diff --git a/306-controller_interface.X/app/can_message.c b/306-controller_interface.X/app/can_message.c index ba37fed..9f4010d 100644 --- a/306-controller_interface.X/app/can_message.c +++ b/306-controller_interface.X/app/can_message.c @@ -29,6 +29,31 @@ typedef union { uint16_t full; } BYTES_2; +typedef union{ + uint16_t data; + struct{ + uint8_t data[2]; + }byteSplit; + struct{ + unsigned b0:1; + unsigned b1:1; + unsigned b2:1; + unsigned b3:1; + unsigned b4:1; + unsigned b5:1; + unsigned b6:1; + unsigned b7:1; + unsigned b8:1; + unsigned b9:1; + unsigned b10:1; + unsigned b11:1; + unsigned b12:1; + unsigned b13:1; + unsigned b14:1; + unsigned b15:1; + }bitSplit; +} BITFIELD16; + void CM_processIncome(uint8_t idSender, uint8_t idMsg, bool rtr, uint32_t data){ BYTES_4 incomeData; incomeData.full = data; @@ -37,6 +62,8 @@ void CM_processIncome(uint8_t idSender, uint8_t idMsg, bool rtr, 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){ @@ -97,7 +124,7 @@ void CM_processIncome(uint8_t idSender, uint8_t idMsg, bool rtr, 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, bool rtr, 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); } @@ -149,6 +176,14 @@ void CM_processIncome(uint8_t idSender, uint8_t idMsg, bool rtr, uint32_t data){ CM_SUPPLY_SETUP(NULL); } + + if(idMsg == 0x9) { // CONTROL_PARAM_MAX_CHANGES + // maxChangeSteering maxChangeDrive - - + KART_CST.CONTROL_PARAM_MAX_CHANGE_STEERING = incomeData.separate.byte0; + KART_CST.CONTROL_PARAM_MAX_CHANGE_DRIVE = incomeData.separate.byte1; + MEM_write_1_byte(MEMADD_CONTROL_PARAM_MAX_CHANGE_STEERING, KART_CST.CONTROL_PARAM_MAX_CHANGE_STEERING); + MEM_write_1_byte(MEMADD_CONTROL_PARAM_MAX_CHANGE_DRIVE, KART_CST.CONTROL_PARAM_MAX_CHANGE_DRIVE); + } break; @@ -161,6 +196,7 @@ void CM_processIncome(uint8_t idSender, uint8_t idMsg, bool rtr, uint32_t data){ // posX posY button - calcTorque(incomeData.separate.byte1); calcPosition(incomeData.separate.byte0); + STEERING_emitPollDir(steering()); } @@ -188,7 +224,12 @@ void CM_processIncome(uint8_t idSender, uint8_t idMsg, bool rtr, 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 +266,7 @@ void CM_processIncome(uint8_t idSender, uint8_t idMsg, bool rtr, 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 +274,26 @@ void CM_processIncome(uint8_t idSender, uint8_t idMsg, bool rtr, 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 +303,15 @@ void CM_processIncome(uint8_t idSender, uint8_t idMsg, bool rtr, 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 +398,7 @@ 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 +446,9 @@ 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); +} diff --git a/306-controller_interface.X/app/can_message.h b/306-controller_interface.X/app/can_message.h index 7a7a352..7d3ac5d 100644 --- a/306-controller_interface.X/app/can_message.h +++ b/306-controller_interface.X/app/can_message.h @@ -12,19 +12,6 @@ #include // 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 @@ -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 */ diff --git a/306-controller_interface.X/app/car.h b/306-controller_interface.X/app/car.h index dfea2a5..71f4347 100644 --- 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; @@ -73,9 +85,28 @@ typedef struct { uint32_t center; // uint32_t position; // 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 */ diff --git a/306-controller_interface.X/app/drive.c b/306-controller_interface.X/app/drive.c index f926b1f..20de490 100644 --- 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) { - CM_DRIVE_POWER(&eKart.torque); + //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); } diff --git a/306-controller_interface.X/app/drive.h b/306-controller_interface.X/app/drive.h index 647e66e..e313c71 100644 --- 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 diff --git a/306-controller_interface.X/app/eeprom.c b/306-controller_interface.X/app/eeprom.c index 4efdbf8..bd6dc71 100644 --- a/306-controller_interface.X/app/eeprom.c +++ b/306-controller_interface.X/app/eeprom.c @@ -24,16 +24,16 @@ void MEM_init(){ uint8_t check = MEM_read_1_byte(0x0); if(check != 0x42){ KART_CST.CONTROL_STEERING_MODE = 0; - KART_CST.CONTROL_ALIVE_TIME = 50; + KART_CST.CONTROL_ALIVE_TIME = 50; // should be 50 KART_CST.CONTROL_SPEED_FACTOR = 111111; // 111'111 KART_CST.CONTROL_POWER_FACTOR = 10000; // 10'000 - KART_CST.CONTROL_STEERING_FACTOR = 400000000; // 400'000'000 + 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; @@ -49,6 +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); @@ -75,6 +78,9 @@ 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(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); @@ -103,8 +109,10 @@ 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); + } - CAN_Send(0, 5, KART_CST.CONTROL_POWER_FACTOR); } void MEM_reset() { diff --git a/306-controller_interface.X/app/factory/factory.c b/306-controller_interface.X/app/factory/factory.c index 41b271d..56b976f 100644 --- 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(), 6); 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); - +*/ } diff --git a/306-controller_interface.X/app/factory/factory.h b/306-controller_interface.X/app/factory/factory.h index 1a35e49..0b89f81 100644 --- 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 \ No newline at end of file diff --git a/306-controller_interface.X/app/kartculator.c b/306-controller_interface.X/app/kartculator.c index 88a490b..6f30af2 100644 --- a/306-controller_interface.X/app/kartculator.c +++ b/306-controller_interface.X/app/kartculator.c @@ -7,9 +7,234 @@ #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 eKart.torque = (int16_t) calcTorque; @@ -18,6 +243,23 @@ void calcTorque(uint8_t joy_pos) { 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 +269,7 @@ void calcSpeed(int32_t rpm) { } else { calcSpeed = -rpm; } - calcSpeed *= 1000; + calcSpeed *= 2000; calcSpeed /= KART_CST.CONTROL_SPEED_FACTOR; eKart.speed = (uint8_t) calcSpeed; } diff --git a/306-controller_interface.X/app/kartculator.h b/306-controller_interface.X/app/kartculator.h index a2ce5cb..dcfd52c 100644 --- 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); diff --git a/306-controller_interface.X/app/steering.c b/306-controller_interface.X/app/steering.c new file mode 100644 index 0000000..787e4ae --- /dev/null +++ b/306-controller_interface.X/app/steering.c @@ -0,0 +1,173 @@ +/** + * @author Rémi 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; +} diff --git a/306-controller_interface.X/app/steering.h b/306-controller_interface.X/app/steering.h new file mode 100644 index 0000000..27d764d --- /dev/null +++ b/306-controller_interface.X/app/steering.h @@ -0,0 +1,124 @@ +/** + * @author Rémi 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 diff --git a/306-controller_interface.X/main.c b/306-controller_interface.X/main.c index d81327c..942aae9 100644 --- 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(); - - // 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. + //WWDT_SoftEnable(); + 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 + } } \ No newline at end of file diff --git a/306-controller_interface.X/mcc_generated_files/device_config.c b/306-controller_interface.X/mcc_generated_files/device_config.c index 1e3bf51..24d7219 100644 --- 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 diff --git a/306-controller_interface.X/mcc_generated_files/mcc.c b/306-controller_interface.X/mcc_generated_files/mcc.c index e2cbde5..6c698bd 100644 --- 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 */ diff --git a/306-controller_interface.X/mcc_generated_files/mcc.h b/306-controller_interface.X/mcc_generated_files/mcc.h index f681b38..117f4c8 100644 --- 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 */ /** diff --git a/306-controller_interface.X/middleware/alive.c b/306-controller_interface.X/middleware/alive.c index 1565dd3..5e4a8a7 100644 --- 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; diff --git a/306-controller_interface.X/middleware/alive.h b/306-controller_interface.X/middleware/alive.h index 580e735..fe33c0c 100644 --- 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 diff --git a/306-controller_interface.X/middleware/blinker.c b/306-controller_interface.X/middleware/blinker.c index f8a948f..c3aee55 100644 --- 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; diff --git a/306-controller_interface.X/middleware/can_interface.c b/306-controller_interface.X/middleware/can_interface.c index 44568e0..2761c95 100644 --- a/306-controller_interface.X/middleware/can_interface.c +++ b/306-controller_interface.X/middleware/can_interface.c @@ -38,6 +38,7 @@ typedef union { } CAN_4_BYTES; void CAN_init(){ + CAN_myself.state = STCA_INIT; CAN_myself.receiveCan = NULL; CAN_myself.sender = 0; } diff --git a/306-controller_interface.X/middleware/can_interface.h b/306-controller_interface.X/middleware/can_interface.h index 8d65ba9..f645b44 100644 --- a/306-controller_interface.X/middleware/can_interface.h +++ b/306-controller_interface.X/middleware/can_interface.h @@ -10,7 +10,7 @@ #include "../xf/xf.h" typedef enum { - STCA_INIT, + STCA_INIT = 10, STCA_PROCESS } CAN_STATES; diff --git a/306-controller_interface.X/nbproject/Makefile-default.mk b/306-controller_interface.X/nbproject/Makefile-default.mk index 17547ef..3fc7372 100644 --- 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 diff --git a/306-controller_interface.X/nbproject/Makefile-local-default.mk b/306-controller_interface.X/nbproject/Makefile-local-default.mk index 14e862a..2cda7d4 100644 --- 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 diff --git a/306-controller_interface.X/nbproject/configurations.xml b/306-controller_interface.X/nbproject/configurations.xml index ded209f..39bf0d7 100644 --- a/306-controller_interface.X/nbproject/configurations.xml +++ b/306-controller_interface.X/nbproject/configurations.xml @@ -11,6 +11,7 @@ app/kartculator.h app/eeprom.h app/drive.h + app/steering.h board/led/led.h @@ -50,6 +51,7 @@ app/kartculator.c app/eeprom.c app/drive.c + app/steering.c board/led/led.c @@ -101,7 +103,7 @@ 3 - + @@ -245,7 +247,7 @@ - + @@ -269,6 +271,7 @@ + @@ -292,7 +295,7 @@ - + @@ -322,7 +325,7 @@ - + diff --git a/306-controller_interface.X/ss22ep.mc3 b/306-controller_interface.X/ss22ep.mc3 index 2f25ff4..d4c4dac 100644 --- a/306-controller_interface.X/ss22ep.mc3 +++ b/306-controller_interface.X/ss22ep.mc3 @@ -1948,7 +1948,7 @@ - {"dataArray":[{"DMA Channels":{"data":{"isDisable":"true","options":"--NONE--","text":"DMA CHANNEL1","value":"false"},"id":"DMA Channels_rowCount_0"},"Src Module":{"data":{"isDisable":"true","options":"--NONE--,MEMORY,ECAN,TMR0","text":"--NONE--","value":"--NONE--"},"id":"Src Module_rowCount_0"},"Src Region":{"data":{"isDisable":"true","options":"SFR#disabled,GPR#enabled,Program Flash#enabled,Data EEPROM#enabled","text":"GPR","value":"GPR"},"id":"Src Region_rowCount_0"},"Src SFR":{"Src SFR":{"isDisable":"true","options":"","text":"","value":""},"data":{"isDisable":"true","options":"","text":"","value":""},"id":"Src SFR_rowCount_0"},"Src VarName":{"data":{"isDisable":"true","options":"","text":"SrcVarName0","value":"SrcVarName0"},"Src VarName":{"isDisable":"true","options":"","text":"SrcVarName0","value":"SrcVarName0"},"id":"Src VarName_rowCount_0"},"Src VarSize":{"data":{"isDisable":"true","options":"","text":"10","value":"10"},"id":"Src VarSize_rowCount_0","Src VarSize":{"isDisable":"true","options":"","text":"10","value":"10"}},"Src Address":{"data":{"isDisable":"true","options":"","text":"Enter Address0","value":"Enter Address0"},"id":"Src Address_rowCount_0","Src Address":{"isDisable":"true","options":"","text":"Enter Address0","value":"Enter Address0"}},"Src Mode":{"Src Mode":{"isDisable":"true","options":"decremented,incremented,unchanged","text":"unchanged","value":"unchanged"},"data":{"isDisable":"true","options":"decremented,incremented,unchanged","text":"unchanged","value":"unchanged"},"id":"Src Mode_rowCount_0"},"Src Message Size":{"data":{"isDisable":"true","options":"","text":"1","value":"1"},"Src Message Size":{"isDisable":"true","options":"","text":"1","value":"1"},"id":"Src Message Size_rowCount_0"},"Dst Module":{"data":{"isDisable":"true","options":"--NONE--,MEMORY,ECAN,TMR0","text":"--NONE--","value":"--NONE--"},"id":"Dst Module_rowCount_0"},"Dst Region":{"data":{"isDisable":"true","options":"SFR,GPR","text":"GPR","value":"GPR"},"id":"Dst Region_rowCount_0"},"Dst SFR":{"Dst SFR":{"isDisable":"true","options":"","text":"","value":""},"data":{"isDisable":"true","options":"","text":"","value":""},"id":"Dst SFR_rowCount_0"},"Dst VarName":{"data":{"isDisable":"true","options":"","text":"DstVarName0","value":"DstVarName0"},"Dst VarName":{"isDisable":"true","options":"","text":"DstVarName0","value":"DstVarName0"},"id":"Dst VarName_rowCount_0"},"Dst VarSize":{"data":{"isDisable":"true","options":"","text":"10","value":"10"},"id":"Dst VarSize_rowCount_0","Dst VarSize":{"isDisable":"true","options":"","text":"10","value":"10"}},"Dst Mode":{"data":{"isDisable":"true","options":"decremented,incremented,unchanged","text":"unchanged","value":"unchanged"},"Dst Mode":{"isDisable":"true","options":"decremented,incremented,unchanged","text":"unchanged","value":"unchanged"},"id":"Dst Mode_rowCount_0"},"Dst Message Size":{"data":{"isDisable":"true","options":"","text":"1","value":"1"},"Dst Message Size":{"isDisable":"true","options":"","text":"1","value":"1"},"id":"Dst Message Size_rowCount_0"},"Start Trigger":{"Start 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Trigger":{"isDisable":"true","options":"AD,ADT,CAN_ERRIF,CAN_IRXIF,CAN_RXB0IF\/FIFOIF,CAN_RXB1IF\/RXBnIF,CAN_TXB0IF,CAN_TXB1IF,CAN_TXB2IF\/TXBnIF,CAN_WAKIF,CCP1,CCP2,CCP3,CCP4,CLC1,CLC2,CLC3,CLC4,CMP1,CMP2,CRC,CSW,CWG1,CWG2,CWG3,DMA1A,DMA1DCNT,DMA1OR,DMA1SCNT,DMA2A,DMA2DCNT,DMA2OR,DMA2SCNT,I2C1,I2C1E,I2C1RX,I2C1TX,I2C2,I2C2E,I2C2RX,I2C2TX,INT0,INT1,INT2,IOC,LVD,NCO,NVM,None,OSF,SCAN,SMT1,SMT1PRA,SMT1PWA,SMT2,SMT2PRA,SMT2PWA,SPI1,SPI1RX,SPI1TX,TMR0,TMR1,TMR1G,TMR2,TMR3,TMR3G,TMR4,TMR5,TMR5G,TMR6,U1,U1E,U1RX,U1TX,U2,U2E,U2RX,U2TX,ZCD","text":"None","value":"None"},"data":{"isDisable":"true","options":"AD,ADT,CAN_ERRIF,CAN_IRXIF,CAN_RXB0IF\/FIFOIF,CAN_RXB1IF\/RXBnIF,CAN_TXB0IF,CAN_TXB1IF,CAN_TXB2IF\/TXBnIF,CAN_WAKIF,CCP1,CCP2,CCP3,CCP4,CLC1,CLC2,CLC3,CLC4,CMP1,CMP2,CRC,CSW,CWG1,CWG2,CWG3,DMA1A,DMA1DCNT,DMA1OR,DMA1SCNT,DMA2A,DMA2DCNT,DMA2OR,DMA2SCNT,I2C1,I2C1E,I2C1RX,I2C1TX,I2C2,I2C2E,I2C2RX,I2C2TX,INT0,INT1,INT2,IOC,LVD,NCO,NVM,None,OSF,SCAN,SMT1,SMT1PRA,SMT1PWA,SMT2,SMT2PRA,SMT2PWA,SPI1,SPI1RX,SPI1TX,TMR0,TMR1,TMR1G,TMR2,TMR3,TMR3G,TMR4,TMR5,TMR5G,TMR6,U1,U1E,U1RX,U1TX,U2,U2E,U2RX,U2TX,ZCD","text":"None","value":"None"},"id":"Start Trigger_rowCount_1"},"Abort Trigger":{"data":{"isDisable":"true","options":"AD,ADT,CAN_ERRIF,CAN_IRXIF,CAN_RXB0IF\/FIFOIF,CAN_RXB1IF\/RXBnIF,CAN_TXB0IF,CAN_TXB1IF,CAN_TXB2IF\/TXBnIF,CAN_WAKIF,CCP1,CCP2,CCP3,CCP4,CLC1,CLC2,CLC3,CLC4,CMP1,CMP2,CRC,CSW,CWG1,CWG2,CWG3,DMA1A,DMA1DCNT,DMA1OR,DMA1SCNT,DMA2A,DMA2DCNT,DMA2OR,DMA2SCNT,I2C1,I2C1E,I2C1RX,I2C1TX,I2C2,I2C2E,I2C2RX,I2C2TX,INT0,INT1,INT2,IOC,LVD,NCO,NVM,None,OSF,SCAN,SMT1,SMT1PRA,SMT1PWA,SMT2,SMT2PRA,SMT2PWA,SPI1,SPI1RX,SPI1TX,TMR0,TMR1,TMR1G,TMR2,TMR3,TMR3G,TMR4,TMR5,TMR5G,TMR6,U1,U1E,U1RX,U1TX,U2,U2E,U2RX,U2TX,ZCD","text":"None","value":"None"},"id":"Abort Trigger_rowCount_1","Abort Trigger":{"isDisable":"true","options":"AD,ADT,CAN_ERRIF,CAN_IRXIF,CAN_RXB0IF\/FIFOIF,CAN_RXB1IF\/RXBnIF,CAN_TXB0IF,CAN_TXB1IF,CAN_TXB2IF\/TXBnIF,CAN_WAKIF,CCP1,CCP2,CCP3,CCP4,CLC1,CLC2,CLC3,CLC4,CMP1,CMP2,CRC,CSW,CWG1,CWG2,CWG3,DMA1A,DMA1DCNT,DMA1OR,DMA1SCNT,DMA2A,DMA2DCNT,DMA2OR,DMA2SCNT,I2C1,I2C1E,I2C1RX,I2C1TX,I2C2,I2C2E,I2C2RX,I2C2TX,INT0,INT1,INT2,IOC,LVD,NCO,NVM,None,OSF,SCAN,SMT1,SMT1PRA,SMT1PWA,SMT2,SMT2PRA,SMT2PWA,SPI1,SPI1RX,SPI1TX,TMR0,TMR1,TMR1G,TMR2,TMR3,TMR3G,TMR4,TMR5,TMR5G,TMR6,U1,U1E,U1RX,U1TX,U2,U2E,U2RX,U2TX,ZCD","text":"None","value":"None"}}}],"type":"tableDynamicControls","key":"dmaTable"} @@ -16508,7 +16508,7 @@ - 31 + 38 @@ -16604,11 +16604,11 @@ - WDTCPS_31 + WDTCPS_6 - OFF + SWDTEN @@ -16976,7 +16976,7 @@ - 2.11406 + 0.06606 @@ -17166,7 +17166,7 @@ mcc_generated_files\device_config.c - 39a6d1181ef5eab59c7dde2c52a9ea889465d4da43262200f3322abc45e77739 + ac2a2ad923df635be3b193de8878c95bc16cfb8c91d37b98c4c1a4a1e0e6b990 mcc_generated_files\device_config.h @@ -17190,11 +17190,11 @@ mcc_generated_files\mcc.c - cc9ed44843b509879e6a3f676b561ecde91e1df88d855cf7eca77e1afc8920ca + a1b3e2d6ddc04b8a97973fcb818a7243d9723f4763c2c496b4b2eb1aa06ad645 mcc_generated_files\mcc.h - a2db7e36e878f686c2bf0c2ef586ef1c6570fa2f27119b4be7b52af6403091a4 + 7dd04034216f3c639fcfb88387572f995d54189bb8fb587a3401371ec2651c65 mcc_generated_files\memory.c diff --git a/306-controller_interface.X/xf/xf.h b/306-controller_interface.X/xf/xf.h index 1d280d8..4d61327 100644 --- 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 diff --git a/UML/can.pdf b/UML/can.pdf index 14c421a..cc045a6 100644 Binary files a/UML/can.pdf and b/UML/can.pdf differ diff --git a/UML/can.puml b/UML/can.puml index b574624..23952e7 100644 --- 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 diff --git a/UML/can.uxf b/UML/can.uxf index ac0abd3..039a001 100644 --- a/UML/can.uxf +++ b/UML/can.uxf @@ -5,9 +5,9 @@ UMLNote 645 - 255 - 675 - 525 + 75 + 750 + 765 _*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); +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); Relation - 360 - 330 + 375 + 255 90 135 @@ -47,8 +58,8 @@ evInit UMLSpecialState - 360 - 315 + 375 + 240 30 30 @@ -58,37 +69,37 @@ evInit UMLState - 240 - 435 + 255 + 360 270 90 - STCA_PROCESS + PROCESS Relation - 450 - 465 + 465 + 390 180 180 lt=-> -m1=evCAsend +m1=evSend m1=\n/sendCan() 10.0;40.0;10.0;100.0;100.0;100.0;100.0;10.0;40.0;10.0 Relation - 135 - 465 + 150 + 390 300 180 lt=-> -m1= evCAnewMsg +m1= evNewMsg m1= \n/receiveCan() 100.0;40.0;100.0;100.0;10.0;100.0;10.0;10.0;70.0;10.0 diff --git a/UML/drive.uxf b/UML/drive.uxf index 0f5e6c9..a961f88 100644 --- a/UML/drive.uxf +++ b/UML/drive.uxf @@ -64,8 +64,8 @@ m1= evPollTorque\n/sendTorque WAIT -- -ALIVE_emitBorn(ALjoy(), 0, 0); -ALIVE_emitReady(ALjoy(), 100, 0); +ALIVE_emitBorn(ALdrive(), 0, 0); +ALIVE_emitReady(ALdrive(), 100, 0); setAliveTime diff --git a/UML/steering.uxf b/UML/steering.uxf new file mode 100644 index 0000000..05a4d97 --- /dev/null +++ b/UML/steering.uxf @@ -0,0 +1,124 @@ + + + 15 + + Relation + + 660 + 90 + 210 + 120 + + lt=-> +evInit +/startAliveChecker + + 10.0;10.0;10.0;60.0 + + + UMLSpecialState + + 660 + 75 + 30 + 30 + + type=initial + + + + UMLState + + 540 + 405 + 270 + 105 + + RUN +-- +/entry: LED ON +-- +emitPollDirEv + + + + UMLState + + 480 + 180 + 390 + 135 + + WAIT +-- +ALIVE_emitBorn(ALsteering(), 0, 0); +ALIVE_emitReady(ALsteering(), 100, 0); +setAliveTime + + + + Relation + + 660 + 300 + 120 + 135 + + lt=-> +m1=evStart\n(onWait) + + 10.0;10.0;10.0;70.0 + + + Relation + + 735 + 450 + 195 + 180 + + lt=-> +m1= evPollDir\n/sendDir + + 10.0;40.0;10.0;100.0;110.0;100.0;110.0;10.0;50.0;10.0 + + + Relation + + 390 + 240 + 345 + 555 + + lt=-> +m1= evResurrect\n(onBorn) + + 130.0;300.0;130.0;350.0;10.0;350.0;10.0;10.0;60.0;10.0 + + + UMLState + + 450 + 600 + 270 + 90 + + DEAD +-- +/entry: LED OFF + + + + Relation + + 570 + 495 + 135 + 135 + + lt=-> +m1=evStop\n(onDead) + + 10.0;10.0;10.0;70.0 + + diff --git a/binary_files/v1_0_0.hex b/binary_files/v1_0_0.hex new file mode 100644 index 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RESTORETOMAXIMIZED - 517 - 489 - 1014 - 911 + 195 + 426 + 692 + 848 @@ -326,9 +326,8 @@ 529 - posY - button posX + posY 1040 @@ -343,33 +342,32 @@ Vehiclespeed - 336 - HOMING - RESET - SET_CENTER - ALIVE_TIME + 337 + SteeringPosition - 82 - CENTER_POS + 1311 - 1298 - POSITION + 1294 + brake + + + 1540 SHOWNORMAL HIDE - 165 - 599 - 1089 - 452 + 170 + 421 + 868 + 731 - 94 - 94 - 189 - 94 + 144 + 86 + 172 + 86 @@ -421,15 +419,15 @@ NORMAL - 321 - DRIVE_POWER + 1586 + DISPLAY_CURRENT - Power + BatteryCurrent Physical SOLID - 16711680 - 1 - 8388736 + 65280 + 2 + 8421376 TRUE TRUE NORMAL @@ -437,10 +435,10 @@ SHOWNORMAL HIDE - 291 - 205 - 957 - 1530 + 39 + 74 + 586 + 1399 479 @@ -451,11 +449,11 @@ 0 - 308 + 275 0 - 308 + 222 0 @@ -490,9 +488,9 @@ - 1489464112 - 26186104 - 1489464084 + 1474521904 + 23911192 + 1474521876 display drive joy @@ -500,19 +498,19 @@ steering - 5 - 1 - 19 + 1 + 0 + 0 Time - 4 + 5 1 129 Tx/Rx - 1 + 4 1 53 @@ -550,27 +548,27 @@ Data Byte(s) 9 1 - 139 + 158 1 - 0 - 1 + 1 + 0 SYSTEM SHOWNORMAL SETMINPOSITION - 0 + 3 0 - 810 + 627 606 SHOWNORMAL RESTORETOMAXIMIZED - 179 - 10 - 457 - 359 + 181 + 12 + 459 + 361 @@ -650,7 +648,7 @@ Data Byte(s) 13 1 - 701 + 643 1 0 @@ -662,15 +660,15 @@ 0 0 549 - 1614 + 1556 SHOWNORMAL RESTORETOMAXIMIZED - 179 - 10 - 457 - 359 + 181 + 12 + 459 + 361 @@ -735,7 +733,7 @@ Checksum 10 1 - 715 + 657 1 0 @@ -747,25 +745,25 @@ 0 0 549 - 1614 + 1556 SHOWNORMAL RESTORETOMAXIMIZED - 179 - 10 - 457 - 359 + 181 + 12 + 459 + 361 SHOWNORMAL SETMINPOSITION - 3 - 1052 - 658 - 1912 + 4 + 648 + 659 + 1508 @@ -786,7 +784,7 @@ FALSE FALSE 4 - 0,0,0,0 + 0,1,178,7 10 FALSE a @@ -810,7 +808,7 @@ FALSE FALSE 4 - 0,0,0,0 + 0,85,115,240 10 FALSE a @@ -834,7 +832,7 @@ FALSE FALSE 4 - 0,0,0,0 + 0,250,0,0 10 FALSE a @@ -846,7 +844,43 @@ FALSE FALSE 4 - 0,5,1,25 + 0,5,1,250 + 10 + FALSE + a + FALSE + + + 1 + 23 + FALSE + FALSE + 4 + 0,0,0,0 + 10 + FALSE + a + FALSE + + + 1 + 24 + FALSE + FALSE + 4 + 0,0,0,0 + 10 + FALSE + a + FALSE + + + 1 + 1540 + FALSE + FALSE + 0 + 0 10 FALSE a diff --git a/threewheeler.DBF b/threewheeler.DBF index 2cc5931..3ea3098 100644 --- a/threewheeler.DBF +++ b/threewheeler.DBF @@ -6,7 +6,7 @@ [BUSMASTER_VERSION] [3.2.2] -[NUMBER_OF_MESSAGES] 29 +[NUMBER_OF_MESSAGES] 32 [START_MSG] JOY_MEASURE,529,3,3,1,S [START_SIGNALS] posX,8,1,0,I,127,-128,1,0.000000,1.000000,%, @@ -176,4 +176,15 @@ [START_MSG] CONTROL_SETUP_PARAM,21,4,2,1,S [START_SIGNALS] displayAliveTime,8,1,0,U,255,0,1,0.000000,10.000000,ms, [START_SIGNALS] steeringAliveTime,8,2,0,U,255,0,1,0.000000,10.000000,ms, +[END_MSG] + +[START_MSG] BRAKE,1294,1,1,1,S +[START_SIGNALS] brake,1,1,0,B,1,0,1,0.000000,1.000000,, +[END_MSG] + +[START_MSG] SUPPLY_48V_READY,1540,0,0,1,S +[END_MSG] + +[START_MSG] HEADLIGHTS,260,1,1,1,S +[START_SIGNALS] headlights,1,1,0,B,1,0,1,0.000000,1.000000,, [END_MSG] \ No newline at end of file