SummerSchool2-Controller/306-controller_interface.X/app/can_message.c

/**
 * @author R<EFBFBD>mi Heredero
 * @version 1.0.0
 * @date August 2023
 * @file can_message.c
 */

#include "can_message.h"
#include "../middleware/can_interface.h"
#include "car.h"
#include "../app/factory/factory.h"

typedef union {
    struct {
        uint8_t byte0;
        uint8_t byte1;
        uint8_t byte2;
        uint8_t byte3;
    } separate;
    struct {
        uint32_t bytes;
    } full;
} BYTES_4;

void CM_processIncome(uint8_t idSender, uint8_t idMsg, uint32_t data){
    switch(idSender){
        case 0: // Broadcast / Debug
            break;
            
        case 2: // Joystick
            if(idMsg == 0x1) { // JOY_MESURE
                
            }
            
            if(idMsg == 0xF) { // JOY_ALIVE
                ALIVE_CHECKER_ISALIVE(ACjoy());
                if(ACjoy()->state == STAC_DEAD){
                    CAR_CST.JOYSTICK_MODE = MEM_read_one_byte(MEMADD_JOYSTICK_MODE);
                    CAR_CST.JOYSTICK_PARAM1 = MEM_read_one_byte(MEMADD_JOYSTICK_PARAM1);
                    CAR_CST.JOYSTICK_PARAM2 = MEM_read_one_byte(MEMADD_JOYSTICK_PARAM2);
                    CAR_CST.JOYSTICK_ALIVE_TIME = MEM_read_one_byte(MEMADD_JOYSTICK_ALIVE_TIME);
                    ALIVE_CHECKER_setAliveTime(ACjoy(), CAR_CST.JOYSTICK_ALIVE_TIME);
                    ALIVE_CHECKER_emitBorn(ACjoy(), 0, 0);
                    ALIVE_CHECKER_emitReady(ACjoy(), 100, 0);
                }
            }
            break;
            
        case 3: // Display
            break;
            
        case 4: // Drive
            break;
            
        case 5: // Steering
            break;
            
        case 6: // Supply
            break;
            
        case 7: // Undefined
            break;
    }
}

void CM_CONTROLLER_ALIVE(void* p) {
    CAN_Send(0x0, 0xF, 0);
}

void CM_JOY_SETUP(void* p) {
    BYTES_4 joy;
    joy.separate.byte0 = CAR_CST.JOYSTICK_MODE;
    joy.separate.byte1 = CAR_CST.JOYSTICK_PARAM1;
    joy.separate.byte2 = CAR_CST.JOYSTICK_PARAM2;
    joy.separate.byte3 = CAR_CST.JOYSTICK_ALIVE_TIME;
    CAN_Send(2, 0, joy.full.bytes);
    
}
void CM_DISPLAY_SETUP(void* p) {
    
}

void CM_DISPLAY_SPEED(void* p) {
    
}

void CM_DISPLAY_DIRECTION(void* p) {
    
}

void CM_DRIVE_SETUP(void* p) {
    
}

void CM_DRIVE_POWER(void* p) {
    
}

void CM_STEERING_SETUP(void* p) {
    
}

void CM_STEERING_SET(void* p) {
    
}

void CM_SETUP_CONTROL(void* p) {
    
}