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

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

#ifndef CAN_MESSAGE_H
#define CAN_MESSAGE_H

#include <stdint.h>         // usage of standard types
#include <stdbool.h>        // usage of boolean types
#include "../mcc_generated_files/mcc.h"

/*
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
 * @param idSender id of the sender
 * @param idMsg is of the message
 * @param data data of the message
 */
void CM_processIncome(uint8_t idSender, uint8_t idMsg, uint32_t data);

/**
 * Send alive message from controller
 * @param p have to be NULL
 */
void CM_CONTROLLER_ALIVE(void* p);

/**
 * Send setup to the joystick (settings from memory)
 * @param p have to be NULL
 */
void CM_JOY_SETUP(void* p);

/**
 * Send setup to the display (settings from memory)
 * @param p have to be NULL
 */
void CM_DISPLAY_SETUP(void* p);

/**
 * Send speed to display
 * @param p the speed in 100m/h (max 255 m/h)
 */
void CM_DISPLAY_SPEED(void* p);

/**
 * Send direction of the steering wheel
 * 0 is straight forward
 * positive value is going right
 * negative value is going left
 * @param p the direction (int 8)
 */
void CM_DISPLAY_DIRECTION(void* p);

/**
 * Send setup to the drive
 * use with reset in parameter
 * other settings from memory
 * @param p 1 if reset/init 0 else
 */
void CM_DRIVE_SETUP(void* p);

void CM_DRIVE_POWER(void* p);

/**
 * Send setup to the steering
 * can be use for reset (1), homing (2) and setCenter (3)
 * @param p 0 for setup, 1 for reset, 2 for homing, 3 for setCenter
 */
void CM_STEERING_SETUP(void* p);

/**
 * Send position for steering
 * no negative value because 0 is home (sensor)
 * @param p the position (uint32_t*)
 */
void CM_STEERING_SET(void* p);

/**
 * Send setup to the supply (settings from memory)
 * @param p have to be NULL
 */
void CM_SUPPLY_SETUP(void* p);


#endif	/* CAN_MESSAGE_H */