add tests

306-controller_interface.X/app/can_message.c

@@ -228,7 +228,8 @@ void CM_processIncome(uint8_t idSender, uint8_t idMsg, bool rtr, uint32_t data){
                 // TODO display say ALIVE
                 eKart.powerMode = incomeData.separate.byte0;
                 if (eKart.powerMode == 0) {
-                    CM_HEADLIGHTS(&ALWAYSFALSE);
+                    // CM_HEADLIGHTS(&ALWAYSFALSE); 
+                    CM_HEADLIGHTS(&ALWAYSTRUE);
                 } else {
                     CM_HEADLIGHTS(&ALWAYSTRUE);
                 }
@@ -305,6 +306,10 @@ void CM_processIncome(uint8_t idSender, uint8_t idMsg, bool rtr, uint32_t data){
          * SUPPLY *
          **********/
         case 6:
+            if(idMsg == 0x1) {
+                eKart.batteryVoltage = incomeData.full;
+            }
+            
             if(idMsg == 0x4) {
                 DRIVE_startBehaviour(drive());
                 STEERING_startBehaviour(steering());

306-controller_interface.X/app/car.h

@@ -87,20 +87,8 @@ typedef struct {
     bool button;
     uint8_t speed;      // 100m/h
     bool brake;
-    uint8_t powerMode; // 0: eco - 1: normal - 2: race
+    uint8_t powerMode;
-    /*
+    uint16_t batteryVoltage;
-     * 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;
 

306-controller_interface.X/app/kartculator.c

@@ -1,5 +1,5 @@
 /**
- * @author R<>mi Heredero
+ * @author R<>mi Heredero
  * @version. 0.0.0
  * @date August 2023
  * @file kartculator.c
@@ -242,6 +242,11 @@ void calcTorque(uint8_t joy_pos) {
         calcTorque *= 1150;
         calcTorque /= 1000;
     }
+    
+    if(eKart.batteryVoltage <= 18750) {
+        calcTorque = 0;
+    }
+    
     eKart.torque = (int16_t) calcTorque;
 }
 

306-controller_interface.X/mcc_generated_files/ecan.c

@@ -124,8 +124,8 @@ void ECAN_Initialize(void)
     // filter 1 is message for controller
     convertCANid2Reg(0x010, dSTANDARD_CAN_MSG_ID_2_0B, &RXF1EIDH, &RXF1EIDL, &RXF1SIDH, &RXF1SIDL);  
    
-    // filter 2 is message for recipient n<>7, not yet defined
+    // filter 2 is message for display  (yes i want the message from the display)
-    convertCANid2Reg(0x070, dSTANDARD_CAN_MSG_ID_2_0B, &RXF2EIDH, &RXF2EIDL, &RXF2SIDH, &RXF2SIDL);  
+    convertCANid2Reg(0x060, dSTANDARD_CAN_MSG_ID_2_0B, &RXF2EIDH, &RXF2EIDL, &RXF2SIDH, &RXF2SIDL);  
 
     /*
      * ENABLE FILTERS

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

@@ -454,7 +454,7 @@ endif
 # Enable dependency checking
 .dep.inc: .depcheck-impl
 
-DEPFILES=$(wildcard ${POSSIBLE_DEPFILES})
+DEPFILES=$(shell mplabwildcard ${POSSIBLE_DEPFILES})
 ifneq (${DEPFILES},)
 include ${DEPFILES}
 endif

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

@@ -15,11 +15,11 @@
 # $ makeMP_CC="/opt/microchip/mplabc30/v3.30c/bin/pic30-gcc" ...  
 #
 SHELL=cmd.exe
-PATH_TO_IDE_BIN=C:/Program Files/Microchip/MPLABX/v6.15/mplab_platform/platform/../mplab_ide/modules/../../bin/
+PATH_TO_IDE_BIN=C:/Program Files/Microchip/MPLABX/v6.05/mplab_platform/platform/../mplab_ide/modules/../../bin/
 # Adding MPLAB X bin directory to path.
-PATH:=C:/Program Files/Microchip/MPLABX/v6.15/mplab_platform/platform/../mplab_ide/modules/../../bin/:$(PATH)
+PATH:=C:/Program Files/Microchip/MPLABX/v6.05/mplab_platform/platform/../mplab_ide/modules/../../bin/:$(PATH)
 # Path to java used to run MPLAB X when this makefile was created
-MP_JAVA_PATH="C:\Program Files\Microchip\MPLABX\v6.15\sys\java\zulu8.64.0.19-ca-fx-jre8.0.345-win_x64/bin/"
+MP_JAVA_PATH="C:\Program Files\Microchip\MPLABX\v6.05\sys\java\zulu8.64.0.19-ca-fx-jre8.0.345-win_x64/bin/"
 OS_CURRENT="$(shell uname -s)"
 MP_CC="C:\Program Files\Microchip\xc8\v2.41\bin\xc8-cc.exe"
 # MP_CPPC is not defined
@@ -27,11 +27,11 @@ MP_CC="C:\Program Files\Microchip\xc8\v2.41\bin\xc8-cc.exe"
 MP_AS="C:\Program Files\Microchip\xc8\v2.41\bin\xc8-cc.exe"
 MP_LD="C:\Program Files\Microchip\xc8\v2.41\bin\xc8-cc.exe"
 MP_AR="C:\Program Files\Microchip\xc8\v2.41\bin\xc8-ar.exe"
-DEP_GEN=${MP_JAVA_PATH}java -jar "C:/Program Files/Microchip/MPLABX/v6.15/mplab_platform/platform/../mplab_ide/modules/../../bin/extractobjectdependencies.jar"
+DEP_GEN=${MP_JAVA_PATH}java -jar "C:/Program Files/Microchip/MPLABX/v6.05/mplab_platform/platform/../mplab_ide/modules/../../bin/extractobjectdependencies.jar"
 MP_CC_DIR="C:\Program Files\Microchip\xc8\v2.41\bin"
 # MP_CPPC_DIR is not defined
 # MP_BC_DIR is not defined
 MP_AS_DIR="C:\Program Files\Microchip\xc8\v2.41\bin"
 MP_LD_DIR="C:\Program Files\Microchip\xc8\v2.41\bin"
 MP_AR_DIR="C:\Program Files\Microchip\xc8\v2.41\bin"
-DFP_DIR=C:/Program Files/Microchip/MPLABX/v6.15/packs/Microchip/PIC18F-K_DFP/1.11.281
+DFP_DIR=C:/Users/remi/.mchp_packs/Microchip/PIC18F-K_DFP/1.11.281

UML/full_sequence.puml

@@ -0,0 +1,25 @@
+@startuml
+'https://plantuml.com/sequence-diagram
+
+actor User as usr
+participant can_message as can
+control kartculator as kc
+queue XF as xf
+entity Drive as drive
+entity Steering as steering
+
+usr -\ xf : set message "move"
+xf -> can : new value on joystick
+
+== If X axis change value ==
+can -> kc : calculate new position
+kc -> can : build message
+can -> steering : set new position
+
+== If Y axis change value ==
+can -> kc : calculate new torque
+kc -> can : build message
+can -> xf : set message "torque"
+xf -> drive : set new torque
+
+@enduml

UML/watchdog.uxf

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

busmaster_config.cfx

@@ -326,8 +326,8 @@
     <CAN_Signal_Watch>
       <Message>
         <Id>529</Id>
-        <Signal>posX</Signal>
         <Signal>posY</Signal>
+        <Signal>posX</Signal>
       </Message>
       <Message>
         <Id>1040</Id>
@@ -345,8 +345,14 @@
         <Id>337</Id>
         <Signal>SteeringPosition</Signal>
       </Message>
+      <Message>
+        <Id>1585</Id>
+        <Signal>BatteryVoltage</Signal>
+      </Message>
       <Message>
         <Id>1311</Id>
+        <Signal>STAT_HOMING_ATTAINED</Signal>
+        <Signal>STAT_HOMING_ERROR</Signal>
       </Message>
       <Message>
         <Id>1294</Id>
@@ -360,18 +366,18 @@
         <Signal>headlights</Signal>
       </Message>
       <Window_Position>
-        <Visibility>SHOWNORMAL</Visibility>
+        <Visibility>SHOWMINIMIZED</Visibility>
         <WindowPlacement>HIDE</WindowPlacement>
-        <Top>186</Top>
+        <Top>161</Top>
-        <Left>513</Left>
+        <Left>610</Left>
-        <Right>960</Right>
+        <Right>1057</Right>
-        <Bottom>747</Bottom>
+        <Bottom>722</Bottom>
       </Window_Position>
       <COLUMN_WIDTH>
-        <MESSAGE_COLUMN>86</MESSAGE_COLUMN>
+        <MESSAGE_COLUMN>0</MESSAGE_COLUMN>
-        <Raw_Val_Column>86</Raw_Val_Column>
+        <Raw_Val_Column>0</Raw_Val_Column>
-        <Physical_Val_Column>172</Physical_Val_Column>
+        <Physical_Val_Column>0</Physical_Val_Column>
-        <Signal_Column>86</Signal_Column>
+        <Signal_Column>0</Signal_Column>
       </COLUMN_WIDTH>
     </CAN_Signal_Watch>
     <J1939_Signal_Watch>
@@ -417,17 +423,17 @@
         <Axis_Color>255</Axis_Color>
         <X_Grid_Lines>10</X_Grid_Lines>
         <Y_Grid_Lines>5</Y_Grid_Lines>
-        <Active_Axis>2</Active_Axis>
+        <Active_Axis>1</Active_Axis>
         <Selected_Action>0</Selected_Action>
         <Show_Grid>TRUE</Show_Grid>
         <Display_Type>NORMAL</Display_Type>
       </GRAPH_PARAMETERS>
       <GRAPH_ELEMENT>
-        <Message_ID>1586</Message_ID>
+        <Message_ID>1585</Message_ID>
-        <Message_Name>DISPLAY_CURRENT</Message_Name>
+        <Message_Name>DISPLAY_VOLTAGE</Message_Name>
         <Frame_Format/>
-        <Element_Name>BatteryCurrent</Element_Name>
+        <Element_Name>BatteryVoltage</Element_Name>
-        <Value_Type>Physical</Value_Type>
+        <Value_Type>Raw</Value_Type>
         <Line_Type>SOLID</Line_Type>
         <Line_Color>65280</Line_Color>
         <Point_Type>2</Point_Type>
@@ -439,10 +445,10 @@
       <Window_Position>
         <Visibility>SHOWNORMAL</Visibility>
         <Window_Position>HIDE</Window_Position>
-        <Top>39</Top>
+        <Top>11</Top>
-        <Left>74</Left>
+        <Left>290</Left>
-        <Bottom>586</Bottom>
+        <Bottom>558</Bottom>
-        <Right>1399</Right>
+        <Right>1615</Right>
       </Window_Position>
       <Splitter_Window_Col_0>
         <CxIdeal>479</CxIdeal>
@@ -569,10 +575,10 @@
       <Interpretation_Window_Position>
         <Visibility>SHOWNORMAL</Visibility>
         <WindowPlacement>RESTORETOMAXIMIZED</WindowPlacement>
-        <Top>181</Top>
+        <Top>179</Top>
-        <Left>12</Left>
+        <Left>10</Left>
-        <Bottom>459</Bottom>
+        <Bottom>457</Bottom>
-        <Right>361</Right>
+        <Right>359</Right>
       </Interpretation_Window_Position>
     </CAN_Message_Window>
     <J1939_Message_Window>
@@ -669,10 +675,10 @@
       <Interpretation_Window_Position>
         <Visibility>SHOWNORMAL</Visibility>
         <WindowPlacement>RESTORETOMAXIMIZED</WindowPlacement>
-        <Top>181</Top>
+        <Top>179</Top>
-        <Left>12</Left>
+        <Left>10</Left>
-        <Bottom>459</Bottom>
+        <Bottom>457</Bottom>
-        <Right>361</Right>
+        <Right>359</Right>
       </Interpretation_Window_Position>
     </J1939_Message_Window>
     <LIN_Message_Window>
@@ -754,20 +760,20 @@
       <Interpretation_Window_Position>
         <Visibility>SHOWNORMAL</Visibility>
         <WindowPlacement>RESTORETOMAXIMIZED</WindowPlacement>
-        <Top>181</Top>
+        <Top>179</Top>
-        <Left>12</Left>
+        <Left>10</Left>
-        <Bottom>459</Bottom>
+        <Bottom>457</Bottom>
-        <Right>361</Right>
+        <Right>359</Right>
       </Interpretation_Window_Position>
     </LIN_Message_Window>
     <CAN_Tx_Window>
       <Window_Position>
         <Visibility>SHOWNORMAL</Visibility>
         <WindowPlacement>SETMINPOSITION</WindowPlacement>
-        <Top>4</Top>
+        <Top>-1</Top>
-        <Left>648</Left>
+        <Left>1035</Left>
-        <Bottom>659</Bottom>
+        <Bottom>654</Bottom>
-        <Right>1508</Right>
+        <Right>1895</Right>
       </Window_Position>
       <Message_List>
         <Message>