_TYPE;
 KART_CST_TYPE KART_CST;

@@ -72,10 +84,30 @@ 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 */

--- a/306-controller_interface.X/app/drive.c
+++ b/306-controller_interface.X/app/drive.c
@@ -8,11 +8,13 @@
 #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);
-    ALIVE_onSetup(&me->myChecker, CM_DRIVE_SETUP, NULL);
+    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);
@@ -22,7 +24,7 @@ void DRIVE_init(DRIVE* me){
 }

 void DRIVE_startBehaviour(DRIVE* me){
-    POST(me, &DRIVE_processEvent, evDRinit, 0, 0);
+    POST(me, &DRIVE_processEvent, evDRinit, 3000, 0);
 }

 bool DRIVE_processEvent(Event* ev) {
@@ -31,6 +33,8 @@ bool DRIVE_processEvent(Event* 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:
@@ -55,14 +59,16 @@ bool DRIVE_processEvent(Event* ev) {
            }
            
            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);
            }
-            
-            DRIVE_emitPollTorque(me, KART_CST.DRIVE_STOP_TIME*9, 0);
            break;
        
        case STDR_DEAD:
@@ -98,6 +104,8 @@ bool DRIVE_processEvent(Event* ev) {
                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);
                }
--- a/306-controller_interface.X/app/drive.h
+++ b/306-controller_interface.X/app/drive.h
@@ -11,7 +11,7 @@
 #include "../middleware/alive.h"

 typedef enum {
-    STDR_INIT,
+    STDR_INIT = 100,
    STDR_WAIT,
    STDR_RUN,
    STDR_DEAD
--- a/306-controller_interface.X/app/eeprom.c
+++ b/306-controller_interface.X/app/eeprom.c
@@ -7,6 +7,7 @@

 #include "eeprom.h"
 #include "../app/car.h"
+#include "../middleware/can_interface.h"

 typedef union {
    struct {
@@ -21,18 +22,18 @@ typedef union {

 void MEM_init(){
    uint8_t check = MEM_read_1_byte(0x0);
-    if(check != 0x2A){
+    if(check != 0x42){
        KART_CST.CONTROL_STEERING_MODE   =   0;
-        KART_CST.CONTROL_ALIVE_TIME      =   50;
-        KART_CST.CONTROL_SPEED_FACTOR    =   111111;
-        KART_CST.CONTROL_POWER_FACTOR    =   10000;
-        KART_CST.CONTROL_STEERING_FACTOR =   400000000;
+        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;
-        KART_CST.JOYSTICK_PARAM1         =   5;
-        KART_CST.JOYSTICK_PARAM2         =   1;
+        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;
@@ -48,6 +49,9 @@ void MEM_init(){
        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);
@@ -74,13 +78,16 @@ void MEM_init(){
        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(0x0, 0x2A);
+        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_1_byte(MEMADD_CONTROL_SPEED_FACTOR);
-        KART_CST.CONTROL_POWER_FACTOR = MEM_read_1_byte(MEMADD_CONTROL_POWER_FACTOR);
-        KART_CST.CONTROL_STEERING_FACTOR = MEM_read_1_byte(MEMADD_CONTROL_STEERING_FACTOR);
+        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);
        
@@ -102,6 +109,9 @@ void MEM_init(){
        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);
+        
    }
 }

--- a/306-controller_interface.X/app/factory/factory.c
+++ b/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_;
 }
@@ -30,10 +12,6 @@ LED* l8()  {
    return &theFactory.l8_;
 }

-BLINKER* b1() {
-    return &theFactory.b1_;
-}
-
 ALIVE* ALcontroller(){
    return &theFactory.ALcontroller_;
 }
@@ -46,40 +24,30 @@ 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());

-    BLINKER_init(b1());
-
    CAN_init();
    CAN_setSender(1);
-    LED_off(l1());
    
    MEM_init();
+    initRamp();
    
-    ALIVE_init(ALcontroller());
+    ALIVE_init(ALcontroller(), 5);
    ALIVE_setAliveTime(ALcontroller(), KART_CST.CONTROL_ALIVE_TIME);
    
-    ALIVE_init(ALjoy());
+    ALIVE_init(ALjoy(), 1);
    DRIVE_init(drive());
+    STEERING_init(steering());
 }

 //connect objects if required
@@ -89,30 +57,32 @@ void Factory_build() {
    
    ALIVE_onAlive(ALcontroller(), CM_CONTROLLER_ALIVE, NULL);
    
-    //BLINKER_onOn(b1(), LED_on, l6());
-    //BLINKER_onOff(b1(), LED_off, l6());
-    
-    ALIVE_onSetup(ALjoy(), CM_JOY_SETUP, 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(), LED_off, l1());
+    //ALIVE_onBorn(ALjoy(), LED_on, l1());
+    ALIVE_onDead(ALjoy(), deadJoystick, NULL);
    
-    DRIVE_onRun(drive(), LED_on, l2());
-    DRIVE_onDead(drive(), LED_off, l2());
+    //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();
-        
-    DRIVE_startBehaviour(drive());
-    
    ALIVE_startBehaviourSender(ALcontroller());
+    
+/*        
+    DRIVE_startBehaviour(drive());
+    STEERING_startBehaviour(steering());
+    
    ALIVE_startBehaviourChecker(ALjoy());
    ALIVE_emitBorn(ALjoy(), 100, 0);
    ALIVE_emitReady(ALjoy(), 200, 0);
-    
+*/    
    
    
 }
--- a/306-controller_interface.X/app/factory/factory.h
+++ b/306-controller_interface.X/app/factory/factory.h
@@ -16,6 +16,8 @@
 #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"
@@ -24,20 +26,13 @@


 typedef struct {
-    LED l1_;
-    LED l2_;
-    LED l3_;
-    LED l4_;
-    LED l5_;
-    LED l6_;
    LED l7_;
    LED l8_;
    
-    BLINKER b1_;
-    
    ALIVE ALcontroller_;
    ALIVE ALjoy_;
    DRIVE drive_;
+    STEERING steering_;

 } Factory;

@@ -47,20 +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();

-BLINKER* b1();
-
 ALIVE* ALcontroller();
 ALIVE* ALjoy();
 DRIVE* drive();
+STEERING* steering();


 #endif
--- a/306-controller_interface.X/app/kartculator.c
+++ b/306-controller_interface.X/app/kartculator.c
@@ -7,17 +7,264 @@

 #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) {
@@ -27,7 +274,7 @@ void calcSpeed(int32_t rpm) {
    } else {
        calcSpeed = -rpm;
    }
-    calcSpeed *= 1000;
+    calcSpeed *= 2000;
    calcSpeed /= KART_CST.CONTROL_SPEED_FACTOR;
    eKart.speed = (uint8_t) calcSpeed;
 }
--- a/306-controller_interface.X/app/kartculator.h
+++ b/306-controller_interface.X/app/kartculator.h
@@ -13,6 +13,8 @@
 #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);
--- a/306-controller_interface.X/app/steering.c
+++ b/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;
+}
--- a/306-controller_interface.X/app/steering.h
+++ b/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
--- a/306-controller_interface.X/main.c
+++ b/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();

-
-    // 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);
-    // Enable the Global Interrupts
+    
    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
+        
    }
 }
--- a/306-controller_interface.X/mcc_generated_files/device_config.c
+++ b/306-controller_interface.X/mcc_generated_files/device_config.c
@@ -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 WDTE = OFF    // WDT operating mode->WDT Disabled; SWDTEN is ignored
+#pragma config WDTCPS = WDTCPS_6    // WDT Period selection bits->Divider ratio 1:2048
+#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
--- a/306-controller_interface.X/mcc_generated_files/mcc.c
+++ b/306-controller_interface.X/mcc_generated_files/mcc.c
@@ -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
 */
--- a/306-controller_interface.X/mcc_generated_files/mcc.h
+++ b/306-controller_interface.X/mcc_generated_files/mcc.h
@@ -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 */
 /**
--- a/306-controller_interface.X/middleware/alive.c
+++ b/306-controller_interface.X/middleware/alive.c
@@ -7,7 +7,7 @@

 #include "alive.h"

-void ALIVE_init(ALIVE* me){
+void ALIVE_init(ALIVE* me, uint8_t led){
    me->state = STAL_INIT;
    me->isAlive = false;
    me->checker = false;
@@ -20,14 +20,23 @@ void ALIVE_init(ALIVE* me){
    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){
-    POST(me, &ALIVE_processEvent, evALinitChecker, 0, 0);
+    BLINKER_startBehaviour(&me->debugBlinker);
+    POST(me, &ALIVE_processEvent, evALinitChecker, 10, 0);
 }

 void ALIVE_startBehaviourSender(ALIVE* me){
-    POST(me, &ALIVE_processEvent, evALinitSender, 0, 0);
+    BLINKER_startBehaviour(&me->debugBlinker);
+    POST(me, &ALIVE_processEvent, evALinitSender, 10, 0);
 }

 bool ALIVE_processEvent(Event* ev) {
@@ -39,6 +48,7 @@ bool ALIVE_processEvent(Event* ev) {
    
    switch (me->state) {        // onState
        case STAL_INIT:
+            LED_on(&me->debugLed);
            if (ev->id == evALinitChecker) {
                me->state = STAL_SETUP;
            }
@@ -57,7 +67,7 @@ bool ALIVE_processEvent(Event* ev) {
        case STAL_BORN:
            if (ev->id == evALready) {
                me->state = STAL_WAIT;
-                ALIVE_emitPoll(me, me->aliveTime*10, 0);
+                ALIVE_emitPoll(me, me->aliveTime*20, 0);
            }
            break;
        
@@ -70,7 +80,7 @@ bool ALIVE_processEvent(Event* ev) {
                    }
                } else if (me->isAlive){
                    me->state = STAL_WAIT;
-                    ALIVE_emitPoll(me, me->aliveTime*10, 0);
+                    ALIVE_emitPoll(me, me->aliveTime*20, 0);
                } else {
                    me->state = STAL_DEAD;
                }
@@ -95,7 +105,7 @@ bool ALIVE_processEvent(Event* ev) {
                        me->state = STAL_BREAK;
                    }
                } else {
-                    ALIVE_emitPoll(me, me->aliveTime*10, 0);
+                    ALIVE_emitPoll(me, me->aliveTime*20, 0);
                }
            }
            break;
@@ -125,12 +135,14 @@ bool ALIVE_processEvent(Event* ev) {
                break;
            
            case STAL_WAIT:
+                BLINKER_endBlink(&me->debugBlinker);
                break;
            
            case STAL_DEAD:
                break;
            
            case STAL_ALIVE:
+                BLINKER_endBlink(&me->debugBlinker);
                break;
            
            case STAL_BREAK:
@@ -155,6 +167,8 @@ bool ALIVE_processEvent(Event* ev) {
                break;
            
            case STAL_WAIT:
+                LED_off(&me->debugLed);
+                BLINKER_emitBlink(&me->debugBlinker, 0);
                if (me->wait.f != NULL) {
                    me->wait.f(me->wait.p);
                }
@@ -167,6 +181,8 @@ bool ALIVE_processEvent(Event* ev) {
                break;
            
            case STAL_ALIVE:
+                LED_off(&me->debugLed);
+                BLINKER_emitBlink(&me->debugBlinker, 0);
                me->sender = true;
                break;
            
--- a/306-controller_interface.X/middleware/alive.h
+++ b/306-controller_interface.X/middleware/alive.h
@@ -8,9 +8,11 @@
 #define ALIVE_H

 #include "../xf/xf.h"
+#include "../board/led/led.h"
+#include "../middleware/blinker.h"

 typedef enum {
-    STAL_INIT,
+    STAL_INIT = 20,
    STAL_SETUP,
    STAL_BORN,
    STAL_WAIT,
@@ -20,7 +22,7 @@ typedef enum {
 } ALIVE_STATES;

 typedef enum {
-    evALinitChecker = 15,
+    evALinitChecker = 20,
    evALinitSender,
    evALborn,
    evALready,
@@ -37,6 +39,8 @@ typedef struct {

 typedef struct {
    ALIVE_STATES state;
+    LED debugLed;
+    BLINKER debugBlinker;
    bool isAlive;
    bool checker;
    bool sender;
@@ -54,7 +58,7 @@ typedef struct {
 * Initialize the ALIVE
 * @param me the ALIVE itself
 */
-void ALIVE_init(ALIVE* me);
+void ALIVE_init(ALIVE* me, uint8_t led);

 /**
 * Start the ALIVE state machine for checker part
--- a/306-controller_interface.X/middleware/blinker.c
+++ b/306-controller_interface.X/middleware/blinker.c
@@ -53,7 +53,7 @@ bool BLINKER_processEvent(Event* ev) {
        
        case STBL_ON:
            if (me->nBlinkIsOn) {
-                me->remainBlinks--;
+                me->remainBlinks = (me->remainBlinks) - 1;
            }
            if (evid == evBLtimer) {
                me->state = STBL_OFF;
--- a/306-controller_interface.X/middleware/can_interface.c
+++ b/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 bytes;
-    } full;
+    uint32_t 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
@@ -69,26 +74,40 @@ 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.bytes = data;
-                    uint8_t idMsg = tmpData.separate.byte0;
+                    tmpData.full = data;
+                    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) {
-                uCAN_MSG canMsg;
+            if (ev->id == evCAsend4) {
                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
@@ -103,6 +122,70 @@ bool CAN_processEvent(Event* ev) {
                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);
+            }
            break;
    }

@@ -153,7 +236,11 @@ void CAN_newMsg() {
    data = data | canMsg.frame.data1;
    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);
 }

 /***********
--- a/306-controller_interface.X/middleware/can_interface.h
+++ b/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 *
 ***********/
--- a/306-controller_interface.X/nbproject/Makefile-default.mk
+++ b/306-controller_interface.X/nbproject/Makefile-default.mk
@@ -51,17 +51,17 @@ OBJECTDIR=build/${CND_CONF}/${IMAGE_TYPE}
 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 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
+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}/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}/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 ${OBJECTDIR}/main.p1.d
+OBJECTFILES_QUOTED_IF_SPACED=${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}/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 ${OBJECTDIR}/main.p1
+OBJECTFILES=${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 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
+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



@@ -92,7 +92,7 @@ ${OBJECTDIR}/app/factory/factory.p1: app/factory/factory.c  nbproject/Makefile-$
 	@${MKDIR} "${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=compiled:auto:auto:auto     -o ${OBJECTDIR}/app/factory/factory.p1 app/factory/factory.c 
+	${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}../  
 	
@@ -100,7 +100,7 @@ ${OBJECTDIR}/app/can_message.p1: app/can_message.c  nbproject/Makefile-${CND_CON
 	@${MKDIR} "${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=compiled:auto:auto:auto     -o ${OBJECTDIR}/app/can_message.p1 app/can_message.c 
+	${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}../  
 	
@@ -108,7 +108,7 @@ ${OBJECTDIR}/app/kartculator.p1: app/kartculator.c  nbproject/Makefile-${CND_CON
 	@${MKDIR} "${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=compiled:auto:auto:auto     -o ${OBJECTDIR}/app/kartculator.p1 app/kartculator.c 
+	${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}../  
 	
@@ -116,7 +116,7 @@ ${OBJECTDIR}/app/eeprom.p1: app/eeprom.c  nbproject/Makefile-${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=compiled:auto:auto:auto     -o ${OBJECTDIR}/app/eeprom.p1 app/eeprom.c 
+	${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}../  
 	
@@ -124,15 +124,23 @@ ${OBJECTDIR}/app/drive.p1: app/drive.c  nbproject/Makefile-${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=compiled:auto:auto:auto     -o ${OBJECTDIR}/app/drive.p1 app/drive.c 
+	${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=compiled:auto:auto:auto     -o ${OBJECTDIR}/board/led/led.p1 board/led/led.c 
+	${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}../  
 	
@@ -140,7 +148,7 @@ ${OBJECTDIR}/mcc_generated_files/interrupt_manager.p1: mcc_generated_files/inter
 	@${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=compiled:auto:auto:auto     -o ${OBJECTDIR}/mcc_generated_files/interrupt_manager.p1 mcc_generated_files/interrupt_manager.c 
+	${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}../  
 	
@@ -148,7 +156,7 @@ ${OBJECTDIR}/mcc_generated_files/tmr0.p1: mcc_generated_files/tmr0.c  nbproject/
 	@${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=compiled:auto:auto:auto     -o ${OBJECTDIR}/mcc_generated_files/tmr0.p1 mcc_generated_files/tmr0.c 
+	${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}../  
 	
@@ -156,7 +164,7 @@ ${OBJECTDIR}/mcc_generated_files/pin_manager.p1: mcc_generated_files/pin_manager
 	@${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=compiled:auto:auto:auto     -o ${OBJECTDIR}/mcc_generated_files/pin_manager.p1 mcc_generated_files/pin_manager.c 
+	${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}../  
 	
@@ -164,7 +172,7 @@ ${OBJECTDIR}/mcc_generated_files/device_config.p1: mcc_generated_files/device_co
 	@${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=compiled:auto:auto:auto     -o ${OBJECTDIR}/mcc_generated_files/device_config.p1 mcc_generated_files/device_config.c 
+	${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}../  
 	
@@ -172,7 +180,7 @@ ${OBJECTDIR}/mcc_generated_files/mcc.p1: mcc_generated_files/mcc.c  nbproject/Ma
 	@${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=compiled:auto:auto:auto     -o ${OBJECTDIR}/mcc_generated_files/mcc.p1 mcc_generated_files/mcc.c 
+	${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}../  
 	
@@ -180,7 +188,7 @@ ${OBJECTDIR}/mcc_generated_files/ecan.p1: mcc_generated_files/ecan.c  nbproject/
 	@${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=compiled:auto:auto:auto     -o ${OBJECTDIR}/mcc_generated_files/ecan.p1 mcc_generated_files/ecan.c 
+	${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}../  
 	
@@ -188,7 +196,7 @@ ${OBJECTDIR}/mcc_generated_files/memory.p1: mcc_generated_files/memory.c  nbproj
 	@${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=compiled:auto:auto:auto     -o ${OBJECTDIR}/mcc_generated_files/memory.p1 mcc_generated_files/memory.c 
+	${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}../  
 	
@@ -196,7 +204,7 @@ ${OBJECTDIR}/middleware/can_interface.p1: middleware/can_interface.c  nbproject/
 	@${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=compiled:auto:auto:auto     -o ${OBJECTDIR}/middleware/can_interface.p1 middleware/can_interface.c 
+	${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}../  
 	
@@ -204,7 +212,7 @@ ${OBJECTDIR}/middleware/alive.p1: middleware/alive.c  nbproject/Makefile-${CND_C
 	@${MKDIR} "${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=compiled:auto:auto:auto     -o ${OBJECTDIR}/middleware/alive.p1 middleware/alive.c 
+	${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}../  
 	
@@ -212,7 +220,7 @@ ${OBJECTDIR}/middleware/blinker.p1: middleware/blinker.c  nbproject/Makefile-${C
 	@${MKDIR} "${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=compiled:auto:auto:auto     -o ${OBJECTDIR}/middleware/blinker.p1 middleware/blinker.c 
+	${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}../  
 	
@@ -220,7 +228,7 @@ ${OBJECTDIR}/xf/event.p1: xf/event.c  nbproject/Makefile-${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=compiled:auto:auto:auto     -o ${OBJECTDIR}/xf/event.p1 xf/event.c 
+	${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}../  
 	
@@ -228,7 +236,7 @@ ${OBJECTDIR}/xf/xf.p1: xf/xf.c  nbproject/Makefile-${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=compiled:auto:auto:auto     -o ${OBJECTDIR}/xf/xf.p1 xf/xf.c 
+	${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}../  
 	
@@ -236,7 +244,7 @@ ${OBJECTDIR}/main.p1: main.c  nbproject/Makefile-${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=compiled:auto:auto:auto     -o ${OBJECTDIR}/main.p1 main.c 
+	${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}../  
 	
@@ -245,7 +253,7 @@ ${OBJECTDIR}/app/factory/factory.p1: app/factory/factory.c  nbproject/Makefile-$
 	@${MKDIR} "${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=compiled:auto:auto:auto     -o ${OBJECTDIR}/app/factory/factory.p1 app/factory/factory.c 
+	${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}../  
 	
@@ -253,7 +261,7 @@ ${OBJECTDIR}/app/can_message.p1: app/can_message.c  nbproject/Makefile-${CND_CON
 	@${MKDIR} "${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=compiled:auto:auto:auto     -o ${OBJECTDIR}/app/can_message.p1 app/can_message.c 
+	${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}../  
 	
@@ -261,7 +269,7 @@ ${OBJECTDIR}/app/kartculator.p1: app/kartculator.c  nbproject/Makefile-${CND_CON
 	@${MKDIR} "${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=compiled:auto:auto:auto     -o ${OBJECTDIR}/app/kartculator.p1 app/kartculator.c 
+	${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}../  
 	
@@ -269,7 +277,7 @@ ${OBJECTDIR}/app/eeprom.p1: app/eeprom.c  nbproject/Makefile-${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=compiled:auto:auto:auto     -o ${OBJECTDIR}/app/eeprom.p1 app/eeprom.c 
+	${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}../  
 	
@@ -277,15 +285,23 @@ ${OBJECTDIR}/app/drive.p1: app/drive.c  nbproject/Makefile-${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=compiled:auto:auto:auto     -o ${OBJECTDIR}/app/drive.p1 app/drive.c 
+	${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=compiled:auto:auto:auto     -o ${OBJECTDIR}/board/led/led.p1 board/led/led.c 
+	${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}../  
 	
@@ -293,7 +309,7 @@ ${OBJECTDIR}/mcc_generated_files/interrupt_manager.p1: mcc_generated_files/inter
 	@${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=compiled:auto:auto:auto     -o ${OBJECTDIR}/mcc_generated_files/interrupt_manager.p1 mcc_generated_files/interrupt_manager.c 
+	${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}../  
 	
@@ -301,7 +317,7 @@ ${OBJECTDIR}/mcc_generated_files/tmr0.p1: mcc_generated_files/tmr0.c  nbproject/
 	@${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=compiled:auto:auto:auto     -o ${OBJECTDIR}/mcc_generated_files/tmr0.p1 mcc_generated_files/tmr0.c 
+	${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}../  
 	
@@ -309,7 +325,7 @@ ${OBJECTDIR}/mcc_generated_files/pin_manager.p1: mcc_generated_files/pin_manager
 	@${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=compiled:auto:auto:auto     -o ${OBJECTDIR}/mcc_generated_files/pin_manager.p1 mcc_generated_files/pin_manager.c 
+	${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}../  
 	
@@ -317,7 +333,7 @@ ${OBJECTDIR}/mcc_generated_files/device_config.p1: mcc_generated_files/device_co
 	@${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=compiled:auto:auto:auto     -o ${OBJECTDIR}/mcc_generated_files/device_config.p1 mcc_generated_files/device_config.c 
+	${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}../  
 	
@@ -325,7 +341,7 @@ ${OBJECTDIR}/mcc_generated_files/mcc.p1: mcc_generated_files/mcc.c  nbproject/Ma
 	@${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=compiled:auto:auto:auto     -o ${OBJECTDIR}/mcc_generated_files/mcc.p1 mcc_generated_files/mcc.c 
+	${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}../  
 	
@@ -333,7 +349,7 @@ ${OBJECTDIR}/mcc_generated_files/ecan.p1: mcc_generated_files/ecan.c  nbproject/
 	@${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=compiled:auto:auto:auto     -o ${OBJECTDIR}/mcc_generated_files/ecan.p1 mcc_generated_files/ecan.c 
+	${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}../  
 	
@@ -341,7 +357,7 @@ ${OBJECTDIR}/mcc_generated_files/memory.p1: mcc_generated_files/memory.c  nbproj
 	@${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=compiled:auto:auto:auto     -o ${OBJECTDIR}/mcc_generated_files/memory.p1 mcc_generated_files/memory.c 
+	${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}../  
 	
@@ -349,7 +365,7 @@ ${OBJECTDIR}/middleware/can_interface.p1: middleware/can_interface.c  nbproject/
 	@${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=compiled:auto:auto:auto     -o ${OBJECTDIR}/middleware/can_interface.p1 middleware/can_interface.c 
+	${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}../  
 	
@@ -357,7 +373,7 @@ ${OBJECTDIR}/middleware/alive.p1: middleware/alive.c  nbproject/Makefile-${CND_C
 	@${MKDIR} "${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=compiled:auto:auto:auto     -o ${OBJECTDIR}/middleware/alive.p1 middleware/alive.c 
+	${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}../  
 	
@@ -365,7 +381,7 @@ ${OBJECTDIR}/middleware/blinker.p1: middleware/blinker.c  nbproject/Makefile-${C
 	@${MKDIR} "${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=compiled:auto:auto:auto     -o ${OBJECTDIR}/middleware/blinker.p1 middleware/blinker.c 
+	${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}../  
 	
@@ -373,7 +389,7 @@ ${OBJECTDIR}/xf/event.p1: xf/event.c  nbproject/Makefile-${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=compiled:auto:auto:auto     -o ${OBJECTDIR}/xf/event.p1 xf/event.c 
+	${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}../  
 	
@@ -381,7 +397,7 @@ ${OBJECTDIR}/xf/xf.p1: xf/xf.c  nbproject/Makefile-${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=compiled:auto:auto:auto     -o ${OBJECTDIR}/xf/xf.p1 xf/xf.c 
+	${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}../  
 	
@@ -389,7 +405,7 @@ ${OBJECTDIR}/main.p1: main.c  nbproject/Makefile-${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=compiled:auto:auto:auto     -o ${OBJECTDIR}/main.p1 main.c 
+	${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}../  
 	
@@ -412,13 +428,13 @@ endif
 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=compiled:auto:auto:auto        $(COMPARISON_BUILD) -Wl,--memorysummary,${DISTDIR}/memoryfile.xml -o ${DISTDIR}/306-controller_interface.X.${IMAGE_TYPE}.${DEBUGGABLE_SUFFIX}  ${OBJECTFILES_QUOTED_IF_SPACED}     
+	${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=compiled:auto:auto:auto     $(COMPARISON_BUILD) -Wl,--memorysummary,${DISTDIR}/memoryfile.xml -o ${DISTDIR}/306-controller_interface.X.${IMAGE_TYPE}.${DEBUGGABLE_SUFFIX}  ${OBJECTFILES_QUOTED_IF_SPACED}     
+	${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

--- a/306-controller_interface.X/nbproject/Makefile-local-default.mk
+++ b/306-controller_interface.X/nbproject/Makefile-local-default.mk
@@ -34,4 +34,4 @@ MP_CC_DIR="C:\Program Files\Microchip\xc8\v2.41\bin"
 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:/Users/remi.heredero/.mchp_packs/Microchip/PIC18F-K_DFP/1.7.134
+DFP_DIR=C:/Program Files/Microchip/MPLABX/v6.15/packs/Microchip/PIC18F-K_DFP/1.11.281
--- a/306-controller_interface.X/nbproject/configurations.xml
+++ b/306-controller_interface.X/nbproject/configurations.xml
@@ -11,6 +11,7 @@
        <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>
@@ -50,6 +51,7 @@
        <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>
@@ -101,7 +103,7 @@
        <platform>3</platform>
      </toolsSet>
      <packs>
-        <pack name="PIC18F-K_DFP" vendor="Microchip" version="1.7.134"/>
+        <pack name="PIC18F-K_DFP" vendor="Microchip" version="1.11.281"/>
      </packs>
      <ScriptingSettings>
      </ScriptingSettings>
@@ -245,7 +247,7 @@
        <property key="programoptions.preservedataflash" value="false"/>
        <property key="programoptions.preservedataflash.ranges"
                  value="${programoptions.preservedataflash.ranges}"/>
-        <property key="programoptions.preserveeeprom" value="true"/>
+        <property key="programoptions.preserveeeprom" value="false"/>
        <property key="programoptions.preserveeeprom.ranges" value="310000-3103ff"/>
        <property key="programoptions.preserveprogram.ranges" value=""/>
        <property key="programoptions.preserveprogramrange" value="false"/>
@@ -269,6 +271,7 @@
        <property key="debugoptions.useswbreakpoints" value="false"/>
        <property key="event.recorder.enabled" value="false"/>
        <property key="event.recorder.scvd.files" value=""/>
+        <property key="firmware.download.all" value="false"/>
        <property key="hwtoolclock.frcindebug" value="false"/>
        <property key="lastid" value=""/>
        <property key="memories.aux" value="false"/>
@@ -292,7 +295,7 @@
        <property key="programoptions.preservedataflash" value="false"/>
        <property key="programoptions.preservedataflash.ranges"
                  value="${programoptions.preservedataflash.ranges}"/>
-        <property key="programoptions.preserveeeprom" value="true"/>
+        <property key="programoptions.preserveeeprom" value="false"/>
        <property key="programoptions.preserveeeprom.ranges" value="310000-3103ff"/>
        <property key="programoptions.preserveprogram.ranges" value=""/>
        <property key="programoptions.preserveprogramrange" value="false"/>
@@ -322,7 +325,7 @@
        <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>
--- a/306-controller_interface.X/queuelogs/debugtool
+++ b/306-controller_interface.X/queuelogs/debugtool
--- a/306-controller_interface.X/ss22ep.mc3
+++ b/306-controller_interface.X/ss22ep.mc3
--- a/306-controller_interface.X/xf/xf.h
+++ b/306-controller_interface.X/xf/xf.h
@@ -27,7 +27,7 @@ typedef struct Timer_        // timer structure
 /*----------------------------------------------------------------------------*/
 /* depending on usage, change MAXTIMER and MAXEVENT                           */
 /*----------------------------------------------------------------------------*/
-#define MAXTIMER 15          // number of timers in our system
+#define MAXTIMER 25          // number of timers in our system
 #define MAXEVENT 20         // number of events in our system 

 #define NULLTIMER 0         // no value for time
--- a/UML/can.pdf
+++ b/UML/can.pdf
--- a/UML/can.puml
+++ b/UML/can.puml
@@ -4,8 +4,8 @@ actor CAN_BUS as bus
 participant interrupt as ISR
 queue XF as xf
 participant ecan as ecan
-participant can_interface as can
-control can_message as msg
+participant canInterface as can
+control canMessageController as msg


 bus -\\ ISR ++  : can message
@@ -14,14 +14,14 @@ can -> ecan : read
 ecan --> can : message
 can -> xf : POST XF
 destroy ISR
-    group clock xf [every 10ms]
-xf o-> can : receiveCan
-can -> msg : processIncome
+    group TICK XF
+xf o-> can : receiveCan()
+can -> msg : processIncoming()
 msg -> can : create message
 can -> xf : POST XF
    end
-    group clock xf [every 10ms]
-xf o-> can : sendCan
+    group TICK XF
+xf o-> can : sendCan()
 can -> ecan : write
 ecan -\\ bus : can message
    end
--- a/UML/can.uxf
+++ b/UML/can.uxf
@@ -5,9 +5,9 @@
    <id>UMLNote</id>
    <coordinates>
      <x>645</x>
-      <y>255</y>
-      <w>675</w>
-      <h>525</h>
+      <y>75</y>
+      <w>750</w>
+      <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>
-      <y>330</y>
+      <x>375</x>
+      <y>255</y>
      <w>90</w>
      <h>135</h>
    </coordinates>
@@ -47,8 +58,8 @@ evInit
  <element>
    <id>UMLSpecialState</id>
    <coordinates>
-      <x>360</x>
-      <y>315</y>
+      <x>375</x>
+      <y>240</y>
      <w>30</w>
      <h>30</h>
    </coordinates>
@@ -58,37 +69,37 @@ evInit
  <element>
    <id>UMLState</id>
    <coordinates>
-      <x>240</x>
-      <y>435</y>
+      <x>255</x>
+      <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>
-      <y>465</y>
+      <x>465</x>
+      <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>
-      <y>465</y>
+      <x>150</x>
+      <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>
--- a/UML/drive.uxf
+++ b/UML/drive.uxf
@@ -64,8 +64,8 @@ m1= evPollTorque\n/sendTorque
    </coordinates>
    <panel_attributes>WAIT
 --
-ALIVE_emitBorn(ALjoy(), 0, 0);
-ALIVE_emitReady(ALjoy(), 100, 0);
+ALIVE_emitBorn(ALdrive(), 0, 0);
+ALIVE_emitReady(ALdrive(), 100, 0);
 setAliveTime</panel_attributes>
    <additional_attributes/>
  </element>
--- a/UML/steering.uxf
+++ b/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>
--- a/binary_files/v1_0_0.hex
+++ b/binary_files/v1_0_0.hex
--- a/binary_files/v1_0_1.hex
+++ b/binary_files/v1_0_1.hex
--- a/binary_files/v1_0_2-without_set_center.hex
+++ b/binary_files/v1_0_2-without_set_center.hex
--- a/binary_files/v1_1_0-controller_alive_and_wait_604-no_curves.hex
+++ b/binary_files/v1_1_0-controller_alive_and_wait_604-no_curves.hex
--- a/binary_files/v1_2_0-curve_and_headlights.hex
+++ b/binary_files/v1_2_0-curve_and_headlights.hex
--- a/binary_files/v1_2_1-led.hex
+++ b/binary_files/v1_2_1-led.hex
--- a/binary_files/v1_3_0-boost_by_pb.hex
+++ b/binary_files/v1_3_0-boost_by_pb.hex
--- a/busmaster_config.cfx
+++ b/busmaster_config.cfx
@@ -18,7 +18,7 @@
    <Window_Position>
      <Visibility>SHOWNORMAL</Visibility>
      <WindowPlacement>HIDE</WindowPlacement>
-      <Top>655</Top>
+      <Top>765</Top>
      <Left>0</Left>
      <Bottom>874</Bottom>
      <Right>1532</Right>
@@ -46,10 +46,10 @@
      <Window_Position>
        <Visibility>SHOWNORMAL</Visibility>
        <WindowPlacement>RESTORETOMAXIMIZED</WindowPlacement>
-        <Top>517</Top>
-        <Left>489</Left>
-        <Bottom>1014</Bottom>
-        <Right>911</Right>
+        <Top>291</Top>
+        <Left>403</Left>
+        <Bottom>788</Bottom>
+        <Right>825</Right>
      </Window_Position>
    </Bus_Statistics>
    <J1939_Database_Files/>
@@ -326,9 +326,8 @@
    <CAN_Signal_Watch>
      <Message>
        <Id>529</Id>
-        <Signal>posY</Signal>
-        <Signal>button</Signal>
        <Signal>posX</Signal>
+        <Signal>posY</Signal>
      </Message>
      <Message>
        <Id>1040</Id>
@@ -343,33 +342,36 @@
        <Signal>Vehiclespeed</Signal>
      </Message>
      <Message>
-        <Id>336</Id>
-        <Signal>HOMING</Signal>
-        <Signal>RESET</Signal>
-        <Signal>SET_CENTER</Signal>
-        <Signal>ALIVE_TIME</Signal>
+        <Id>337</Id>
+        <Signal>SteeringPosition</Signal>
      </Message>
      <Message>
-        <Id>82</Id>
-        <Signal>CENTER_POS</Signal>
+        <Id>1311</Id>
      </Message>
      <Message>
-        <Id>1298</Id>
-        <Signal>POSITION</Signal>
+        <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>165</Top>
-        <Left>599</Left>
-        <Right>1089</Right>
-        <Bottom>452</Bottom>
+        <Top>186</Top>
+        <Left>513</Left>
+        <Right>960</Right>
+        <Bottom>747</Bottom>
      </Window_Position>
      <COLUMN_WIDTH>
-        <MESSAGE_COLUMN>147</MESSAGE_COLUMN>
-        <Raw_Val_Column>94</Raw_Val_Column>
-        <Physical_Val_Column>139</Physical_Val_Column>
-        <Signal_Column>94</Signal_Column>
+        <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>
@@ -421,26 +423,26 @@
        <Display_Type>NORMAL</Display_Type>
      </GRAPH_PARAMETERS>
      <GRAPH_ELEMENT>
-        <Message_ID>321</Message_ID>
-        <Message_Name>DRIVE_POWER</Message_Name>
+        <Message_ID>1586</Message_ID>
+        <Message_Name>DISPLAY_CURRENT</Message_Name>
        <Frame_Format/>
-        <Element_Name>Power</Element_Name>
+        <Element_Name>BatteryCurrent</Element_Name>
        <Value_Type>Physical</Value_Type>
        <Line_Type>SOLID</Line_Type>
-        <Line_Color>16711680</Line_Color>
-        <Point_Type>1</Point_Type>
-        <Point_Color>8388736</Point_Color>
+        <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>SHOWNORMAL</Window_Position>
-        <Top>291</Top>
-        <Left>205</Left>
-        <Bottom>957</Bottom>
-        <Right>1530</Right>
+        <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>
@@ -451,11 +453,11 @@
        <CxMin>0</CxMin>
      </Splitter_Window_Col_1>
      <Splitter_Window_Row_0>
-        <CxIdeal>308</CxIdeal>
+        <CxIdeal>275</CxIdeal>
        <CxMin>0</CxMin>
      </Splitter_Window_Row_0>
      <Splitter_Window_Row_1>
-        <CxIdeal>308</CxIdeal>
+        <CxIdeal>222</CxIdeal>
        <CxMin>0</CxMin>
      </Splitter_Window_Row_1>
    </CAN_Signal_Graph>
@@ -490,9 +492,9 @@
    </J1939_Simulated_Systems>
    <CAN_Replay/>
    <CAN_Message_Window>
-      <Append_Buffer_Size>1489464112</Append_Buffer_Size>
-      <Overwrite_Buffer_Size>26186104</Overwrite_Buffer_Size>
-      <Display_Update_Time>1489464084</Display_Update_Time>
+      <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>
@@ -559,18 +561,18 @@
      <Window_Position>
        <Visibility>SHOWNORMAL</Visibility>
        <WindowPlacement>SETMINPOSITION</WindowPlacement>
-        <Top>0</Top>
+        <Top>3</Top>
        <Left>0</Left>
-        <Bottom>810</Bottom>
+        <Bottom>627</Bottom>
        <Right>606</Right>
      </Window_Position>
      <Interpretation_Window_Position>
        <Visibility>SHOWNORMAL</Visibility>
        <WindowPlacement>RESTORETOMAXIMIZED</WindowPlacement>
-        <Top>173</Top>
-        <Left>10</Left>
-        <Bottom>451</Bottom>
-        <Right>359</Right>
+        <Top>181</Top>
+        <Left>12</Left>
+        <Bottom>459</Bottom>
+        <Right>361</Right>
      </Interpretation_Window_Position>
    </CAN_Message_Window>
    <J1939_Message_Window>
@@ -650,7 +652,7 @@
        <ID>Data Byte(s)</ID>
        <Order>13</Order>
        <IsVisible>1</IsVisible>
-        <Width>720</Width>
+        <Width>662</Width>
      </COLUMN>
      <IsHex>1</IsHex>
      <IsAppend>1</IsAppend>
@@ -662,15 +664,15 @@
        <Top>0</Top>
        <Left>0</Left>
        <Bottom>549</Bottom>
-        <Right>1614</Right>
+        <Right>1556</Right>
      </Window_Position>
      <Interpretation_Window_Position>
        <Visibility>SHOWNORMAL</Visibility>
        <WindowPlacement>RESTORETOMAXIMIZED</WindowPlacement>
-        <Top>173</Top>
-        <Left>10</Left>
-        <Bottom>451</Bottom>
-        <Right>359</Right>
+        <Top>181</Top>
+        <Left>12</Left>
+        <Bottom>459</Bottom>
+        <Right>361</Right>
      </Interpretation_Window_Position>
    </J1939_Message_Window>
    <LIN_Message_Window>
@@ -735,7 +737,7 @@
        <ID>Checksum</ID>
        <Order>10</Order>
        <IsVisible>1</IsVisible>
-        <Width>734</Width>
+        <Width>676</Width>
      </COLUMN>
      <IsHex>1</IsHex>
      <IsAppend>1</IsAppend>
@@ -747,25 +749,25 @@
        <Top>0</Top>
        <Left>0</Left>
        <Bottom>549</Bottom>
-        <Right>1614</Right>
+        <Right>1556</Right>
      </Window_Position>
      <Interpretation_Window_Position>
        <Visibility>SHOWNORMAL</Visibility>
        <WindowPlacement>RESTORETOMAXIMIZED</WindowPlacement>
-        <Top>173</Top>
-        <Left>10</Left>
-        <Bottom>451</Bottom>
-        <Right>359</Right>
+        <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>3</Top>
-        <Left>1052</Left>
-        <Bottom>658</Bottom>
-        <Right>1912</Right>
+        <Top>4</Top>
+        <Left>648</Left>
+        <Bottom>659</Bottom>
+        <Right>1508</Right>
      </Window_Position>
      <Message_List>
        <Message>
@@ -786,7 +788,7 @@
          <IsExtended>FALSE</IsExtended>
          <IsRtr>FALSE</IsRtr>
          <DLC>4</DLC>
-          <DataBytes>0,0,0,0</DataBytes>
+          <DataBytes>0,1,178,7</DataBytes>
          <Repetion>10</Repetion>
          <Repetition_Enabled>FALSE</Repetition_Enabled>
          <Key_Value>a</Key_Value>
@@ -798,7 +800,7 @@
          <IsExtended>FALSE</IsExtended>
          <IsRtr>FALSE</IsRtr>
          <DLC>4</DLC>
-          <DataBytes>0,0,0,0</DataBytes>
+          <DataBytes>0,0,39,16</DataBytes>
          <Repetion>10</Repetion>
          <Repetition_Enabled>FALSE</Repetition_Enabled>
          <Key_Value>a</Key_Value>
@@ -810,7 +812,7 @@
          <IsExtended>FALSE</IsExtended>
          <IsRtr>FALSE</IsRtr>
          <DLC>4</DLC>
-          <DataBytes>0,0,0,0</DataBytes>
+          <DataBytes>0,85,115,240</DataBytes>
          <Repetion>10</Repetion>
          <Repetition_Enabled>FALSE</Repetition_Enabled>
          <Key_Value>a</Key_Value>
@@ -834,7 +836,7 @@
          <IsExtended>FALSE</IsExtended>
          <IsRtr>FALSE</IsRtr>
          <DLC>4</DLC>
-          <DataBytes>0,0,0,0</DataBytes>
+          <DataBytes>0,250,0,0</DataBytes>
          <Repetion>10</Repetion>
          <Repetition_Enabled>FALSE</Repetition_Enabled>
          <Key_Value>a</Key_Value>
@@ -846,7 +848,79 @@
          <IsExtended>FALSE</IsExtended>
          <IsRtr>FALSE</IsRtr>
          <DLC>4</DLC>
-          <DataBytes>0,5,1,25</DataBytes>
+          <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>
--- a/threewheeler.DBF
+++ b/threewheeler.DBF
@@ -6,7 +6,7 @@

 [BUSMASTER_VERSION] [3.2.2]

-[NUMBER_OF_MESSAGES] 29
+[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,%,
@@ -177,3 +177,17 @@
 [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]
Author	SHA1	Message	Date
Klagarge	c7c67d2931	move led controller	2023-09-11 17:35:57 +02:00
Klagarge	1fa34dea8a	add boost by button	2023-09-11 17:35:15 +02:00
Rémi Heredero	4d10355dd4	Merge develop after race	2023-09-10 15:19:44 +02:00
Klagarge	d667b7d01e	try way to setup drive every time	2023-09-07 16:56:02 +02:00
Klagarge	c5403fe7f9	fix speed	2023-09-07 16:55:24 +02:00
Klagarge	b7aad73c25	add binary files	2023-09-07 14:20:47 +02:00
Klagarge	8f1b0c2c13	fix ramp fix curve and add headlights	2023-09-07 14:18:29 +02:00
Klagarge	5c555f6ee1	fix ramp	2023-09-07 10:31:26 +02:00
Klagarge	8d389cdea2	ramp->curve	2023-09-07 09:10:58 +02:00
Klagarge	cc6a8fc39a	send alive before 0x604	2023-09-07 09:10:45 +02:00
Klagarge	5da1775718	start new ramp	2023-09-06 21:03:34 +02:00
Klagarge	84630eb6fd	fix for go to the kart	2023-09-06 21:03:23 +02:00
Klagarge	7750978f18	add can modifier for ramp	2023-09-05 20:08:14 +02:00
Klagarge	44d4d1210c	add ramp	2023-09-05 20:02:33 +02:00
Klagarge	0329c762a0	add dead joystick	2023-09-05 20:02:25 +02:00
Klagarge	abbeda177d	update busmater	2023-09-05 20:01:23 +02:00
Klagarge	ad9e73f2eb	change way for steering to be ready	2023-09-05 18:41:37 +02:00
Klagarge	47bc51ac68	reset can flags and flush buffer	2023-09-05 17:43:41 +02:00
Klagarge	628bbd7825	add bietfield for steering	2023-09-05 17:43:26 +02:00
Klagarge	8cec88d658	fix somes values	2023-09-05 17:43:12 +02:00
Klagarge	e0b94c5250	add PIC watchdog	2023-09-05 11:06:23 +02:00
Klagarge	32f1bd73b4	add blinker debug	2023-09-05 08:52:27 +02:00
Klagarge	6edca8bb82	small fix on can sequence	2023-09-04 21:37:02 +02:00
Klagarge	38b5f2d4e1	fix steering implementation	2023-09-04 19:51:31 +02:00
Klagarge	319ae576ad	fix steering implementation	2023-09-04 19:51:19 +02:00
Klagarge	4e492fb10b	add steering start	2023-09-04 15:44:36 +02:00
Klagarge	0f7f078440	check if steering ready for driving	2023-09-04 15:22:45 +02:00
Klagarge	447c9d8801	add cst	2023-09-04 15:22:16 +02:00
Klagarge	7bdc3d10c6	increse queue timer	2023-09-04 15:21:50 +02:00
Klagarge	79334b5c89	fix drive	2023-09-04 15:21:38 +02:00
Klagarge	682dca2bb1	fix blinker	2023-09-04 15:21:23 +02:00
Klagarge	f45fd4ae7e	add Steering	2023-09-04 15:20:54 +02:00
Klagarge	473d71ff6b	add const for TRUE or FALSE	2023-09-04 10:07:52 +02:00
Klagarge	3f1672996d	update CAN uml for last fix	2023-09-04 10:07:29 +02:00
Klagarge	3cd456a154	Merge branch 'develop'	2023-09-04 08:44:42 +02:00
Klagarge	a3d6c9ae6c	Merge branch 'hotfix/CAN-union_dlc_rtr' into develop	2023-09-04 08:43:36 +02:00
Klagarge	c846a12edb	rework CAN	2023-09-04 08:43:14 +02:00
Klagarge	24f63b261b	fix union	2023-09-04 07:33:33 +02:00
Klagarge	11c95d9fd6	fix eeprom	2023-09-01 18:41:25 +02:00
Klagarge	242cf4d0da	Merge branch 'develop'	2023-09-01 17:24:59 +02:00
Rémi Heredero	448b5e66ad	fix 1 byte sending	2023-08-30 16:20:41 +02:00
Rémi Heredero	4987fbabd0	add send for 4,1 or 0 bytes	2023-08-30 16:19:42 +02:00
Rémi Heredero	70127bbb8d	add watchdog system	2023-08-25 18:43:22 +02:00
Rémi Heredero	4c1ed6ba61	Merge branch 'develop'	2023-08-25 10:42:54 +02:00