From 3f1672996d839293f056046e5db50fca90fbcd26 Mon Sep 17 00:00:00 2001
From: Klagarge <remi@heredero.ch>
Date: Mon, 4 Sep 2023 10:07:29 +0200
Subject: [PATCH 01/31] update CAN uml for last fix

---
 UML/can.pdf | Bin 2342 -> 2488 bytes
 UML/can.uxf |  47 +++++++++++++++++++++++++++++------------------
 2 files changed, 29 insertions(+), 18 deletions(-)

diff --git a/UML/can.pdf b/UML/can.pdf
index 14c421afbcf36c54da4fe22a814626c7cc2ff1ed..cc045a62b87ea7d0ef08c1a04b45dda632309461 100644
GIT binary patch
delta 1627
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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 @@
     <id>UMLNote</id>
     <coordinates>
       <x>645</x>
-      <y>255</y>
-      <w>675</w>
-      <h>525</h>
+      <y>75</y>
+      <w>750</w>
+      <h>765</h>
     </coordinates>
     <panel_attributes>_*How to use CAN interface*_
 
@@ -23,19 +23,30 @@ CAN_setSender(idSender);
 CAN_startBehaviour();
 
 *Somewhere for process input can message:*
-void receiveCan(uint8_t idSender, uint8_t idMsg, uint32_t canData) {
+void receiveCan(uint8_t idSender, uint8_t idMsg, bool rtr, uint32_t canData) {
     .....
 }
 
 *For send can message: *
-CAN_sendCanMsg(uint8_t idRecipient, uint8_t idMsg, uint32_t data);</panel_attributes>
+CAN_Send(uint8_t idRecipient, uint8_t idMsg, uint32_t data);
+CAN_send_4_bytes(
+        uint8_t idRecipient,
+        uint8_t idMsg,
+        uint8_t byte0,
+        uint8_t byte1,
+        uint8_t byte2,
+        uint8_t byte3);
+CAN_send_2_bytes(uint8_t idRecipient, uint8_t idMsg, uint16_t data);
+CAN_send_1_byte(uint8_t idRecipient, uint8_t idMsg, uint8_t data);
+CAN_send_0_byte(uint8_t idRecipient, uint8_t idMsg);
+CAN_send_rtr(uint8_t idRecipient, uint8_t idMsg);</panel_attributes>
     <additional_attributes/>
   </element>
   <element>
     <id>Relation</id>
     <coordinates>
-      <x>360</x>
-      <y>330</y>
+      <x>375</x>
+      <y>255</y>
       <w>90</w>
       <h>135</h>
     </coordinates>
@@ -47,8 +58,8 @@ evInit
   <element>
     <id>UMLSpecialState</id>
     <coordinates>
-      <x>360</x>
-      <y>315</y>
+      <x>375</x>
+      <y>240</y>
       <w>30</w>
       <h>30</h>
     </coordinates>
@@ -58,37 +69,37 @@ evInit
   <element>
     <id>UMLState</id>
     <coordinates>
-      <x>240</x>
-      <y>435</y>
+      <x>255</x>
+      <y>360</y>
       <w>270</w>
       <h>90</h>
     </coordinates>
-    <panel_attributes>STCA_PROCESS</panel_attributes>
+    <panel_attributes>PROCESS</panel_attributes>
     <additional_attributes/>
   </element>
   <element>
     <id>Relation</id>
     <coordinates>
-      <x>450</x>
-      <y>465</y>
+      <x>465</x>
+      <y>390</y>
       <w>180</w>
       <h>180</h>
     </coordinates>
     <panel_attributes>lt=-&gt;
-m1=evCAsend
+m1=evSend
 m1=\n/sendCan()</panel_attributes>
     <additional_attributes>10.0;40.0;10.0;100.0;100.0;100.0;100.0;10.0;40.0;10.0</additional_attributes>
   </element>
   <element>
     <id>Relation</id>
     <coordinates>
-      <x>135</x>
-      <y>465</y>
+      <x>150</x>
+      <y>390</y>
       <w>300</w>
       <h>180</h>
     </coordinates>
     <panel_attributes>lt=-&gt;
-m1= evCAnewMsg
+m1= evNewMsg
 m1= \n/receiveCan()
 </panel_attributes>
     <additional_attributes>100.0;40.0;100.0;100.0;10.0;100.0;10.0;10.0;70.0;10.0</additional_attributes>

From 473d71ff6b906a9dd712e55ded7f1b4086fbc385 Mon Sep 17 00:00:00 2001
From: Klagarge <remi@heredero.ch>
Date: Mon, 4 Sep 2023 10:07:52 +0200
Subject: [PATCH 02/31] add const for TRUE or FALSE

---
 306-controller_interface.X/app/can_message.c | 4 ++--
 306-controller_interface.X/app/car.h         | 3 +++
 306-controller_interface.X/app/drive.c       | 2 +-
 3 files changed, 6 insertions(+), 3 deletions(-)

diff --git a/306-controller_interface.X/app/can_message.c b/306-controller_interface.X/app/can_message.c
index ba37fed..62442da 100644
--- a/306-controller_interface.X/app/can_message.c
+++ b/306-controller_interface.X/app/can_message.c
@@ -97,7 +97,7 @@ 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(&ALWAYSFALSE);
                 
             }
             
@@ -129,7 +129,7 @@ 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);
                 
             }
             
diff --git a/306-controller_interface.X/app/car.h b/306-controller_interface.X/app/car.h
index dfea2a5..05203c8 100644
--- a/306-controller_interface.X/app/car.h
+++ b/306-controller_interface.X/app/car.h
@@ -44,6 +44,9 @@
 #define MEMADD_BATTERY_ENERGY_TIME          0x1C
 #define MEMADD_BATTERY_ALIVE_TIME           0x1D
 
+const bool ALWAYSTRUE = true;
+const bool ALWAYSFALSE = false;
+
 typedef struct {
     uint8_t     CONTROL_STEERING_MODE;
     uint8_t     CONTROL_ALIVE_TIME;
diff --git a/306-controller_interface.X/app/drive.c b/306-controller_interface.X/app/drive.c
index f926b1f..72c7fb7 100644
--- a/306-controller_interface.X/app/drive.c
+++ b/306-controller_interface.X/app/drive.c
@@ -12,7 +12,7 @@
 void DRIVE_init(DRIVE* me){
     me->state = STDR_INIT;
     ALIVE_init(&me->myChecker);
-    ALIVE_onSetup(&me->myChecker, CM_DRIVE_SETUP, NULL);
+    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);

From f45fd4ae7ecedfa90e3e0a8a323f8169ce70ec93 Mon Sep 17 00:00:00 2001
From: Klagarge <remi@heredero.ch>
Date: Mon, 4 Sep 2023 15:20:54 +0200
Subject: [PATCH 03/31] add Steering

---
 306-controller_interface.X/app/can_message.c  |  12 +-
 306-controller_interface.X/app/can_message.h  |  13 --
 .../app/factory/factory.c                     |   8 +
 .../app/factory/factory.h                     |   3 +
 306-controller_interface.X/app/steering.c     | 164 ++++++++++++++++++
 306-controller_interface.X/app/steering.h     | 124 +++++++++++++
 .../nbproject/Makefile-default.mk             |  26 ++-
 .../nbproject/configurations.xml              |   2 +
 UML/steering.uxf                              | 124 +++++++++++++
 9 files changed, 457 insertions(+), 19 deletions(-)
 create mode 100644 306-controller_interface.X/app/steering.c
 create mode 100644 306-controller_interface.X/app/steering.h
 create mode 100644 UML/steering.uxf

diff --git a/306-controller_interface.X/app/can_message.c b/306-controller_interface.X/app/can_message.c
index 62442da..8e24eb7 100644
--- a/306-controller_interface.X/app/can_message.c
+++ b/306-controller_interface.X/app/can_message.c
@@ -232,9 +232,19 @@ void CM_processIncome(uint8_t idSender, uint8_t idMsg, bool rtr, uint32_t data){
                 
             }
             
+            if(idMsg == 0x3) { // STEERING_READY
+                //  -   -   -   -
+                
+            }
+            
             if(idMsg == 0xF) { // STEERING_ALIVE
                 //  statusH statusL -   -
-                // TODO steering say ALIVE with his status
+                ALIVE_ISALIVE(&steering()->myChecker);
+                if(steering()->myChecker.state == STST_DEAD) {
+                    KART_CST.STEERING_ALIVE_TIME = MEM_read_1_byte(MEMADD_STEERING_ALIVE_TIME);
+                    ALIVE_emitResurrect(&steering()->myChecker, 0, 0);
+                    ALIVE_emitBorn(&steering()->myChecker, 0, 0);
+                }
                 
             }
             break;
diff --git a/306-controller_interface.X/app/can_message.h b/306-controller_interface.X/app/can_message.h
index 7a7a352..77fcb77 100644
--- a/306-controller_interface.X/app/can_message.h
+++ b/306-controller_interface.X/app/can_message.h
@@ -12,19 +12,6 @@
 #include <stdbool.h>        // usage of boolean types
 #include "../mcc_generated_files/mcc.h"
 
-/*
-S   R   M
-1   0   F   CONTROL_ALIVE       -               -                   -                   -
-1	2	0	JOY_SETUP           Mode            Param1              Param2              aliveTime
-1	3	0	DISPLAY_SETUP       reset           -                   -                   aliveTime
-1	3	2	DISPLAY_SPEED       valH            valL                -                   -
-1	3	3	DISPLAY_DIRECTION   direction       -                   -                   -
-1	4	0	DRIVE_SETUP         Reset/init      speedTime           stopTime            aliveTime
-1	4	1	DRIVE_POWER         valH            valL                -                   -
-1	5	0	STEERING_SETUP      Reset/init      homing              setCenter           aliveTime
-1	5	1	STEERING_SET        valHH           valH                valL                valLL
-1	6	0	SETUP_CONTROL       batteryVoltTime batteryCurrentTime  batteryEnergyTime   aliveTime
-*/
 
 /**
  * Process an incoming message
diff --git a/306-controller_interface.X/app/factory/factory.c b/306-controller_interface.X/app/factory/factory.c
index 41b271d..de5e20b 100644
--- a/306-controller_interface.X/app/factory/factory.c
+++ b/306-controller_interface.X/app/factory/factory.c
@@ -46,6 +46,10 @@ DRIVE* drive(){
     return &theFactory.drive_;
 }
 
+STEERING* steering(){
+    return &theFactory.steering_;
+}
+
 
 //initialize all objects
 void Factory_init() {
@@ -80,6 +84,7 @@ void Factory_init() {
     
     ALIVE_init(ALjoy());
     DRIVE_init(drive());
+    STEERING_init(steering());
 }
 
 //connect objects if required
@@ -100,6 +105,9 @@ void Factory_build() {
     DRIVE_onRun(drive(), LED_on, l2());
     DRIVE_onDead(drive(), LED_off, l2());
     
+    STEERING_onRun(drive(), LED_on, l3());
+    STEERING_onDead(drive(), LED_off, l3());
+    
 }
 
 //start all state machines
diff --git a/306-controller_interface.X/app/factory/factory.h b/306-controller_interface.X/app/factory/factory.h
index 1a35e49..fd3b51f 100644
--- a/306-controller_interface.X/app/factory/factory.h
+++ b/306-controller_interface.X/app/factory/factory.h
@@ -16,6 +16,7 @@
 #include "../can_message.h"
 #include "../eeprom.h"
 #include "../drive.h"
+#include "../steering.h"
 #include "../../board/led/led.h"
 #include "../../board/button/button.h"
 #include "../../middleware/alive.h"
@@ -38,6 +39,7 @@ typedef struct {
     ALIVE ALcontroller_;
     ALIVE ALjoy_;
     DRIVE drive_;
+    STEERING steering_;
 
 } Factory;
 
@@ -61,6 +63,7 @@ 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/steering.c b/306-controller_interface.X/app/steering.c
new file mode 100644
index 0000000..2d3a703
--- /dev/null
+++ b/306-controller_interface.X/app/steering.c
@@ -0,0 +1,164 @@
+/**
+ * @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 STEERING_init(STEERING* me){
+    me->state = STST_INIT;
+    ALIVE_init(&me->myChecker);
+    ALIVE_onSetup(&me->myChecker, CM_STEERING_SETUP, &ALWAYSFALSE);
+    ALIVE_onWait(&me->myChecker, STEERING_emitStart, me);
+    ALIVE_onDead(&me->myChecker, STEERING_emitStop, me);
+    ALIVE_onBorn(&me->myChecker, STEERING_emitResurrect, me);
+    me->wait.f = NULL;
+    me->run.f = NULL;
+    me->dead.f = NULL;
+}
+
+void STEERING_startBehaviour(STEERING* me){
+    POST(me, &STEERING_processEvent, evSTinit, 100, 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, 100, 0);
+            ALIVE_emitReady(&me->myChecker, 200, 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);
+                }
+                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/nbproject/Makefile-default.mk b/306-controller_interface.X/nbproject/Makefile-default.mk
index 17547ef..4c5f504 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 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 app/steering.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}/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 ${OBJECTDIR}/app/steering.p1
+POSSIBLE_DEPFILES=${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 ${OBJECTDIR}/app/steering.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}/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 ${OBJECTDIR}/app/steering.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 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 app/steering.c
 
 
 
@@ -240,6 +240,14 @@ ${OBJECTDIR}/main.p1: main.c  nbproject/Makefile-${CND_CONF}.mk
 	@-${MV} ${OBJECTDIR}/main.d ${OBJECTDIR}/main.p1.d 
 	@${FIXDEPS} ${OBJECTDIR}/main.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=compiled: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}../  
+	
 else
 ${OBJECTDIR}/app/factory/factory.p1: app/factory/factory.c  nbproject/Makefile-${CND_CONF}.mk 
 	@${MKDIR} "${OBJECTDIR}/app/factory" 
@@ -393,6 +401,14 @@ ${OBJECTDIR}/main.p1: main.c  nbproject/Makefile-${CND_CONF}.mk
 	@-${MV} ${OBJECTDIR}/main.d ${OBJECTDIR}/main.p1.d 
 	@${FIXDEPS} ${OBJECTDIR}/main.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=compiled: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}../  
+	
 endif
 
 # ------------------------------------------------------------------------------------
diff --git a/306-controller_interface.X/nbproject/configurations.xml b/306-controller_interface.X/nbproject/configurations.xml
index ded209f..1566bbf 100644
--- a/306-controller_interface.X/nbproject/configurations.xml
+++ b/306-controller_interface.X/nbproject/configurations.xml
@@ -11,6 +11,7 @@
         <itemPath>app/kartculator.h</itemPath>
         <itemPath>app/eeprom.h</itemPath>
         <itemPath>app/drive.h</itemPath>
+        <itemPath>app/steering.h</itemPath>
       </logicalFolder>
       <logicalFolder name="board" displayName="board" projectFiles="true">
         <itemPath>board/led/led.h</itemPath>
@@ -50,6 +51,7 @@
         <itemPath>app/kartculator.c</itemPath>
         <itemPath>app/eeprom.c</itemPath>
         <itemPath>app/drive.c</itemPath>
+        <itemPath>app/steering.c</itemPath>
       </logicalFolder>
       <logicalFolder name="board" displayName="board" projectFiles="true">
         <itemPath>board/led/led.c</itemPath>
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 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<diagram program="umlet" version="15.0.0">
+  <zoom_level>15</zoom_level>
+  <element>
+    <id>Relation</id>
+    <coordinates>
+      <x>660</x>
+      <y>90</y>
+      <w>210</w>
+      <h>120</h>
+    </coordinates>
+    <panel_attributes>lt=-&gt;
+evInit
+/startAliveChecker
+</panel_attributes>
+    <additional_attributes>10.0;10.0;10.0;60.0</additional_attributes>
+  </element>
+  <element>
+    <id>UMLSpecialState</id>
+    <coordinates>
+      <x>660</x>
+      <y>75</y>
+      <w>30</w>
+      <h>30</h>
+    </coordinates>
+    <panel_attributes>type=initial</panel_attributes>
+    <additional_attributes/>
+  </element>
+  <element>
+    <id>UMLState</id>
+    <coordinates>
+      <x>540</x>
+      <y>405</y>
+      <w>270</w>
+      <h>105</h>
+    </coordinates>
+    <panel_attributes>RUN
+--
+/entry: LED ON
+--
+emitPollDirEv</panel_attributes>
+    <additional_attributes/>
+  </element>
+  <element>
+    <id>UMLState</id>
+    <coordinates>
+      <x>480</x>
+      <y>180</y>
+      <w>390</w>
+      <h>135</h>
+    </coordinates>
+    <panel_attributes>WAIT
+--
+ALIVE_emitBorn(ALsteering(), 0, 0);
+ALIVE_emitReady(ALsteering(), 100, 0);
+setAliveTime</panel_attributes>
+    <additional_attributes/>
+  </element>
+  <element>
+    <id>Relation</id>
+    <coordinates>
+      <x>660</x>
+      <y>300</y>
+      <w>120</w>
+      <h>135</h>
+    </coordinates>
+    <panel_attributes>lt=-&gt;
+m1=evStart\n(onWait)
+</panel_attributes>
+    <additional_attributes>10.0;10.0;10.0;70.0</additional_attributes>
+  </element>
+  <element>
+    <id>Relation</id>
+    <coordinates>
+      <x>735</x>
+      <y>450</y>
+      <w>195</w>
+      <h>180</h>
+    </coordinates>
+    <panel_attributes>lt=-&gt;
+m1= evPollDir\n/sendDir
+</panel_attributes>
+    <additional_attributes>10.0;40.0;10.0;100.0;110.0;100.0;110.0;10.0;50.0;10.0</additional_attributes>
+  </element>
+  <element>
+    <id>Relation</id>
+    <coordinates>
+      <x>390</x>
+      <y>240</y>
+      <w>345</w>
+      <h>555</h>
+    </coordinates>
+    <panel_attributes>lt=-&gt;
+m1= evResurrect\n(onBorn)
+</panel_attributes>
+    <additional_attributes>130.0;300.0;130.0;350.0;10.0;350.0;10.0;10.0;60.0;10.0</additional_attributes>
+  </element>
+  <element>
+    <id>UMLState</id>
+    <coordinates>
+      <x>450</x>
+      <y>600</y>
+      <w>270</w>
+      <h>90</h>
+    </coordinates>
+    <panel_attributes>DEAD
+--
+/entry: LED OFF</panel_attributes>
+    <additional_attributes/>
+  </element>
+  <element>
+    <id>Relation</id>
+    <coordinates>
+      <x>570</x>
+      <y>495</y>
+      <w>135</w>
+      <h>135</h>
+    </coordinates>
+    <panel_attributes>lt=-&gt;
+m1=evStop\n(onDead)
+</panel_attributes>
+    <additional_attributes>10.0;10.0;10.0;70.0</additional_attributes>
+  </element>
+</diagram>

From 682dca2bb15a2f187d7623dbc3fa7c5cd523d961 Mon Sep 17 00:00:00 2001
From: Klagarge <remi@heredero.ch>
Date: Mon, 4 Sep 2023 15:21:23 +0200
Subject: [PATCH 04/31] fix blinker

---
 306-controller_interface.X/middleware/blinker.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

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;

From 79334b5c89e800f3572460ee3deb165e79022887 Mon Sep 17 00:00:00 2001
From: Klagarge <remi@heredero.ch>
Date: Mon, 4 Sep 2023 15:21:38 +0200
Subject: [PATCH 05/31] fix drive

---
 UML/drive.uxf | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

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
     </coordinates>
     <panel_attributes>WAIT
 --
-ALIVE_emitBorn(ALjoy(), 0, 0);
-ALIVE_emitReady(ALjoy(), 100, 0);
+ALIVE_emitBorn(ALdrive(), 0, 0);
+ALIVE_emitReady(ALdrive(), 100, 0);
 setAliveTime</panel_attributes>
     <additional_attributes/>
   </element>

From 7bdc3d10c6018e13f4c45044beb2a9aca6380310 Mon Sep 17 00:00:00 2001
From: Klagarge <remi@heredero.ch>
Date: Mon, 4 Sep 2023 15:21:50 +0200
Subject: [PATCH 06/31] increse queue timer

---
 306-controller_interface.X/xf/xf.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

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

From 447c9d880118fa9dfb53d1b4fbf84b41affdb1ff Mon Sep 17 00:00:00 2001
From: Klagarge <remi@heredero.ch>
Date: Mon, 4 Sep 2023 15:22:16 +0200
Subject: [PATCH 07/31] add cst

---
 306-controller_interface.X/app/car.h                  | 4 ++++
 306-controller_interface.X/middleware/alive.h         | 2 +-
 306-controller_interface.X/middleware/can_interface.h | 2 +-
 3 files changed, 6 insertions(+), 2 deletions(-)

diff --git a/306-controller_interface.X/app/car.h b/306-controller_interface.X/app/car.h
index 05203c8..9a44e0d 100644
--- a/306-controller_interface.X/app/car.h
+++ b/306-controller_interface.X/app/car.h
@@ -46,6 +46,10 @@
 
 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;
diff --git a/306-controller_interface.X/middleware/alive.h b/306-controller_interface.X/middleware/alive.h
index 580e735..9bbee16 100644
--- a/306-controller_interface.X/middleware/alive.h
+++ b/306-controller_interface.X/middleware/alive.h
@@ -10,7 +10,7 @@
 #include "../xf/xf.h"
 
 typedef enum {
-    STAL_INIT,
+    STAL_INIT = 15,
     STAL_SETUP,
     STAL_BORN,
     STAL_WAIT,
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;
 

From 0f7f078440dc18b4aa73f9de221ad94157111109 Mon Sep 17 00:00:00 2001
From: Klagarge <remi@heredero.ch>
Date: Mon, 4 Sep 2023 15:22:45 +0200
Subject: [PATCH 08/31] check if steering ready for driving

---
 306-controller_interface.X/app/drive.c | 10 ++++++++--
 306-controller_interface.X/app/drive.h |  2 +-
 2 files changed, 9 insertions(+), 3 deletions(-)

diff --git a/306-controller_interface.X/app/drive.c b/306-controller_interface.X/app/drive.c
index 72c7fb7..5a92c15 100644
--- a/306-controller_interface.X/app/drive.c
+++ b/306-controller_interface.X/app/drive.c
@@ -8,6 +8,8 @@
 #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;
@@ -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, 100, 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:
@@ -55,7 +59,9 @@ bool DRIVE_processEvent(Event* ev) {
             }
             
             if (ev->id == evDRpollTorque) {
-                CM_DRIVE_POWER(&eKart.torque);
+                if(steeringState == STST_RUN) {
+                    CM_DRIVE_POWER(&eKart.torque);
+                }
             }
             
             if (ev->id == evDRpollSpeed) {
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

From 4e492fb10bde32fa72809bd256c55430444422c0 Mon Sep 17 00:00:00 2001
From: Klagarge <remi@heredero.ch>
Date: Mon, 4 Sep 2023 15:44:36 +0200
Subject: [PATCH 09/31] add steering start

---
 306-controller_interface.X/app/factory/factory.c | 1 +
 1 file changed, 1 insertion(+)

diff --git a/306-controller_interface.X/app/factory/factory.c b/306-controller_interface.X/app/factory/factory.c
index de5e20b..06fc19c 100644
--- a/306-controller_interface.X/app/factory/factory.c
+++ b/306-controller_interface.X/app/factory/factory.c
@@ -115,6 +115,7 @@ void Factory_start() {
     CAN_startBehaviour();
         
     DRIVE_startBehaviour(drive());
+    STEERING_startBehaviour(steering());
     
     ALIVE_startBehaviourSender(ALcontroller());
     ALIVE_startBehaviourChecker(ALjoy());

From 319ae576ad4d8e172b574b66049e128573d80a4e Mon Sep 17 00:00:00 2001
From: Klagarge <remi@heredero.ch>
Date: Mon, 4 Sep 2023 19:51:19 +0200
Subject: [PATCH 10/31] fix steering implementation

---
 306-controller_interface.X/app/drive.c        |  10 +-
 .../app/factory/factory.c                     |   5 +-
 306-controller_interface.X/middleware/alive.h |   4 +-
 .../middleware/can_interface.c                |   1 +
 .../nbproject/Makefile-default.mk             | 122 +++++++++---------
 .../nbproject/Makefile-local-default.mk       |   2 +-
 .../nbproject/configurations.xml              |   4 +-
 7 files changed, 75 insertions(+), 73 deletions(-)

diff --git a/306-controller_interface.X/app/drive.c b/306-controller_interface.X/app/drive.c
index 5a92c15..fdbba80 100644
--- a/306-controller_interface.X/app/drive.c
+++ b/306-controller_interface.X/app/drive.c
@@ -8,8 +8,8 @@
 #include "drive.h"
 #include "car.h"
 #include "can_message.h"
-#include "steering.h"
-#include "factory/factory.h"
+//#include "steering.h"
+//#include "factory/factory.h"
 
 void DRIVE_init(DRIVE* me){
     me->state = STDR_INIT;
@@ -33,7 +33,7 @@ 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;
+//    STEERING_STATES steeringState = steering()->state;
 
     
     switch (me->state) {        // onState
@@ -59,9 +59,9 @@ bool DRIVE_processEvent(Event* ev) {
             }
             
             if (ev->id == evDRpollTorque) {
-                if(steeringState == STST_RUN) {
+                //if(steeringState == STST_RUN) {
                     CM_DRIVE_POWER(&eKart.torque);
-                }
+                //}
             }
             
             if (ev->id == evDRpollSpeed) {
diff --git a/306-controller_interface.X/app/factory/factory.c b/306-controller_interface.X/app/factory/factory.c
index 06fc19c..90c46aa 100644
--- a/306-controller_interface.X/app/factory/factory.c
+++ b/306-controller_interface.X/app/factory/factory.c
@@ -105,8 +105,8 @@ void Factory_build() {
     DRIVE_onRun(drive(), LED_on, l2());
     DRIVE_onDead(drive(), LED_off, l2());
     
-    STEERING_onRun(drive(), LED_on, l3());
-    STEERING_onDead(drive(), LED_off, l3());
+    STEERING_onRun(steering(), LED_on, l3());
+    STEERING_onDead(steering(), LED_off, l3());
     
 }
 
@@ -118,6 +118,7 @@ void Factory_start() {
     STEERING_startBehaviour(steering());
     
     ALIVE_startBehaviourSender(ALcontroller());
+    
     ALIVE_startBehaviourChecker(ALjoy());
     ALIVE_emitBorn(ALjoy(), 100, 0);
     ALIVE_emitReady(ALjoy(), 200, 0);
diff --git a/306-controller_interface.X/middleware/alive.h b/306-controller_interface.X/middleware/alive.h
index 9bbee16..06bc9da 100644
--- a/306-controller_interface.X/middleware/alive.h
+++ b/306-controller_interface.X/middleware/alive.h
@@ -10,7 +10,7 @@
 #include "../xf/xf.h"
 
 typedef enum {
-    STAL_INIT = 15,
+    STAL_INIT = 20,
     STAL_SETUP,
     STAL_BORN,
     STAL_WAIT,
@@ -20,7 +20,7 @@ typedef enum {
 } ALIVE_STATES;
 
 typedef enum {
-    evALinitChecker = 15,
+    evALinitChecker = 20,
     evALinitSender,
     evALborn,
     evALready,
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/nbproject/Makefile-default.mk b/306-controller_interface.X/nbproject/Makefile-default.mk
index 4c5f504..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 app/steering.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 ${OBJECTDIR}/app/steering.p1
-POSSIBLE_DEPFILES=${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 ${OBJECTDIR}/app/steering.p1.d
+OBJECTFILES_QUOTED_IF_SPACED=${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 ${OBJECTDIR}/app/steering.p1
+OBJECTFILES=${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 app/steering.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}../  
 	
@@ -236,24 +244,16 @@ ${OBJECTDIR}/main.p1: main.c  nbproject/Makefile-${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}../  
 	
-${OBJECTDIR}/app/steering.p1: app/steering.c  nbproject/Makefile-${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=compiled: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}../  
-	
 else
 ${OBJECTDIR}/app/factory/factory.p1: app/factory/factory.c  nbproject/Makefile-${CND_CONF}.mk 
 	@${MKDIR} "${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}../  
 	
@@ -261,7 +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}../  
 	
@@ -269,7 +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}../  
 	
@@ -277,7 +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}../  
 	
@@ -285,15 +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}../  
 	
@@ -301,7 +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}../  
 	
@@ -309,7 +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}../  
 	
@@ -317,7 +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}../  
 	
@@ -325,7 +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}../  
 	
@@ -333,7 +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}../  
 	
@@ -341,7 +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}../  
 	
@@ -349,7 +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}../  
 	
@@ -357,7 +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}../  
 	
@@ -365,7 +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}../  
 	
@@ -373,7 +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}../  
 	
@@ -381,7 +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}../  
 	
@@ -389,7 +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}../  
 	
@@ -397,18 +405,10 @@ ${OBJECTDIR}/main.p1: main.c  nbproject/Makefile-${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}../  
 	
-${OBJECTDIR}/app/steering.p1: app/steering.c  nbproject/Makefile-${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=compiled: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}../  
-	
 endif
 
 # ------------------------------------------------------------------------------------
@@ -428,13 +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 1566bbf..9a8cbd2 100644
--- a/306-controller_interface.X/nbproject/configurations.xml
+++ b/306-controller_interface.X/nbproject/configurations.xml
@@ -103,7 +103,7 @@
         <platform>3</platform>
       </toolsSet>
       <packs>
-        <pack name="PIC18F-K_DFP" vendor="Microchip" version="1.7.134"/>
+        <pack name="PIC18F-K_DFP" vendor="Microchip" version="1.11.281"/>
       </packs>
       <ScriptingSettings>
       </ScriptingSettings>
@@ -324,7 +324,7 @@
         <property key="stack-size-high" value="auto"/>
         <property key="stack-size-low" value="auto"/>
         <property key="stack-size-main" value="auto"/>
-        <property key="stack-type" value="compiled"/>
+        <property key="stack-type" value="reentrant"/>
         <property key="user-pack-device-support" value=""/>
         <property key="wpo-lto" value="false"/>
       </XC8-config-global>

From 38b5f2d4e18f7bd032728f17a79c6f6eec1c5d8e Mon Sep 17 00:00:00 2001
From: Klagarge <remi@heredero.ch>
Date: Mon, 4 Sep 2023 19:51:31 +0200
Subject: [PATCH 11/31] fix steering implementation

---
 306-controller_interface.X/app/can_message.c | 6 +++---
 306-controller_interface.X/app/steering.c    | 9 ++++++---
 2 files changed, 9 insertions(+), 6 deletions(-)

diff --git a/306-controller_interface.X/app/can_message.c b/306-controller_interface.X/app/can_message.c
index 8e24eb7..2b812b1 100644
--- a/306-controller_interface.X/app/can_message.c
+++ b/306-controller_interface.X/app/can_message.c
@@ -240,10 +240,10 @@ void CM_processIncome(uint8_t idSender, uint8_t idMsg, bool rtr, uint32_t data){
             if(idMsg == 0xF) { // STEERING_ALIVE
                 //  statusH statusL -   -
                 ALIVE_ISALIVE(&steering()->myChecker);
-                if(steering()->myChecker.state == STST_DEAD) {
+                if(steering()->myChecker.state == STAL_DEAD) {
                     KART_CST.STEERING_ALIVE_TIME = MEM_read_1_byte(MEMADD_STEERING_ALIVE_TIME);
-                    ALIVE_emitResurrect(&steering()->myChecker, 0, 0);
-                    ALIVE_emitBorn(&steering()->myChecker, 0, 0);
+                    ALIVE_emitResurrect(&steering()->myChecker, 500, 0);
+                    ALIVE_emitBorn(&steering()->myChecker, 1000, 0);
                 }
                 
             }
diff --git a/306-controller_interface.X/app/steering.c b/306-controller_interface.X/app/steering.c
index 2d3a703..ab7ec23 100644
--- a/306-controller_interface.X/app/steering.c
+++ b/306-controller_interface.X/app/steering.c
@@ -45,9 +45,9 @@ bool STEERING_processEvent(Event* ev) {
             if (ev->id == evSTstart) {
                 me->state = STST_RUN;
             }
-            ALIVE_setAliveTime(&me->myChecker, KART_CST.STEERING_ALIVE_TIME);
-            ALIVE_emitBorn(&me->myChecker, 100, 0);
-            ALIVE_emitReady(&me->myChecker, 200, 0);
+//            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:
@@ -92,6 +92,9 @@ bool STEERING_processEvent(Event* ev) {
                 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);
+                ALIVE_emitReady(&me->myChecker, 1000, 0);
                 break;
             
             case STST_RUN:

From 6edca8bb822986696c175d0a07bf16edc6451752 Mon Sep 17 00:00:00 2001
From: Klagarge <remi@heredero.ch>
Date: Mon, 4 Sep 2023 21:37:02 +0200
Subject: [PATCH 12/31] small fix on can sequence

---
 UML/can.puml | 14 +++++++-------
 1 file changed, 7 insertions(+), 7 deletions(-)

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

From 32f1bd73b400ab80f082e155d94c1c0be59d54d6 Mon Sep 17 00:00:00 2001
From: Klagarge <remi@heredero.ch>
Date: Tue, 5 Sep 2023 08:52:27 +0200
Subject: [PATCH 13/31] add blinker debug

---
 306-controller_interface.X/app/drive.c        |  2 +-
 .../app/factory/factory.c                     | 57 +++----------------
 .../app/factory/factory.h                     | 16 ------
 306-controller_interface.X/app/steering.c     |  2 +-
 306-controller_interface.X/middleware/alive.c | 22 ++++++-
 306-controller_interface.X/middleware/alive.h |  6 +-
 6 files changed, 34 insertions(+), 71 deletions(-)

diff --git a/306-controller_interface.X/app/drive.c b/306-controller_interface.X/app/drive.c
index fdbba80..7cf4373 100644
--- a/306-controller_interface.X/app/drive.c
+++ b/306-controller_interface.X/app/drive.c
@@ -13,7 +13,7 @@
 
 void DRIVE_init(DRIVE* me){
     me->state = STDR_INIT;
-    ALIVE_init(&me->myChecker);
+    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);
diff --git a/306-controller_interface.X/app/factory/factory.c b/306-controller_interface.X/app/factory/factory.c
index 90c46aa..7980383 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_;
 }
@@ -53,36 +31,20 @@ STEERING* 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();
     
-    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());
 }
@@ -94,19 +56,16 @@ 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_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(), LED_off, l1());
     
-    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());
+    //STEERING_onRun(steering(), LED_on, l3());
+    //STEERING_onDead(steering(), LED_off, l3());
     
 }
 
diff --git a/306-controller_interface.X/app/factory/factory.h b/306-controller_interface.X/app/factory/factory.h
index fd3b51f..f486e95 100644
--- a/306-controller_interface.X/app/factory/factory.h
+++ b/306-controller_interface.X/app/factory/factory.h
@@ -25,17 +25,9 @@
 
 
 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_;
@@ -49,17 +41,9 @@ 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();
diff --git a/306-controller_interface.X/app/steering.c b/306-controller_interface.X/app/steering.c
index ab7ec23..74fa712 100644
--- a/306-controller_interface.X/app/steering.c
+++ b/306-controller_interface.X/app/steering.c
@@ -12,7 +12,7 @@
 
 void STEERING_init(STEERING* me){
     me->state = STST_INIT;
-    ALIVE_init(&me->myChecker);
+    ALIVE_init(&me->myChecker, 3);
     ALIVE_onSetup(&me->myChecker, CM_STEERING_SETUP, &ALWAYSFALSE);
     ALIVE_onWait(&me->myChecker, STEERING_emitStart, me);
     ALIVE_onDead(&me->myChecker, STEERING_emitStop, me);
diff --git a/306-controller_interface.X/middleware/alive.c b/306-controller_interface.X/middleware/alive.c
index 1565dd3..57999f7 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;
             }
@@ -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 06bc9da..fe33c0c 100644
--- a/306-controller_interface.X/middleware/alive.h
+++ b/306-controller_interface.X/middleware/alive.h
@@ -8,6 +8,8 @@
 #define ALIVE_H
 
 #include "../xf/xf.h"
+#include "../board/led/led.h"
+#include "../middleware/blinker.h"
 
 typedef enum {
     STAL_INIT = 20,
@@ -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

From e0b94c52509a4ec917d6f756a14cc2b8c6e1c5d5 Mon Sep 17 00:00:00 2001
From: Klagarge <remi@heredero.ch>
Date: Tue, 5 Sep 2023 11:06:23 +0200
Subject: [PATCH 14/31] add PIC watchdog

---
 306-controller_interface.X/main.c             |  3 +-
 .../mcc_generated_files/device_config.c       |  4 +-
 .../mcc_generated_files/mcc.c                 | 45 +++++++++++
 .../mcc_generated_files/mcc.h                 | 81 +++++++++++++++++++
 .../nbproject/configurations.xml              |  1 +
 306-controller_interface.X/ss22ep.mc3         | 76 ++++++++---------
 6 files changed, 169 insertions(+), 41 deletions(-)

diff --git a/306-controller_interface.X/main.c b/306-controller_interface.X/main.c
index d81327c..56c7aa7 100644
--- a/306-controller_interface.X/main.c
+++ b/306-controller_interface.X/main.c
@@ -9,7 +9,6 @@ void main(void)
 {
     // Initialize the device
     SYSTEM_Initialize();
-    
 
     // Disable the Global Interrupts
     // INTERRUPT_GlobalInterruptDisable();
@@ -21,6 +20,7 @@ void main(void)
     Factory_init();
     Factory_build();
     Factory_start();
+    //WWDT_SoftEnable();
 
     // let the XF timers handling become the TMR0 interrupt handler
     // this means that the XF timers are always decremented when the 
@@ -33,6 +33,7 @@ void main(void)
     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
     }
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/nbproject/configurations.xml b/306-controller_interface.X/nbproject/configurations.xml
index 9a8cbd2..d515866 100644
--- a/306-controller_interface.X/nbproject/configurations.xml
+++ b/306-controller_interface.X/nbproject/configurations.xml
@@ -224,6 +224,7 @@
         <property key="debugoptions.useswbreakpoints" value="false"/>
         <property key="event.recorder.enabled" value="false"/>
         <property key="event.recorder.scvd.files" value=""/>
+        <property key="firmware.download.all" value="false"/>
         <property key="hwtoolclock.frcindebug" value="false"/>
         <property key="lastid" value=""/>
         <property key="memories.aux" value="false"/>
diff --git a/306-controller_interface.X/ss22ep.mc3 b/306-controller_interface.X/ss22ep.mc3
index 2f25ff4..cecac1b 100644
--- a/306-controller_interface.X/ss22ep.mc3
+++ b/306-controller_interface.X/ss22ep.mc3
@@ -1948,7 +1948,7 @@
       </entry>
       <entry>
          <key class="com.microchip.mcc.core.tokenManager.CustomKey" moduleName="DMA Manager" name="dmaTable"/>
-         <value>{&quot;dataArray&quot;:[{&quot;DMA Channels&quot;:{&quot;data&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;--NONE--&quot;,&quot;text&quot;:&quot;DMA CHANNEL1&quot;,&quot;value&quot;:&quot;false&quot;},&quot;id&quot;:&quot;DMA Channels_rowCount_0&quot;},&quot;Src Module&quot;:{&quot;data&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;--NONE--,MEMORY,ECAN,TMR0&quot;,&quot;text&quot;:&quot;--NONE--&quot;,&quot;value&quot;:&quot;--NONE--&quot;},&quot;id&quot;:&quot;Src Module_rowCount_0&quot;},&quot;Src Region&quot;:{&quot;data&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;SFR#disabled,GPR#enabled,Program Flash#enabled,Data EEPROM#enabled&quot;,&quot;text&quot;:&quot;GPR&quot;,&quot;value&quot;:&quot;GPR&quot;},&quot;id&quot;:&quot;Src Region_rowCount_0&quot;},&quot;Src SFR&quot;:{&quot;Src SFR&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;&quot;,&quot;text&quot;:&quot;&quot;,&quot;value&quot;:&quot;&quot;},&quot;data&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;&quot;,&quot;text&quot;:&quot;&quot;,&quot;value&quot;:&quot;&quot;},&quot;id&quot;:&quot;Src SFR_rowCount_0&quot;},&quot;Src VarName&quot;:{&quot;data&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;&quot;,&quot;text&quot;:&quot;SrcVarName0&quot;,&quot;value&quot;:&quot;SrcVarName0&quot;},&quot;Src VarName&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;&quot;,&quot;text&quot;:&quot;SrcVarName0&quot;,&quot;value&quot;:&quot;SrcVarName0&quot;},&quot;id&quot;:&quot;Src VarName_rowCount_0&quot;},&quot;Src VarSize&quot;:{&quot;data&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;&quot;,&quot;text&quot;:&quot;10&quot;,&quot;value&quot;:&quot;10&quot;},&quot;id&quot;:&quot;Src VarSize_rowCount_0&quot;,&quot;Src VarSize&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;&quot;,&quot;text&quot;:&quot;10&quot;,&quot;value&quot;:&quot;10&quot;}},&quot;Src Address&quot;:{&quot;data&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;&quot;,&quot;text&quot;:&quot;Enter Address0&quot;,&quot;value&quot;:&quot;Enter Address0&quot;},&quot;id&quot;:&quot;Src Address_rowCount_0&quot;,&quot;Src Address&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;&quot;,&quot;text&quot;:&quot;Enter Address0&quot;,&quot;value&quot;:&quot;Enter Address0&quot;}},&quot;Src Mode&quot;:{&quot;Src Mode&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;decremented,incremented,unchanged&quot;,&quot;text&quot;:&quot;unchanged&quot;,&quot;value&quot;:&quot;unchanged&quot;},&quot;data&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;decremented,incremented,unchanged&quot;,&quot;text&quot;:&quot;unchanged&quot;,&quot;value&quot;:&quot;unchanged&quot;},&quot;id&quot;:&quot;Src Mode_rowCount_0&quot;},&quot;Src Message Size&quot;:{&quot;data&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;&quot;,&quot;text&quot;:&quot;1&quot;,&quot;value&quot;:&quot;1&quot;},&quot;Src Message Size&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;&quot;,&quot;text&quot;:&quot;1&quot;,&quot;value&quot;:&quot;1&quot;},&quot;id&quot;:&quot;Src Message Size_rowCount_0&quot;},&quot;Dst Module&quot;:{&quot;data&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;--NONE--,MEMORY,ECAN,TMR0&quot;,&quot;text&quot;:&quot;--NONE--&quot;,&quot;value&quot;:&quot;--NONE--&quot;},&quot;id&quot;:&quot;Dst Module_rowCount_0&quot;},&quot;Dst Region&quot;:{&quot;data&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;SFR,GPR&quot;,&quot;text&quot;:&quot;GPR&quot;,&quot;value&quot;:&quot;GPR&quot;},&quot;id&quot;:&quot;Dst Region_rowCount_0&quot;},&quot;Dst SFR&quot;:{&quot;Dst SFR&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;&quot;,&quot;text&quot;:&quot;&quot;,&quot;value&quot;:&quot;&quot;},&quot;data&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;&quot;,&quot;text&quot;:&quot;&quot;,&quot;value&quot;:&quot;&quot;},&quot;id&quot;:&quot;Dst SFR_rowCount_0&quot;},&quot;Dst VarName&quot;:{&quot;data&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;&quot;,&quot;text&quot;:&quot;DstVarName0&quot;,&quot;value&quot;:&quot;DstVarName0&quot;},&quot;Dst VarName&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;&quot;,&quot;text&quot;:&quot;DstVarName0&quot;,&quot;value&quot;:&quot;DstVarName0&quot;},&quot;id&quot;:&quot;Dst VarName_rowCount_0&quot;},&quot;Dst VarSize&quot;:{&quot;data&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;&quot;,&quot;text&quot;:&quot;10&quot;,&quot;value&quot;:&quot;10&quot;},&quot;id&quot;:&quot;Dst VarSize_rowCount_0&quot;,&quot;Dst VarSize&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;&quot;,&quot;text&quot;:&quot;10&quot;,&quot;value&quot;:&quot;10&quot;}},&quot;Dst Mode&quot;:{&quot;data&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;decremented,incremented,unchanged&quot;,&quot;text&quot;:&quot;unchanged&quot;,&quot;value&quot;:&quot;unchanged&quot;},&quot;Dst Mode&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;decremented,incremented,unchanged&quot;,&quot;text&quot;:&quot;unchanged&quot;,&quot;value&quot;:&quot;unchanged&quot;},&quot;id&quot;:&quot;Dst Mode_rowCount_0&quot;},&quot;Dst Message Size&quot;:{&quot;data&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;&quot;,&quot;text&quot;:&quot;1&quot;,&quot;value&quot;:&quot;1&quot;},&quot;Dst Message Size&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;&quot;,&quot;text&quot;:&quot;1&quot;,&quot;value&quot;:&quot;1&quot;},&quot;id&quot;:&quot;Dst Message Size_rowCount_0&quot;},&quot;Start Trigger&quot;:{&quot;Start Trigger&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;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&quot;,&quot;text&quot;:&quot;None&quot;,&quot;value&quot;:&quot;None&quot;},&quot;data&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;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&quot;,&quot;text&quot;:&quot;None&quot;,&quot;value&quot;:&quot;None&quot;},&quot;id&quot;:&quot;Start Trigger_rowCount_0&quot;},&quot;Abort Trigger&quot;:{&quot;data&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;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&quot;,&quot;text&quot;:&quot;None&quot;,&quot;value&quot;:&quot;None&quot;},&quot;id&quot;:&quot;Abort Trigger_rowCount_0&quot;,&quot;Abort Trigger&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;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&quot;,&quot;text&quot;:&quot;None&quot;,&quot;value&quot;:&quot;None&quot;}}},{&quot;DMA Channels&quot;:{&quot;data&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;--NONE--&quot;,&quot;text&quot;:&quot;DMA CHANNEL2&quot;,&quot;value&quot;:&quot;false&quot;},&quot;id&quot;:&quot;DMA Channels_rowCount_1&quot;},&quot;Src Module&quot;:{&quot;data&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;--NONE--,MEMORY,ECAN,TMR0&quot;,&quot;text&quot;:&quot;--NONE--&quot;,&quot;value&quot;:&quot;--NONE--&quot;},&quot;id&quot;:&quot;Src Module_rowCount_1&quot;},&quot;Src Region&quot;:{&quot;data&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;SFR#disabled,GPR#enabled,Program Flash#enabled,Data EEPROM#enabled&quot;,&quot;text&quot;:&quot;GPR&quot;,&quot;value&quot;:&quot;GPR&quot;},&quot;id&quot;:&quot;Src Region_rowCount_1&quot;},&quot;Src SFR&quot;:{&quot;Src SFR&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;&quot;,&quot;text&quot;:&quot;&quot;,&quot;value&quot;:&quot;&quot;},&quot;data&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;&quot;,&quot;text&quot;:&quot;&quot;,&quot;value&quot;:&quot;&quot;},&quot;id&quot;:&quot;Src SFR_rowCount_1&quot;},&quot;Src VarName&quot;:{&quot;data&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;&quot;,&quot;text&quot;:&quot;SrcVarName1&quot;,&quot;value&quot;:&quot;SrcVarName1&quot;},&quot;Src VarName&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;&quot;,&quot;text&quot;:&quot;SrcVarName1&quot;,&quot;value&quot;:&quot;SrcVarName1&quot;},&quot;id&quot;:&quot;Src VarName_rowCount_1&quot;},&quot;Src VarSize&quot;:{&quot;data&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;&quot;,&quot;text&quot;:&quot;10&quot;,&quot;value&quot;:&quot;10&quot;},&quot;id&quot;:&quot;Src VarSize_rowCount_1&quot;,&quot;Src VarSize&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;&quot;,&quot;text&quot;:&quot;10&quot;,&quot;value&quot;:&quot;10&quot;}},&quot;Src Address&quot;:{&quot;data&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;&quot;,&quot;text&quot;:&quot;Enter Address1&quot;,&quot;value&quot;:&quot;Enter Address1&quot;},&quot;id&quot;:&quot;Src Address_rowCount_1&quot;,&quot;Src Address&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;&quot;,&quot;text&quot;:&quot;Enter Address1&quot;,&quot;value&quot;:&quot;Enter Address1&quot;}},&quot;Src Mode&quot;:{&quot;Src Mode&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;decremented,incremented,unchanged&quot;,&quot;text&quot;:&quot;unchanged&quot;,&quot;value&quot;:&quot;unchanged&quot;},&quot;data&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;decremented,incremented,unchanged&quot;,&quot;text&quot;:&quot;unchanged&quot;,&quot;value&quot;:&quot;unchanged&quot;},&quot;id&quot;:&quot;Src Mode_rowCount_1&quot;},&quot;Src Message Size&quot;:{&quot;data&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;&quot;,&quot;text&quot;:&quot;1&quot;,&quot;value&quot;:&quot;1&quot;},&quot;Src Message Size&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;&quot;,&quot;text&quot;:&quot;1&quot;,&quot;value&quot;:&quot;1&quot;},&quot;id&quot;:&quot;Src Message Size_rowCount_1&quot;},&quot;Dst Module&quot;:{&quot;data&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;--NONE--,MEMORY,ECAN,TMR0&quot;,&quot;text&quot;:&quot;--NONE--&quot;,&quot;value&quot;:&quot;--NONE--&quot;},&quot;id&quot;:&quot;Dst Module_rowCount_1&quot;},&quot;Dst Region&quot;:{&quot;data&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;SFR,GPR&quot;,&quot;text&quot;:&quot;GPR&quot;,&quot;value&quot;:&quot;GPR&quot;},&quot;id&quot;:&quot;Dst Region_rowCount_1&quot;},&quot;Dst SFR&quot;:{&quot;Dst SFR&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;&quot;,&quot;text&quot;:&quot;&quot;,&quot;value&quot;:&quot;&quot;},&quot;data&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;&quot;,&quot;text&quot;:&quot;&quot;,&quot;value&quot;:&quot;&quot;},&quot;id&quot;:&quot;Dst SFR_rowCount_1&quot;},&quot;Dst VarName&quot;:{&quot;data&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;&quot;,&quot;text&quot;:&quot;DstVarName1&quot;,&quot;value&quot;:&quot;DstVarName1&quot;},&quot;Dst VarName&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;&quot;,&quot;text&quot;:&quot;DstVarName1&quot;,&quot;value&quot;:&quot;DstVarName1&quot;},&quot;id&quot;:&quot;Dst VarName_rowCount_1&quot;},&quot;Dst VarSize&quot;:{&quot;data&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;&quot;,&quot;text&quot;:&quot;10&quot;,&quot;value&quot;:&quot;10&quot;},&quot;id&quot;:&quot;Dst VarSize_rowCount_1&quot;,&quot;Dst VarSize&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;&quot;,&quot;text&quot;:&quot;10&quot;,&quot;value&quot;:&quot;10&quot;}},&quot;Dst Mode&quot;:{&quot;data&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;decremented,incremented,unchanged&quot;,&quot;text&quot;:&quot;unchanged&quot;,&quot;value&quot;:&quot;unchanged&quot;},&quot;Dst Mode&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;decremented,incremented,unchanged&quot;,&quot;text&quot;:&quot;unchanged&quot;,&quot;value&quot;:&quot;unchanged&quot;},&quot;id&quot;:&quot;Dst Mode_rowCount_1&quot;},&quot;Dst Message Size&quot;:{&quot;data&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;&quot;,&quot;text&quot;:&quot;1&quot;,&quot;value&quot;:&quot;1&quot;},&quot;Dst Message Size&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;&quot;,&quot;text&quot;:&quot;1&quot;,&quot;value&quot;:&quot;1&quot;},&quot;id&quot;:&quot;Dst Message Size_rowCount_1&quot;},&quot;Start Trigger&quot;:{&quot;Start Trigger&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;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&quot;,&quot;text&quot;:&quot;None&quot;,&quot;value&quot;:&quot;None&quot;},&quot;data&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;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&quot;,&quot;text&quot;:&quot;None&quot;,&quot;value&quot;:&quot;None&quot;},&quot;id&quot;:&quot;Start Trigger_rowCount_1&quot;},&quot;Abort Trigger&quot;:{&quot;data&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;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&quot;,&quot;text&quot;:&quot;None&quot;,&quot;value&quot;:&quot;None&quot;},&quot;id&quot;:&quot;Abort Trigger_rowCount_1&quot;,&quot;Abort Trigger&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;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&quot;,&quot;text&quot;:&quot;None&quot;,&quot;value&quot;:&quot;None&quot;}}}],&quot;type&quot;:&quot;tableDynamicControls&quot;,&quot;key&quot;:&quot;dmaTable&quot;}</value>
+         <value>{&quot;dataArray&quot;:[{&quot;DMA Channels&quot;:{&quot;data&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;--NONE--&quot;,&quot;text&quot;:&quot;DMA CHANNEL1&quot;,&quot;value&quot;:&quot;false&quot;},&quot;id&quot;:&quot;DMA Channels_rowCount_0&quot;},&quot;Src Module&quot;:{&quot;data&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;--NONE--,TMR0,MEMORY,ECAN&quot;,&quot;text&quot;:&quot;--NONE--&quot;,&quot;value&quot;:&quot;--NONE--&quot;},&quot;id&quot;:&quot;Src Module_rowCount_0&quot;},&quot;Src Region&quot;:{&quot;data&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;SFR#disabled,GPR#enabled,Program Flash#enabled,Data EEPROM#enabled&quot;,&quot;text&quot;:&quot;GPR&quot;,&quot;value&quot;:&quot;GPR&quot;},&quot;id&quot;:&quot;Src Region_rowCount_0&quot;},&quot;Src SFR&quot;:{&quot;Src SFR&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;&quot;,&quot;text&quot;:&quot;&quot;,&quot;value&quot;:&quot;&quot;},&quot;data&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;&quot;,&quot;text&quot;:&quot;&quot;,&quot;value&quot;:&quot;&quot;},&quot;id&quot;:&quot;Src SFR_rowCount_0&quot;},&quot;Src VarName&quot;:{&quot;data&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;&quot;,&quot;text&quot;:&quot;SrcVarName0&quot;,&quot;value&quot;:&quot;SrcVarName0&quot;},&quot;Src VarName&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;&quot;,&quot;text&quot;:&quot;SrcVarName0&quot;,&quot;value&quot;:&quot;SrcVarName0&quot;},&quot;id&quot;:&quot;Src VarName_rowCount_0&quot;},&quot;Src VarSize&quot;:{&quot;data&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;&quot;,&quot;text&quot;:&quot;10&quot;,&quot;value&quot;:&quot;10&quot;},&quot;id&quot;:&quot;Src VarSize_rowCount_0&quot;,&quot;Src VarSize&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;&quot;,&quot;text&quot;:&quot;10&quot;,&quot;value&quot;:&quot;10&quot;}},&quot;Src Address&quot;:{&quot;data&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;&quot;,&quot;text&quot;:&quot;Enter Address0&quot;,&quot;value&quot;:&quot;Enter Address0&quot;},&quot;id&quot;:&quot;Src Address_rowCount_0&quot;,&quot;Src Address&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;&quot;,&quot;text&quot;:&quot;Enter Address0&quot;,&quot;value&quot;:&quot;Enter Address0&quot;}},&quot;Src Mode&quot;:{&quot;Src Mode&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;decremented,incremented,unchanged&quot;,&quot;text&quot;:&quot;unchanged&quot;,&quot;value&quot;:&quot;unchanged&quot;},&quot;data&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;decremented,incremented,unchanged&quot;,&quot;text&quot;:&quot;unchanged&quot;,&quot;value&quot;:&quot;unchanged&quot;},&quot;id&quot;:&quot;Src Mode_rowCount_0&quot;},&quot;Src Message Size&quot;:{&quot;data&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;&quot;,&quot;text&quot;:&quot;1&quot;,&quot;value&quot;:&quot;1&quot;},&quot;Src Message Size&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;&quot;,&quot;text&quot;:&quot;1&quot;,&quot;value&quot;:&quot;1&quot;},&quot;id&quot;:&quot;Src Message Size_rowCount_0&quot;},&quot;Dst Module&quot;:{&quot;data&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;--NONE--,TMR0,MEMORY,ECAN&quot;,&quot;text&quot;:&quot;--NONE--&quot;,&quot;value&quot;:&quot;--NONE--&quot;},&quot;id&quot;:&quot;Dst Module_rowCount_0&quot;},&quot;Dst Region&quot;:{&quot;data&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;SFR,GPR&quot;,&quot;text&quot;:&quot;GPR&quot;,&quot;value&quot;:&quot;GPR&quot;},&quot;id&quot;:&quot;Dst Region_rowCount_0&quot;},&quot;Dst SFR&quot;:{&quot;Dst SFR&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;&quot;,&quot;text&quot;:&quot;&quot;,&quot;value&quot;:&quot;&quot;},&quot;data&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;&quot;,&quot;text&quot;:&quot;&quot;,&quot;value&quot;:&quot;&quot;},&quot;id&quot;:&quot;Dst SFR_rowCount_0&quot;},&quot;Dst VarName&quot;:{&quot;data&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;&quot;,&quot;text&quot;:&quot;DstVarName0&quot;,&quot;value&quot;:&quot;DstVarName0&quot;},&quot;Dst VarName&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;&quot;,&quot;text&quot;:&quot;DstVarName0&quot;,&quot;value&quot;:&quot;DstVarName0&quot;},&quot;id&quot;:&quot;Dst VarName_rowCount_0&quot;},&quot;Dst VarSize&quot;:{&quot;data&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;&quot;,&quot;text&quot;:&quot;10&quot;,&quot;value&quot;:&quot;10&quot;},&quot;id&quot;:&quot;Dst VarSize_rowCount_0&quot;,&quot;Dst VarSize&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;&quot;,&quot;text&quot;:&quot;10&quot;,&quot;value&quot;:&quot;10&quot;}},&quot;Dst Mode&quot;:{&quot;data&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;decremented,incremented,unchanged&quot;,&quot;text&quot;:&quot;unchanged&quot;,&quot;value&quot;:&quot;unchanged&quot;},&quot;Dst Mode&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;decremented,incremented,unchanged&quot;,&quot;text&quot;:&quot;unchanged&quot;,&quot;value&quot;:&quot;unchanged&quot;},&quot;id&quot;:&quot;Dst Mode_rowCount_0&quot;},&quot;Dst Message Size&quot;:{&quot;data&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;&quot;,&quot;text&quot;:&quot;1&quot;,&quot;value&quot;:&quot;1&quot;},&quot;Dst Message Size&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;&quot;,&quot;text&quot;:&quot;1&quot;,&quot;value&quot;:&quot;1&quot;},&quot;id&quot;:&quot;Dst Message Size_rowCount_0&quot;},&quot;Start Trigger&quot;:{&quot;Start Trigger&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;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&quot;,&quot;text&quot;:&quot;None&quot;,&quot;value&quot;:&quot;None&quot;},&quot;data&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;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&quot;,&quot;text&quot;:&quot;None&quot;,&quot;value&quot;:&quot;None&quot;},&quot;id&quot;:&quot;Start Trigger_rowCount_0&quot;},&quot;Abort Trigger&quot;:{&quot;data&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;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&quot;,&quot;text&quot;:&quot;None&quot;,&quot;value&quot;:&quot;None&quot;},&quot;id&quot;:&quot;Abort Trigger_rowCount_0&quot;,&quot;Abort Trigger&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;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&quot;,&quot;text&quot;:&quot;None&quot;,&quot;value&quot;:&quot;None&quot;}}},{&quot;DMA Channels&quot;:{&quot;data&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;--NONE--&quot;,&quot;text&quot;:&quot;DMA CHANNEL2&quot;,&quot;value&quot;:&quot;false&quot;},&quot;id&quot;:&quot;DMA Channels_rowCount_1&quot;},&quot;Src Module&quot;:{&quot;data&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;--NONE--,TMR0,MEMORY,ECAN&quot;,&quot;text&quot;:&quot;--NONE--&quot;,&quot;value&quot;:&quot;--NONE--&quot;},&quot;id&quot;:&quot;Src Module_rowCount_1&quot;},&quot;Src Region&quot;:{&quot;data&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;SFR#disabled,GPR#enabled,Program Flash#enabled,Data EEPROM#enabled&quot;,&quot;text&quot;:&quot;GPR&quot;,&quot;value&quot;:&quot;GPR&quot;},&quot;id&quot;:&quot;Src Region_rowCount_1&quot;},&quot;Src SFR&quot;:{&quot;Src SFR&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;&quot;,&quot;text&quot;:&quot;&quot;,&quot;value&quot;:&quot;&quot;},&quot;data&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;&quot;,&quot;text&quot;:&quot;&quot;,&quot;value&quot;:&quot;&quot;},&quot;id&quot;:&quot;Src SFR_rowCount_1&quot;},&quot;Src VarName&quot;:{&quot;data&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;&quot;,&quot;text&quot;:&quot;SrcVarName1&quot;,&quot;value&quot;:&quot;SrcVarName1&quot;},&quot;Src VarName&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;&quot;,&quot;text&quot;:&quot;SrcVarName1&quot;,&quot;value&quot;:&quot;SrcVarName1&quot;},&quot;id&quot;:&quot;Src VarName_rowCount_1&quot;},&quot;Src VarSize&quot;:{&quot;data&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;&quot;,&quot;text&quot;:&quot;10&quot;,&quot;value&quot;:&quot;10&quot;},&quot;id&quot;:&quot;Src VarSize_rowCount_1&quot;,&quot;Src VarSize&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;&quot;,&quot;text&quot;:&quot;10&quot;,&quot;value&quot;:&quot;10&quot;}},&quot;Src Address&quot;:{&quot;data&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;&quot;,&quot;text&quot;:&quot;Enter Address1&quot;,&quot;value&quot;:&quot;Enter Address1&quot;},&quot;id&quot;:&quot;Src Address_rowCount_1&quot;,&quot;Src Address&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;&quot;,&quot;text&quot;:&quot;Enter Address1&quot;,&quot;value&quot;:&quot;Enter Address1&quot;}},&quot;Src Mode&quot;:{&quot;Src Mode&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;decremented,incremented,unchanged&quot;,&quot;text&quot;:&quot;unchanged&quot;,&quot;value&quot;:&quot;unchanged&quot;},&quot;data&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;decremented,incremented,unchanged&quot;,&quot;text&quot;:&quot;unchanged&quot;,&quot;value&quot;:&quot;unchanged&quot;},&quot;id&quot;:&quot;Src Mode_rowCount_1&quot;},&quot;Src Message Size&quot;:{&quot;data&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;&quot;,&quot;text&quot;:&quot;1&quot;,&quot;value&quot;:&quot;1&quot;},&quot;Src Message Size&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;&quot;,&quot;text&quot;:&quot;1&quot;,&quot;value&quot;:&quot;1&quot;},&quot;id&quot;:&quot;Src Message Size_rowCount_1&quot;},&quot;Dst Module&quot;:{&quot;data&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;--NONE--,TMR0,MEMORY,ECAN&quot;,&quot;text&quot;:&quot;--NONE--&quot;,&quot;value&quot;:&quot;--NONE--&quot;},&quot;id&quot;:&quot;Dst Module_rowCount_1&quot;},&quot;Dst Region&quot;:{&quot;data&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;SFR,GPR&quot;,&quot;text&quot;:&quot;GPR&quot;,&quot;value&quot;:&quot;GPR&quot;},&quot;id&quot;:&quot;Dst Region_rowCount_1&quot;},&quot;Dst SFR&quot;:{&quot;Dst SFR&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;&quot;,&quot;text&quot;:&quot;&quot;,&quot;value&quot;:&quot;&quot;},&quot;data&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;&quot;,&quot;text&quot;:&quot;&quot;,&quot;value&quot;:&quot;&quot;},&quot;id&quot;:&quot;Dst SFR_rowCount_1&quot;},&quot;Dst VarName&quot;:{&quot;data&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;&quot;,&quot;text&quot;:&quot;DstVarName1&quot;,&quot;value&quot;:&quot;DstVarName1&quot;},&quot;Dst VarName&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;&quot;,&quot;text&quot;:&quot;DstVarName1&quot;,&quot;value&quot;:&quot;DstVarName1&quot;},&quot;id&quot;:&quot;Dst VarName_rowCount_1&quot;},&quot;Dst VarSize&quot;:{&quot;data&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;&quot;,&quot;text&quot;:&quot;10&quot;,&quot;value&quot;:&quot;10&quot;},&quot;id&quot;:&quot;Dst VarSize_rowCount_1&quot;,&quot;Dst VarSize&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;&quot;,&quot;text&quot;:&quot;10&quot;,&quot;value&quot;:&quot;10&quot;}},&quot;Dst Mode&quot;:{&quot;data&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;decremented,incremented,unchanged&quot;,&quot;text&quot;:&quot;unchanged&quot;,&quot;value&quot;:&quot;unchanged&quot;},&quot;Dst Mode&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;decremented,incremented,unchanged&quot;,&quot;text&quot;:&quot;unchanged&quot;,&quot;value&quot;:&quot;unchanged&quot;},&quot;id&quot;:&quot;Dst Mode_rowCount_1&quot;},&quot;Dst Message Size&quot;:{&quot;data&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;&quot;,&quot;text&quot;:&quot;1&quot;,&quot;value&quot;:&quot;1&quot;},&quot;Dst Message Size&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;&quot;,&quot;text&quot;:&quot;1&quot;,&quot;value&quot;:&quot;1&quot;},&quot;id&quot;:&quot;Dst Message Size_rowCount_1&quot;},&quot;Start Trigger&quot;:{&quot;Start Trigger&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;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&quot;,&quot;text&quot;:&quot;None&quot;,&quot;value&quot;:&quot;None&quot;},&quot;data&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;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&quot;,&quot;text&quot;:&quot;None&quot;,&quot;value&quot;:&quot;None&quot;},&quot;id&quot;:&quot;Start Trigger_rowCount_1&quot;},&quot;Abort Trigger&quot;:{&quot;data&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;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&quot;,&quot;text&quot;:&quot;None&quot;,&quot;value&quot;:&quot;None&quot;},&quot;id&quot;:&quot;Abort Trigger_rowCount_1&quot;,&quot;Abort Trigger&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;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&quot;,&quot;text&quot;:&quot;None&quot;,&quot;value&quot;:&quot;None&quot;}}}],&quot;type&quot;:&quot;tableDynamicControls&quot;,&quot;key&quot;:&quot;dmaTable&quot;}</value>
       </entry>
       <entry>
          <key class="com.microchip.mcc.core.tokenManager.CustomKey" moduleName="ECAN" name="ECAN_ERRIISRFunction"/>
@@ -16508,7 +16508,7 @@
       </entry>
       <entry>
          <key class="com.microchip.mcc.core.tokenManager.RegisterKey" moduleName="System Module" registerAlias="CONFIG3L"/>
-         <value>31</value>
+         <value>38</value>
       </entry>
       <entry>
          <key class="com.microchip.mcc.core.tokenManager.RegisterKey" moduleName="System Module" registerAlias="CONFIG4H"/>
@@ -16604,11 +16604,11 @@
       </entry>
       <entry>
          <key class="com.microchip.mcc.core.tokenManager.SettingKey" moduleName="System Module" registerAlias="CONFIG3L" settingAlias="WDTCPS"/>
-         <value>WDTCPS_31</value>
+         <value>WDTCPS_6</value>
       </entry>
       <entry>
          <key class="com.microchip.mcc.core.tokenManager.SettingKey" moduleName="System Module" registerAlias="CONFIG3L" settingAlias="WDTE"/>
-         <value>OFF</value>
+         <value>SWDTEN</value>
       </entry>
       <entry>
          <key class="com.microchip.mcc.core.tokenManager.SettingKey" moduleName="System Module" registerAlias="CONFIG4H" settingAlias="LVP"/>
@@ -16976,7 +16976,7 @@
       </entry>
       <entry>
          <key class="com.microchip.mcc.core.tokenManager.CustomKey" moduleName="WWDT" name="wwdtPeriod"/>
-         <value>2.11406</value>
+         <value>0.06606</value>
       </entry>
       <entry>
          <key class="com.microchip.mcc.core.tokenManager.OptionKey" moduleName="WWDT" registerAlias="PCON" settingAlias="nRWDT" alias="WDT reset has not occurred"/>
@@ -17159,54 +17159,34 @@
          <value>Window delay time 87.5%</value>
       </entry>
    </tokenMap>
-   <generatedFileHashHistoryMap class="java.util.TreeMap">
+   <generatedFileHashHistoryMap class="java.util.HashMap">
       <entry>
-         <file>main.c</file>
-         <hash>cae37ae3b36cf22e97e106633433f5c00a66dd5d38ec353eb67fbbb0d88bde4d</hash>
-      </entry>
-      <entry>
-         <file>mcc_generated_files\device_config.c</file>
-         <hash>39a6d1181ef5eab59c7dde2c52a9ea889465d4da43262200f3322abc45e77739</hash>
+         <file>mcc_generated_files\mcc.h</file>
+         <hash>7dd04034216f3c639fcfb88387572f995d54189bb8fb587a3401371ec2651c65</hash>
       </entry>
       <entry>
          <file>mcc_generated_files\device_config.h</file>
          <hash>89c6172ff575ce515b93f2fbc85dcedc2978e58a8e0e1fbdc52e42511ae3bc05</hash>
       </entry>
-      <entry>
-         <file>mcc_generated_files\ecan.c</file>
-         <hash>ea62f50d319e1e537d7632774728ad6a779f442e896d043dbdea8066d028a6c6</hash>
-      </entry>
-      <entry>
-         <file>mcc_generated_files\ecan.h</file>
-         <hash>aa9a50aae81bab76b876ea6123777af7d6a6d0a58fe953be27e8b88776395b2e</hash>
-      </entry>
-      <entry>
-         <file>mcc_generated_files\interrupt_manager.c</file>
-         <hash>df04edcd2c7d85ef90a8dbe4e46f1b1c9487b872153f4f2321249a4ce0d9635f</hash>
-      </entry>
       <entry>
          <file>mcc_generated_files\interrupt_manager.h</file>
          <hash>9c2f1ae45f2ac887bb3e8b3763e1a394a6a22ffe4e9ae1c20c336fe6f12da1aa</hash>
       </entry>
-      <entry>
-         <file>mcc_generated_files\mcc.c</file>
-         <hash>cc9ed44843b509879e6a3f676b561ecde91e1df88d855cf7eca77e1afc8920ca</hash>
-      </entry>
-      <entry>
-         <file>mcc_generated_files\mcc.h</file>
-         <hash>a2db7e36e878f686c2bf0c2ef586ef1c6570fa2f27119b4be7b52af6403091a4</hash>
-      </entry>
       <entry>
          <file>mcc_generated_files\memory.c</file>
          <hash>17fb4759c4719b77287f6c4be48edfbcf117b5b8398b771c434f23aceac256e0</hash>
       </entry>
       <entry>
-         <file>mcc_generated_files\memory.h</file>
-         <hash>fbbca4e9d7ce92ddcc637d82b694a1f5cbefa75710a8a18bb1dc9ab5161f0924</hash>
+         <file>mcc_generated_files\tmr0.h</file>
+         <hash>6661ab783aae9f11e952805f9bca14209ec06551939552123056eefd5524fff8</hash>
       </entry>
       <entry>
-         <file>mcc_generated_files\pin_manager.c</file>
-         <hash>04b16a3d3fcbbb333ee6fb545a405b76aba47ef3935be548bf2b8165c43c5654</hash>
+         <file>main.c</file>
+         <hash>cae37ae3b36cf22e97e106633433f5c00a66dd5d38ec353eb67fbbb0d88bde4d</hash>
+      </entry>
+      <entry>
+         <file>mcc_generated_files\device_config.c</file>
+         <hash>ac2a2ad923df635be3b193de8878c95bc16cfb8c91d37b98c4c1a4a1e0e6b990</hash>
       </entry>
       <entry>
          <file>mcc_generated_files\pin_manager.h</file>
@@ -17217,8 +17197,28 @@
          <hash>e0b4d075e819024ae77ea60a2c01182fdca45b783980cb50358d0a614736339d</hash>
       </entry>
       <entry>
-         <file>mcc_generated_files\tmr0.h</file>
-         <hash>6661ab783aae9f11e952805f9bca14209ec06551939552123056eefd5524fff8</hash>
+         <file>mcc_generated_files\pin_manager.c</file>
+         <hash>04b16a3d3fcbbb333ee6fb545a405b76aba47ef3935be548bf2b8165c43c5654</hash>
+      </entry>
+      <entry>
+         <file>mcc_generated_files\ecan.c</file>
+         <hash>ea62f50d319e1e537d7632774728ad6a779f442e896d043dbdea8066d028a6c6</hash>
+      </entry>
+      <entry>
+         <file>mcc_generated_files\mcc.c</file>
+         <hash>a1b3e2d6ddc04b8a97973fcb818a7243d9723f4763c2c496b4b2eb1aa06ad645</hash>
+      </entry>
+      <entry>
+         <file>mcc_generated_files\interrupt_manager.c</file>
+         <hash>df04edcd2c7d85ef90a8dbe4e46f1b1c9487b872153f4f2321249a4ce0d9635f</hash>
+      </entry>
+      <entry>
+         <file>mcc_generated_files\memory.h</file>
+         <hash>fbbca4e9d7ce92ddcc637d82b694a1f5cbefa75710a8a18bb1dc9ab5161f0924</hash>
+      </entry>
+      <entry>
+         <file>mcc_generated_files\ecan.h</file>
+         <hash>aa9a50aae81bab76b876ea6123777af7d6a6d0a58fe953be27e8b88776395b2e</hash>
       </entry>
    </generatedFileHashHistoryMap>
 </config>
\ No newline at end of file

From 8cec88d658035bfbfdff2ffb00f9ade794df5268 Mon Sep 17 00:00:00 2001
From: Klagarge <remi@heredero.ch>
Date: Tue, 5 Sep 2023 17:43:12 +0200
Subject: [PATCH 15/31] fix somes values

---
 306-controller_interface.X/app/can_message.c | 11 ++++-------
 306-controller_interface.X/app/drive.c       |  2 +-
 306-controller_interface.X/app/eeprom.c      |  4 ++--
 306-controller_interface.X/app/kartculator.c |  4 ++++
 306-controller_interface.X/app/steering.c    | 13 +++++++++----
 5 files changed, 20 insertions(+), 14 deletions(-)

diff --git a/306-controller_interface.X/app/can_message.c b/306-controller_interface.X/app/can_message.c
index 2b812b1..5703115 100644
--- a/306-controller_interface.X/app/can_message.c
+++ b/306-controller_interface.X/app/can_message.c
@@ -97,7 +97,7 @@ 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(&ALWAYSFALSE);
+                CM_STEERING_SETUP(&ALWAYS0);
                 
             }
             
@@ -161,6 +161,7 @@ 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());
                 
             }
             
@@ -225,6 +226,7 @@ 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
@@ -232,11 +234,6 @@ void CM_processIncome(uint8_t idSender, uint8_t idMsg, bool rtr, uint32_t data){
                 
             }
             
-            if(idMsg == 0x3) { // STEERING_READY
-                //  -   -   -   -
-                
-            }
-            
             if(idMsg == 0xF) { // STEERING_ALIVE
                 //  statusH statusL -   -
                 ALIVE_ISALIVE(&steering()->myChecker);
@@ -340,7 +337,7 @@ 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;
diff --git a/306-controller_interface.X/app/drive.c b/306-controller_interface.X/app/drive.c
index 7cf4373..70d5adf 100644
--- a/306-controller_interface.X/app/drive.c
+++ b/306-controller_interface.X/app/drive.c
@@ -24,7 +24,7 @@ void DRIVE_init(DRIVE* me){
 }
 
 void DRIVE_startBehaviour(DRIVE* me){
-    POST(me, &DRIVE_processEvent, evDRinit, 100, 0);
+    POST(me, &DRIVE_processEvent, evDRinit, 3000, 0);
 }
 
 bool DRIVE_processEvent(Event* ev) {
diff --git a/306-controller_interface.X/app/eeprom.c b/306-controller_interface.X/app/eeprom.c
index 4efdbf8..013c1b9 100644
--- a/306-controller_interface.X/app/eeprom.c
+++ b/306-controller_interface.X/app/eeprom.c
@@ -24,10 +24,10 @@ 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      =   250; // 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;
         
diff --git a/306-controller_interface.X/app/kartculator.c b/306-controller_interface.X/app/kartculator.c
index 88a490b..aa43fef 100644
--- a/306-controller_interface.X/app/kartculator.c
+++ b/306-controller_interface.X/app/kartculator.c
@@ -18,6 +18,10 @@ void calcTorque(uint8_t joy_pos) {
 void calcPosition(uint8_t joy_pos){
     int32_t calcPosition;
     calcPosition = (int8_t) joy_pos;
+    calcPosition *= (int32_t) KART_CST.CONTROL_STEERING_FACTOR;
+    calcPosition /= 1000;
+    calcPosition += eKart.center;
+    eKart.position = (uint32_t) calcPosition;
 }
 
 void calcSpeed(int32_t rpm) {
diff --git a/306-controller_interface.X/app/steering.c b/306-controller_interface.X/app/steering.c
index 74fa712..45c7648 100644
--- a/306-controller_interface.X/app/steering.c
+++ b/306-controller_interface.X/app/steering.c
@@ -10,20 +10,26 @@
 #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, &ALWAYSFALSE);
+    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, STEERING_emitResurrect, me);
+    ALIVE_onBorn(&me->myChecker, alive_born, me);
     me->wait.f = NULL;
     me->run.f = NULL;
     me->dead.f = NULL;
 }
 
 void STEERING_startBehaviour(STEERING* me){
-    POST(me, &STEERING_processEvent, evSTinit, 100, 0);
+    POST(me, &STEERING_processEvent, evSTinit, 3000, 0);
 }
 
 bool STEERING_processEvent(Event* ev) {
@@ -94,7 +100,6 @@ bool STEERING_processEvent(Event* ev) {
                 }
                 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:

From 628bbd78250792acefeed5103c78ec13b9e8e641 Mon Sep 17 00:00:00 2001
From: Klagarge <remi@heredero.ch>
Date: Tue, 5 Sep 2023 17:43:26 +0200
Subject: [PATCH 16/31] add bietfield for steering

---
 306-controller_interface.X/app/can_message.c | 34 ++++++++++++++++++++
 1 file changed, 34 insertions(+)

diff --git a/306-controller_interface.X/app/can_message.c b/306-controller_interface.X/app/can_message.c
index 5703115..ad7d86c 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){
         
@@ -241,7 +268,14 @@ void CM_processIncome(uint8_t idSender, uint8_t idMsg, bool rtr, uint32_t data){
                     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;

From 47bc51ac6869715b775bbc1d88969194e240f92a Mon Sep 17 00:00:00 2001
From: Klagarge <remi@heredero.ch>
Date: Tue, 5 Sep 2023 17:43:41 +0200
Subject: [PATCH 17/31] reset can flags and flush buffer

---
 306-controller_interface.X/main.c | 33 +++++++++++++++----------------
 1 file changed, 16 insertions(+), 17 deletions(-)

diff --git a/306-controller_interface.X/main.c b/306-controller_interface.X/main.c
index 56c7aa7..c5d1467 100644
--- a/306-controller_interface.X/main.c
+++ b/306-controller_interface.X/main.c
@@ -2,39 +2,38 @@
 #include "xf/xf.h"
 #include "app/factory/factory.h"
 
-/*
- * the main function
- */
 void main(void)
 {
-    // Initialize the device
+    
     SYSTEM_Initialize();
 
-    // Disable the Global Interrupts
-    // INTERRUPT_GlobalInterruptDisable();
-    
-    // initialize the XF
     XF_init();
     
-    // produce the system
     Factory_init();
     Factory_build();
     Factory_start();
     //WWDT_SoftEnable();
-
-    // let the XF timers handling become the TMR0 interrupt handler
-    // this means that the XF timers are always decremented when the 
-    // TMR0 is interrupting. Important: Set the TICKINTERVAL define in 
-    //the xf.h file to the same value as the TMR0 value. 
+    
     TMR0_SetInterruptHandler(XF_decrementAndQueueTimers);
-    // Enable the Global Interrupts
+    
+    
+    ECAN_Initialize();
+    RXB0CONbits.RXFUL = 0;
+    RXB1CONbits.RXFUL = 0;
+    B0CONbits.RXFUL = 0;
+    B1CONbits.RXFUL = 0;
+    B2CONbits.RXFUL = 0;
+    B3CONbits.RXFUL = 0;
+    B4CONbits.RXFUL = 0;
+    B5CONbits.RXFUL = 0;
+    PIR5bits.RXBnIF = 0;
     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

From ad9e73f2ebf8cff789a4c302ef2bd79c227f00a8 Mon Sep 17 00:00:00 2001
From: Klagarge <remi@heredero.ch>
Date: Tue, 5 Sep 2023 18:41:37 +0200
Subject: [PATCH 18/31] change way for steering to be ready

---
 306-controller_interface.X/app/can_message.c |  4 ++--
 306-controller_interface.X/main.c            | 11 -----------
 2 files changed, 2 insertions(+), 13 deletions(-)

diff --git a/306-controller_interface.X/app/can_message.c b/306-controller_interface.X/app/can_message.c
index ad7d86c..53e18c3 100644
--- a/306-controller_interface.X/app/can_message.c
+++ b/306-controller_interface.X/app/can_message.c
@@ -268,11 +268,11 @@ void CM_processIncome(uint8_t idSender, uint8_t idMsg, bool rtr, uint32_t data){
                     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);
+                    //ALIVE_emitReady(&steering()->myChecker, 5000, 0);
                 }
                 if(bField.bitSplit.b4) {
                     if (steering()->myChecker.state == STAL_BORN){
-                        //ALIVE_emitReady(&steering()->myChecker, 1000, 0);
+                        ALIVE_emitReady(&steering()->myChecker, 1000, 0);
                     }
                 }
                 
diff --git a/306-controller_interface.X/main.c b/306-controller_interface.X/main.c
index c5d1467..942aae9 100644
--- a/306-controller_interface.X/main.c
+++ b/306-controller_interface.X/main.c
@@ -16,17 +16,6 @@ void main(void)
     
     TMR0_SetInterruptHandler(XF_decrementAndQueueTimers);
     
-    
-    ECAN_Initialize();
-    RXB0CONbits.RXFUL = 0;
-    RXB1CONbits.RXFUL = 0;
-    B0CONbits.RXFUL = 0;
-    B1CONbits.RXFUL = 0;
-    B2CONbits.RXFUL = 0;
-    B3CONbits.RXFUL = 0;
-    B4CONbits.RXFUL = 0;
-    B5CONbits.RXFUL = 0;
-    PIR5bits.RXBnIF = 0;
     INTERRUPT_GlobalInterruptEnable();
 
     while (1)

From abbeda177d9fa61ae3982cee15a8778e6ef116c2 Mon Sep 17 00:00:00 2001
From: Klagarge <remi@heredero.ch>
Date: Tue, 5 Sep 2023 20:01:23 +0200
Subject: [PATCH 19/31] update busmater

---
 busmaster_config.cfx | 105 ++++++++++++++++++++++++++++++++-----------
 1 file changed, 78 insertions(+), 27 deletions(-)

diff --git a/busmaster_config.cfx b/busmaster_config.cfx
index d41b117..b14d828 100644
--- a/busmaster_config.cfx
+++ b/busmaster_config.cfx
@@ -18,7 +18,7 @@
     <Window_Position>
       <Visibility>SHOWNORMAL</Visibility>
       <WindowPlacement>HIDE</WindowPlacement>
-      <Top>655</Top>
+      <Top>765</Top>
       <Left>0</Left>
       <Bottom>874</Bottom>
       <Right>1532</Right>
@@ -46,10 +46,10 @@
       <Window_Position>
         <Visibility>SHOWNORMAL</Visibility>
         <WindowPlacement>RESTORETOMAXIMIZED</WindowPlacement>
-        <Top>517</Top>
-        <Left>489</Left>
-        <Bottom>1014</Bottom>
-        <Right>911</Right>
+        <Top>522</Top>
+        <Left>622</Left>
+        <Bottom>1019</Bottom>
+        <Right>1044</Right>
       </Window_Position>
     </Bus_Statistics>
     <J1939_Database_Files/>
@@ -326,9 +326,9 @@
     <CAN_Signal_Watch>
       <Message>
         <Id>529</Id>
-        <Signal>posY</Signal>
-        <Signal>button</Signal>
         <Signal>posX</Signal>
+        <Signal>button</Signal>
+        <Signal>posY</Signal>
       </Message>
       <Message>
         <Id>1040</Id>
@@ -342,12 +342,15 @@
         <Id>306</Id>
         <Signal>Vehiclespeed</Signal>
       </Message>
+      <Message>
+        <Id>337</Id>
+        <Signal>SteeringPosition</Signal>
+      </Message>
       <Message>
         <Id>336</Id>
         <Signal>HOMING</Signal>
-        <Signal>RESET</Signal>
         <Signal>SET_CENTER</Signal>
-        <Signal>ALIVE_TIME</Signal>
+        <Signal>RESET</Signal>
       </Message>
       <Message>
         <Id>82</Id>
@@ -360,15 +363,15 @@
       <Window_Position>
         <Visibility>SHOWNORMAL</Visibility>
         <WindowPlacement>HIDE</WindowPlacement>
-        <Top>165</Top>
-        <Left>599</Left>
-        <Right>1089</Right>
-        <Bottom>452</Bottom>
+        <Top>151</Top>
+        <Left>608</Left>
+        <Right>1098</Right>
+        <Bottom>582</Bottom>
       </Window_Position>
       <COLUMN_WIDTH>
         <MESSAGE_COLUMN>94</MESSAGE_COLUMN>
         <Raw_Val_Column>94</Raw_Val_Column>
-        <Physical_Val_Column>189</Physical_Val_Column>
+        <Physical_Val_Column>172</Physical_Val_Column>
         <Signal_Column>94</Signal_Column>
       </COLUMN_WIDTH>
     </CAN_Signal_Watch>
@@ -490,9 +493,9 @@
     </J1939_Simulated_Systems>
     <CAN_Replay/>
     <CAN_Message_Window>
-      <Append_Buffer_Size>1489464112</Append_Buffer_Size>
-      <Overwrite_Buffer_Size>26186104</Overwrite_Buffer_Size>
-      <Display_Update_Time>1489464084</Display_Update_Time>
+      <Append_Buffer_Size>1474521904</Append_Buffer_Size>
+      <Overwrite_Buffer_Size>23911192</Overwrite_Buffer_Size>
+      <Display_Update_Time>1474521876</Display_Update_Time>
       <Filter IsEnabled="0">display</Filter>
       <Filter IsEnabled="0">drive</Filter>
       <Filter IsEnabled="0">joy</Filter>
@@ -567,9 +570,9 @@
       <Interpretation_Window_Position>
         <Visibility>SHOWNORMAL</Visibility>
         <WindowPlacement>RESTORETOMAXIMIZED</WindowPlacement>
-        <Top>179</Top>
+        <Top>173</Top>
         <Left>10</Left>
-        <Bottom>457</Bottom>
+        <Bottom>451</Bottom>
         <Right>359</Right>
       </Interpretation_Window_Position>
     </CAN_Message_Window>
@@ -667,9 +670,9 @@
       <Interpretation_Window_Position>
         <Visibility>SHOWNORMAL</Visibility>
         <WindowPlacement>RESTORETOMAXIMIZED</WindowPlacement>
-        <Top>179</Top>
+        <Top>173</Top>
         <Left>10</Left>
-        <Bottom>457</Bottom>
+        <Bottom>451</Bottom>
         <Right>359</Right>
       </Interpretation_Window_Position>
     </J1939_Message_Window>
@@ -752,9 +755,9 @@
       <Interpretation_Window_Position>
         <Visibility>SHOWNORMAL</Visibility>
         <WindowPlacement>RESTORETOMAXIMIZED</WindowPlacement>
-        <Top>179</Top>
+        <Top>173</Top>
         <Left>10</Left>
-        <Bottom>457</Bottom>
+        <Bottom>451</Bottom>
         <Right>359</Right>
       </Interpretation_Window_Position>
     </LIN_Message_Window>
@@ -786,7 +789,7 @@
           <IsExtended>FALSE</IsExtended>
           <IsRtr>FALSE</IsRtr>
           <DLC>4</DLC>
-          <DataBytes>0,0,0,0</DataBytes>
+          <DataBytes>0,1,178,7</DataBytes>
           <Repetion>10</Repetion>
           <Repetition_Enabled>FALSE</Repetition_Enabled>
           <Key_Value>a</Key_Value>
@@ -810,7 +813,7 @@
           <IsExtended>FALSE</IsExtended>
           <IsRtr>FALSE</IsRtr>
           <DLC>4</DLC>
-          <DataBytes>0,0,0,0</DataBytes>
+          <DataBytes>0,85,115,240</DataBytes>
           <Repetion>10</Repetion>
           <Repetition_Enabled>FALSE</Repetition_Enabled>
           <Key_Value>a</Key_Value>
@@ -834,7 +837,7 @@
           <IsExtended>FALSE</IsExtended>
           <IsRtr>FALSE</IsRtr>
           <DLC>4</DLC>
-          <DataBytes>0,0,0,0</DataBytes>
+          <DataBytes>0,250,0,0</DataBytes>
           <Repetion>10</Repetion>
           <Repetition_Enabled>FALSE</Repetition_Enabled>
           <Key_Value>a</Key_Value>
@@ -846,12 +849,60 @@
           <IsExtended>FALSE</IsExtended>
           <IsRtr>FALSE</IsRtr>
           <DLC>4</DLC>
-          <DataBytes>0,5,1,25</DataBytes>
+          <DataBytes>0,5,1,250</DataBytes>
           <Repetion>10</Repetion>
           <Repetition_Enabled>FALSE</Repetition_Enabled>
           <Key_Value>a</Key_Value>
           <Key_Enabled>FALSE</Key_Enabled>
         </Message>
+        <Message>
+          <Channel>1</Channel>
+          <Message_ID>1311</Message_ID>
+          <IsExtended>FALSE</IsExtended>
+          <IsRtr>FALSE</IsRtr>
+          <DLC>2</DLC>
+          <DataBytes>16,0</DataBytes>
+          <Repetion>500</Repetion>
+          <Repetition_Enabled>FALSE</Repetition_Enabled>
+          <Key_Value>a</Key_Value>
+          <Key_Enabled>FALSE</Key_Enabled>
+        </Message>
+        <Message>
+          <Channel>1</Channel>
+          <Message_ID>1297</Message_ID>
+          <IsExtended>FALSE</IsExtended>
+          <IsRtr>FALSE</IsRtr>
+          <DLC>8</DLC>
+          <DataBytes>152,139,8,0,0,0,0,0</DataBytes>
+          <Repetion>10</Repetion>
+          <Repetition_Enabled>FALSE</Repetition_Enabled>
+          <Key_Value>a</Key_Value>
+          <Key_Enabled>FALSE</Key_Enabled>
+        </Message>
+        <Message>
+          <Channel>1</Channel>
+          <Message_ID>529</Message_ID>
+          <IsExtended>FALSE</IsExtended>
+          <IsRtr>FALSE</IsRtr>
+          <DLC>3</DLC>
+          <DataBytes>25,0,0</DataBytes>
+          <Repetion>10</Repetion>
+          <Repetition_Enabled>FALSE</Repetition_Enabled>
+          <Key_Value>a</Key_Value>
+          <Key_Enabled>FALSE</Key_Enabled>
+        </Message>
+        <Message>
+          <Channel>1</Channel>
+          <Message_ID>1055</Message_ID>
+          <IsExtended>FALSE</IsExtended>
+          <IsRtr>FALSE</IsRtr>
+          <DLC>2</DLC>
+          <DataBytes>0,0</DataBytes>
+          <Repetion>500</Repetion>
+          <Repetition_Enabled>TRUE</Repetition_Enabled>
+          <Key_Value>a</Key_Value>
+          <Key_Enabled>FALSE</Key_Enabled>
+        </Message>
       </Message_List>
     </CAN_Tx_Window>
     <CAN_Wave_Form_Genarator>

From 0329c762a0d660c03beec23da24fd3cb0b1f6c52 Mon Sep 17 00:00:00 2001
From: Klagarge <remi@heredero.ch>
Date: Tue, 5 Sep 2023 20:02:25 +0200
Subject: [PATCH 20/31] add dead joystick

---
 306-controller_interface.X/app/factory/factory.c | 2 +-
 306-controller_interface.X/app/factory/factory.h | 1 +
 306-controller_interface.X/app/kartculator.c     | 4 ++++
 306-controller_interface.X/app/kartculator.h     | 1 +
 4 files changed, 7 insertions(+), 1 deletion(-)

diff --git a/306-controller_interface.X/app/factory/factory.c b/306-controller_interface.X/app/factory/factory.c
index 7980383..b896121 100644
--- a/306-controller_interface.X/app/factory/factory.c
+++ b/306-controller_interface.X/app/factory/factory.c
@@ -59,7 +59,7 @@ void Factory_build() {
     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_onDead(ALjoy(), deadJoystick, NULL);
     
     //DRIVE_onRun(drive(), LED_on, l2());
     //DRIVE_onDead(drive(), LED_off, l2());
diff --git a/306-controller_interface.X/app/factory/factory.h b/306-controller_interface.X/app/factory/factory.h
index f486e95..0b89f81 100644
--- a/306-controller_interface.X/app/factory/factory.h
+++ b/306-controller_interface.X/app/factory/factory.h
@@ -17,6 +17,7 @@
 #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"
diff --git a/306-controller_interface.X/app/kartculator.c b/306-controller_interface.X/app/kartculator.c
index aa43fef..40f2b5c 100644
--- a/306-controller_interface.X/app/kartculator.c
+++ b/306-controller_interface.X/app/kartculator.c
@@ -7,6 +7,10 @@
 
 #include "kartculator.h"
 
+void deadJoystick(void* p){
+    eKart.torque = 0;
+    eKart.position = eKart.center;
+}
 void calcTorque(uint8_t joy_pos) {
     int32_t calcTorque;
     calcTorque = (int8_t) joy_pos;                  // joystick position
diff --git a/306-controller_interface.X/app/kartculator.h b/306-controller_interface.X/app/kartculator.h
index a2ce5cb..cad450f 100644
--- a/306-controller_interface.X/app/kartculator.h
+++ b/306-controller_interface.X/app/kartculator.h
@@ -13,6 +13,7 @@
 #include "../mcc_generated_files/mcc.h"
 #include "car.h"
 
+void deadJoystick(void* p);
 void calcTorque(uint8_t joy_pos);
 void calcPosition(uint8_t joy_pos);
 void calcSpeed(int32_t rpm);

From 44d4d1210cd7281ec0067c346ca1af8b61c87f73 Mon Sep 17 00:00:00 2001
From: Klagarge <remi@heredero.ch>
Date: Tue, 5 Sep 2023 20:02:33 +0200
Subject: [PATCH 21/31] add ramp

---
 306-controller_interface.X/app/car.h         |  5 ++++
 306-controller_interface.X/app/eeprom.c      | 10 +++++++-
 306-controller_interface.X/app/kartculator.c | 27 ++++++++++++++++++--
 3 files changed, 39 insertions(+), 3 deletions(-)

diff --git a/306-controller_interface.X/app/car.h b/306-controller_interface.X/app/car.h
index 9a44e0d..b81fe60 100644
--- a/306-controller_interface.X/app/car.h
+++ b/306-controller_interface.X/app/car.h
@@ -43,6 +43,8 @@
 #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;
@@ -72,6 +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;
 
diff --git a/306-controller_interface.X/app/eeprom.c b/306-controller_interface.X/app/eeprom.c
index 013c1b9..0e938d1 100644
--- a/306-controller_interface.X/app/eeprom.c
+++ b/306-controller_interface.X/app/eeprom.c
@@ -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/kartculator.c b/306-controller_interface.X/app/kartculator.c
index 40f2b5c..a36ae22 100644
--- a/306-controller_interface.X/app/kartculator.c
+++ b/306-controller_interface.X/app/kartculator.c
@@ -11,9 +11,21 @@ void deadJoystick(void* p){
     eKart.torque = 0;
     eKart.position = eKart.center;
 }
+
 void calcTorque(uint8_t joy_pos) {
     int32_t calcTorque;
-    calcTorque = (int8_t) joy_pos;                  // joystick position
+    static int8_t lastPos = 0;
+    int8_t diff = ((int8_t)joy_pos) - lastPos;
+    
+    if (diff > KART_CST.CONTROL_PARAM_MAX_CHANGE_DRIVE) {
+        calcTorque = lastPos + KART_CST.CONTROL_PARAM_MAX_CHANGE_DRIVE;
+    } else if (diff < -KART_CST.CONTROL_PARAM_MAX_CHANGE_DRIVE) {
+        calcTorque = lastPos - KART_CST.CONTROL_PARAM_MAX_CHANGE_DRIVE;
+    } else {
+        calcTorque = (int8_t) joy_pos;                  // joystick position
+    }
+    lastPos = calcTorque;
+    
     calcTorque *= KART_CST.CONTROL_POWER_FACTOR;    // convert by power factor
     calcTorque /= 1000;                             // torque define by joystick
     eKart.torque = (int16_t) calcTorque;
@@ -21,7 +33,18 @@ void calcTorque(uint8_t joy_pos) {
 
 void calcPosition(uint8_t joy_pos){
     int32_t calcPosition;
-    calcPosition = (int8_t) joy_pos;
+    static int8_t lastPos = 0;
+    int8_t diff = ((int8_t)joy_pos) - lastPos;
+    
+    if (diff > KART_CST.CONTROL_PARAM_MAX_CHANGE_STEERING) {
+        calcPosition = lastPos + KART_CST.CONTROL_PARAM_MAX_CHANGE_STEERING;
+    } else if (diff < -KART_CST.CONTROL_PARAM_MAX_CHANGE_STEERING) {
+        calcPosition = lastPos - KART_CST.CONTROL_PARAM_MAX_CHANGE_STEERING;
+    } else {
+        calcPosition = (int8_t) joy_pos;
+    }
+    lastPos = calcPosition;
+    
     calcPosition *= (int32_t) KART_CST.CONTROL_STEERING_FACTOR;
     calcPosition /= 1000;
     calcPosition += eKart.center;

From 7750978f1831ece865ee079270d8b508b02fb74f Mon Sep 17 00:00:00 2001
From: Klagarge <remi@heredero.ch>
Date: Tue, 5 Sep 2023 20:08:14 +0200
Subject: [PATCH 22/31] add can modifier for ramp

---
 306-controller_interface.X/app/can_message.c | 8 ++++++++
 1 file changed, 8 insertions(+)

diff --git a/306-controller_interface.X/app/can_message.c b/306-controller_interface.X/app/can_message.c
index 53e18c3..64e9cc0 100644
--- a/306-controller_interface.X/app/can_message.c
+++ b/306-controller_interface.X/app/can_message.c
@@ -176,6 +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;
             

From 84630eb6fd007375f077d2dab081cb38857fd3ff Mon Sep 17 00:00:00 2001
From: Klagarge <remi@heredero.ch>
Date: Wed, 6 Sep 2023 21:03:23 +0200
Subject: [PATCH 23/31] fix for go to the kart

---
 306-controller_interface.X/app/can_message.c  | 16 ++++
 306-controller_interface.X/app/drive.c        |  6 +-
 306-controller_interface.X/app/eeprom.c       |  6 +-
 .../app/factory/factory.c                     |  4 +-
 306-controller_interface.X/app/kartculator.c  |  1 +
 306-controller_interface.X/app/steering.c     |  1 +
 306-controller_interface.X/middleware/alive.c |  6 +-
 .../nbproject/configurations.xml              |  1 +
 306-controller_interface.X/ss22ep.mc3         | 88 +++++++++----------
 busmaster_config.cfx                          | 88 +++++++++++++------
 10 files changed, 137 insertions(+), 80 deletions(-)

diff --git a/306-controller_interface.X/app/can_message.c b/306-controller_interface.X/app/can_message.c
index 64e9cc0..f4ea129 100644
--- a/306-controller_interface.X/app/can_message.c
+++ b/306-controller_interface.X/app/can_message.c
@@ -269,6 +269,11 @@ 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 -   -
                 ALIVE_ISALIVE(&steering()->myChecker);
@@ -293,6 +298,17 @@ 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_startBehaviourSender(ALcontroller());
+
+                ALIVE_startBehaviourChecker(ALjoy());
+                ALIVE_emitBorn(ALjoy(), 100, 0);
+                ALIVE_emitReady(ALjoy(), 200, 0);
+            }
+            
             if(idMsg == 0xF) { // BATTERY_ALIVE
                 //  -   -	-	-
                 // TODO battery say ALIVE
diff --git a/306-controller_interface.X/app/drive.c b/306-controller_interface.X/app/drive.c
index 70d5adf..20de490 100644
--- a/306-controller_interface.X/app/drive.c
+++ b/306-controller_interface.X/app/drive.c
@@ -61,14 +61,14 @@ bool DRIVE_processEvent(Event* ev) {
             if (ev->id == evDRpollTorque) {
                 //if(steeringState == STST_RUN) {
                     CM_DRIVE_POWER(&eKart.torque);
+                    if (KART_CST.DRIVE_STOP_TIME == 0) KART_CST.DRIVE_STOP_TIME = 1;
+                    DRIVE_emitPollTorque(me, KART_CST.DRIVE_STOP_TIME*5, 0);
                 //}
             }
             
             if (ev->id == evDRpollSpeed) {
                 CM_DISPLAY_SPEED(&eKart.speed);
             }
-            
-            DRIVE_emitPollTorque(me, KART_CST.DRIVE_STOP_TIME*9, 0);
             break;
         
         case STDR_DEAD:
@@ -104,6 +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/eeprom.c b/306-controller_interface.X/app/eeprom.c
index 0e938d1..1f256f6 100644
--- a/306-controller_interface.X/app/eeprom.c
+++ b/306-controller_interface.X/app/eeprom.c
@@ -31,9 +31,9 @@ void MEM_init(){
         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;
diff --git a/306-controller_interface.X/app/factory/factory.c b/306-controller_interface.X/app/factory/factory.c
index b896121..4e92ebb 100644
--- a/306-controller_interface.X/app/factory/factory.c
+++ b/306-controller_interface.X/app/factory/factory.c
@@ -72,7 +72,7 @@ void Factory_build() {
 //start all state machines
 void Factory_start() {
     CAN_startBehaviour();
-        
+/*        
     DRIVE_startBehaviour(drive());
     STEERING_startBehaviour(steering());
     
@@ -81,7 +81,7 @@ void Factory_start() {
     ALIVE_startBehaviourChecker(ALjoy());
     ALIVE_emitBorn(ALjoy(), 100, 0);
     ALIVE_emitReady(ALjoy(), 200, 0);
-    
+*/    
     
     
 }
diff --git a/306-controller_interface.X/app/kartculator.c b/306-controller_interface.X/app/kartculator.c
index a36ae22..298cbcd 100644
--- a/306-controller_interface.X/app/kartculator.c
+++ b/306-controller_interface.X/app/kartculator.c
@@ -45,6 +45,7 @@ void calcPosition(uint8_t joy_pos){
     }
     lastPos = calcPosition;
     
+    calcPosition *= -1;     // change left and right
     calcPosition *= (int32_t) KART_CST.CONTROL_STEERING_FACTOR;
     calcPosition /= 1000;
     calcPosition += eKart.center;
diff --git a/306-controller_interface.X/app/steering.c b/306-controller_interface.X/app/steering.c
index 45c7648..787e4ae 100644
--- a/306-controller_interface.X/app/steering.c
+++ b/306-controller_interface.X/app/steering.c
@@ -26,6 +26,7 @@ void STEERING_init(STEERING* me){
     me->wait.f = NULL;
     me->run.f = NULL;
     me->dead.f = NULL;
+    eKart.center = 560024;
 }
 
 void STEERING_startBehaviour(STEERING* me){
diff --git a/306-controller_interface.X/middleware/alive.c b/306-controller_interface.X/middleware/alive.c
index 57999f7..5e4a8a7 100644
--- a/306-controller_interface.X/middleware/alive.c
+++ b/306-controller_interface.X/middleware/alive.c
@@ -67,7 +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;
         
@@ -80,7 +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;
                 }
@@ -105,7 +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;
diff --git a/306-controller_interface.X/nbproject/configurations.xml b/306-controller_interface.X/nbproject/configurations.xml
index d515866..c7281e6 100644
--- a/306-controller_interface.X/nbproject/configurations.xml
+++ b/306-controller_interface.X/nbproject/configurations.xml
@@ -272,6 +272,7 @@
         <property key="debugoptions.useswbreakpoints" value="false"/>
         <property key="event.recorder.enabled" value="false"/>
         <property key="event.recorder.scvd.files" value=""/>
+        <property key="firmware.download.all" value="false"/>
         <property key="hwtoolclock.frcindebug" value="false"/>
         <property key="lastid" value=""/>
         <property key="memories.aux" value="false"/>
diff --git a/306-controller_interface.X/ss22ep.mc3 b/306-controller_interface.X/ss22ep.mc3
index cecac1b..d4c4dac 100644
--- a/306-controller_interface.X/ss22ep.mc3
+++ b/306-controller_interface.X/ss22ep.mc3
@@ -1948,7 +1948,7 @@
       </entry>
       <entry>
          <key class="com.microchip.mcc.core.tokenManager.CustomKey" moduleName="DMA Manager" name="dmaTable"/>
-         <value>{&quot;dataArray&quot;:[{&quot;DMA Channels&quot;:{&quot;data&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;--NONE--&quot;,&quot;text&quot;:&quot;DMA CHANNEL1&quot;,&quot;value&quot;:&quot;false&quot;},&quot;id&quot;:&quot;DMA Channels_rowCount_0&quot;},&quot;Src Module&quot;:{&quot;data&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;--NONE--,TMR0,MEMORY,ECAN&quot;,&quot;text&quot;:&quot;--NONE--&quot;,&quot;value&quot;:&quot;--NONE--&quot;},&quot;id&quot;:&quot;Src Module_rowCount_0&quot;},&quot;Src Region&quot;:{&quot;data&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;SFR#disabled,GPR#enabled,Program Flash#enabled,Data EEPROM#enabled&quot;,&quot;text&quot;:&quot;GPR&quot;,&quot;value&quot;:&quot;GPR&quot;},&quot;id&quot;:&quot;Src Region_rowCount_0&quot;},&quot;Src SFR&quot;:{&quot;Src SFR&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;&quot;,&quot;text&quot;:&quot;&quot;,&quot;value&quot;:&quot;&quot;},&quot;data&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;&quot;,&quot;text&quot;:&quot;&quot;,&quot;value&quot;:&quot;&quot;},&quot;id&quot;:&quot;Src SFR_rowCount_0&quot;},&quot;Src VarName&quot;:{&quot;data&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;&quot;,&quot;text&quot;:&quot;SrcVarName0&quot;,&quot;value&quot;:&quot;SrcVarName0&quot;},&quot;Src VarName&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;&quot;,&quot;text&quot;:&quot;SrcVarName0&quot;,&quot;value&quot;:&quot;SrcVarName0&quot;},&quot;id&quot;:&quot;Src VarName_rowCount_0&quot;},&quot;Src VarSize&quot;:{&quot;data&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;&quot;,&quot;text&quot;:&quot;10&quot;,&quot;value&quot;:&quot;10&quot;},&quot;id&quot;:&quot;Src VarSize_rowCount_0&quot;,&quot;Src VarSize&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;&quot;,&quot;text&quot;:&quot;10&quot;,&quot;value&quot;:&quot;10&quot;}},&quot;Src Address&quot;:{&quot;data&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;&quot;,&quot;text&quot;:&quot;Enter Address0&quot;,&quot;value&quot;:&quot;Enter Address0&quot;},&quot;id&quot;:&quot;Src Address_rowCount_0&quot;,&quot;Src Address&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;&quot;,&quot;text&quot;:&quot;Enter Address0&quot;,&quot;value&quot;:&quot;Enter Address0&quot;}},&quot;Src Mode&quot;:{&quot;Src Mode&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;decremented,incremented,unchanged&quot;,&quot;text&quot;:&quot;unchanged&quot;,&quot;value&quot;:&quot;unchanged&quot;},&quot;data&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;decremented,incremented,unchanged&quot;,&quot;text&quot;:&quot;unchanged&quot;,&quot;value&quot;:&quot;unchanged&quot;},&quot;id&quot;:&quot;Src Mode_rowCount_0&quot;},&quot;Src Message Size&quot;:{&quot;data&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;&quot;,&quot;text&quot;:&quot;1&quot;,&quot;value&quot;:&quot;1&quot;},&quot;Src Message Size&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;&quot;,&quot;text&quot;:&quot;1&quot;,&quot;value&quot;:&quot;1&quot;},&quot;id&quot;:&quot;Src Message Size_rowCount_0&quot;},&quot;Dst Module&quot;:{&quot;data&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;--NONE--,TMR0,MEMORY,ECAN&quot;,&quot;text&quot;:&quot;--NONE--&quot;,&quot;value&quot;:&quot;--NONE--&quot;},&quot;id&quot;:&quot;Dst Module_rowCount_0&quot;},&quot;Dst Region&quot;:{&quot;data&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;SFR,GPR&quot;,&quot;text&quot;:&quot;GPR&quot;,&quot;value&quot;:&quot;GPR&quot;},&quot;id&quot;:&quot;Dst Region_rowCount_0&quot;},&quot;Dst SFR&quot;:{&quot;Dst SFR&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;&quot;,&quot;text&quot;:&quot;&quot;,&quot;value&quot;:&quot;&quot;},&quot;data&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;&quot;,&quot;text&quot;:&quot;&quot;,&quot;value&quot;:&quot;&quot;},&quot;id&quot;:&quot;Dst SFR_rowCount_0&quot;},&quot;Dst VarName&quot;:{&quot;data&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;&quot;,&quot;text&quot;:&quot;DstVarName0&quot;,&quot;value&quot;:&quot;DstVarName0&quot;},&quot;Dst VarName&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;&quot;,&quot;text&quot;:&quot;DstVarName0&quot;,&quot;value&quot;:&quot;DstVarName0&quot;},&quot;id&quot;:&quot;Dst VarName_rowCount_0&quot;},&quot;Dst VarSize&quot;:{&quot;data&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;&quot;,&quot;text&quot;:&quot;10&quot;,&quot;value&quot;:&quot;10&quot;},&quot;id&quot;:&quot;Dst VarSize_rowCount_0&quot;,&quot;Dst VarSize&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;&quot;,&quot;text&quot;:&quot;10&quot;,&quot;value&quot;:&quot;10&quot;}},&quot;Dst Mode&quot;:{&quot;data&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;decremented,incremented,unchanged&quot;,&quot;text&quot;:&quot;unchanged&quot;,&quot;value&quot;:&quot;unchanged&quot;},&quot;Dst Mode&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;decremented,incremented,unchanged&quot;,&quot;text&quot;:&quot;unchanged&quot;,&quot;value&quot;:&quot;unchanged&quot;},&quot;id&quot;:&quot;Dst Mode_rowCount_0&quot;},&quot;Dst Message Size&quot;:{&quot;data&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;&quot;,&quot;text&quot;:&quot;1&quot;,&quot;value&quot;:&quot;1&quot;},&quot;Dst Message Size&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;&quot;,&quot;text&quot;:&quot;1&quot;,&quot;value&quot;:&quot;1&quot;},&quot;id&quot;:&quot;Dst Message Size_rowCount_0&quot;},&quot;Start Trigger&quot;:{&quot;Start Trigger&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;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&quot;,&quot;text&quot;:&quot;None&quot;,&quot;value&quot;:&quot;None&quot;},&quot;data&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;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&quot;,&quot;text&quot;:&quot;None&quot;,&quot;value&quot;:&quot;None&quot;},&quot;id&quot;:&quot;Start Trigger_rowCount_0&quot;},&quot;Abort Trigger&quot;:{&quot;data&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;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&quot;,&quot;text&quot;:&quot;None&quot;,&quot;value&quot;:&quot;None&quot;},&quot;id&quot;:&quot;Abort Trigger_rowCount_0&quot;,&quot;Abort Trigger&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;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&quot;,&quot;text&quot;:&quot;None&quot;,&quot;value&quot;:&quot;None&quot;}}},{&quot;DMA Channels&quot;:{&quot;data&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;--NONE--&quot;,&quot;text&quot;:&quot;DMA CHANNEL2&quot;,&quot;value&quot;:&quot;false&quot;},&quot;id&quot;:&quot;DMA Channels_rowCount_1&quot;},&quot;Src Module&quot;:{&quot;data&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;--NONE--,TMR0,MEMORY,ECAN&quot;,&quot;text&quot;:&quot;--NONE--&quot;,&quot;value&quot;:&quot;--NONE--&quot;},&quot;id&quot;:&quot;Src Module_rowCount_1&quot;},&quot;Src Region&quot;:{&quot;data&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;SFR#disabled,GPR#enabled,Program Flash#enabled,Data EEPROM#enabled&quot;,&quot;text&quot;:&quot;GPR&quot;,&quot;value&quot;:&quot;GPR&quot;},&quot;id&quot;:&quot;Src Region_rowCount_1&quot;},&quot;Src SFR&quot;:{&quot;Src SFR&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;&quot;,&quot;text&quot;:&quot;&quot;,&quot;value&quot;:&quot;&quot;},&quot;data&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;&quot;,&quot;text&quot;:&quot;&quot;,&quot;value&quot;:&quot;&quot;},&quot;id&quot;:&quot;Src SFR_rowCount_1&quot;},&quot;Src VarName&quot;:{&quot;data&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;&quot;,&quot;text&quot;:&quot;SrcVarName1&quot;,&quot;value&quot;:&quot;SrcVarName1&quot;},&quot;Src VarName&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;&quot;,&quot;text&quot;:&quot;SrcVarName1&quot;,&quot;value&quot;:&quot;SrcVarName1&quot;},&quot;id&quot;:&quot;Src VarName_rowCount_1&quot;},&quot;Src VarSize&quot;:{&quot;data&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;&quot;,&quot;text&quot;:&quot;10&quot;,&quot;value&quot;:&quot;10&quot;},&quot;id&quot;:&quot;Src VarSize_rowCount_1&quot;,&quot;Src VarSize&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;&quot;,&quot;text&quot;:&quot;10&quot;,&quot;value&quot;:&quot;10&quot;}},&quot;Src Address&quot;:{&quot;data&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;&quot;,&quot;text&quot;:&quot;Enter Address1&quot;,&quot;value&quot;:&quot;Enter Address1&quot;},&quot;id&quot;:&quot;Src Address_rowCount_1&quot;,&quot;Src Address&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;&quot;,&quot;text&quot;:&quot;Enter Address1&quot;,&quot;value&quot;:&quot;Enter Address1&quot;}},&quot;Src Mode&quot;:{&quot;Src Mode&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;decremented,incremented,unchanged&quot;,&quot;text&quot;:&quot;unchanged&quot;,&quot;value&quot;:&quot;unchanged&quot;},&quot;data&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;decremented,incremented,unchanged&quot;,&quot;text&quot;:&quot;unchanged&quot;,&quot;value&quot;:&quot;unchanged&quot;},&quot;id&quot;:&quot;Src Mode_rowCount_1&quot;},&quot;Src Message Size&quot;:{&quot;data&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;&quot;,&quot;text&quot;:&quot;1&quot;,&quot;value&quot;:&quot;1&quot;},&quot;Src Message Size&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;&quot;,&quot;text&quot;:&quot;1&quot;,&quot;value&quot;:&quot;1&quot;},&quot;id&quot;:&quot;Src Message Size_rowCount_1&quot;},&quot;Dst Module&quot;:{&quot;data&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;--NONE--,TMR0,MEMORY,ECAN&quot;,&quot;text&quot;:&quot;--NONE--&quot;,&quot;value&quot;:&quot;--NONE--&quot;},&quot;id&quot;:&quot;Dst Module_rowCount_1&quot;},&quot;Dst Region&quot;:{&quot;data&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;SFR,GPR&quot;,&quot;text&quot;:&quot;GPR&quot;,&quot;value&quot;:&quot;GPR&quot;},&quot;id&quot;:&quot;Dst Region_rowCount_1&quot;},&quot;Dst SFR&quot;:{&quot;Dst SFR&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;&quot;,&quot;text&quot;:&quot;&quot;,&quot;value&quot;:&quot;&quot;},&quot;data&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;&quot;,&quot;text&quot;:&quot;&quot;,&quot;value&quot;:&quot;&quot;},&quot;id&quot;:&quot;Dst SFR_rowCount_1&quot;},&quot;Dst VarName&quot;:{&quot;data&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;&quot;,&quot;text&quot;:&quot;DstVarName1&quot;,&quot;value&quot;:&quot;DstVarName1&quot;},&quot;Dst VarName&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;&quot;,&quot;text&quot;:&quot;DstVarName1&quot;,&quot;value&quot;:&quot;DstVarName1&quot;},&quot;id&quot;:&quot;Dst VarName_rowCount_1&quot;},&quot;Dst VarSize&quot;:{&quot;data&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;&quot;,&quot;text&quot;:&quot;10&quot;,&quot;value&quot;:&quot;10&quot;},&quot;id&quot;:&quot;Dst VarSize_rowCount_1&quot;,&quot;Dst VarSize&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;&quot;,&quot;text&quot;:&quot;10&quot;,&quot;value&quot;:&quot;10&quot;}},&quot;Dst Mode&quot;:{&quot;data&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;decremented,incremented,unchanged&quot;,&quot;text&quot;:&quot;unchanged&quot;,&quot;value&quot;:&quot;unchanged&quot;},&quot;Dst Mode&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;decremented,incremented,unchanged&quot;,&quot;text&quot;:&quot;unchanged&quot;,&quot;value&quot;:&quot;unchanged&quot;},&quot;id&quot;:&quot;Dst Mode_rowCount_1&quot;},&quot;Dst Message Size&quot;:{&quot;data&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;&quot;,&quot;text&quot;:&quot;1&quot;,&quot;value&quot;:&quot;1&quot;},&quot;Dst Message Size&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;&quot;,&quot;text&quot;:&quot;1&quot;,&quot;value&quot;:&quot;1&quot;},&quot;id&quot;:&quot;Dst Message Size_rowCount_1&quot;},&quot;Start Trigger&quot;:{&quot;Start Trigger&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;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&quot;,&quot;text&quot;:&quot;None&quot;,&quot;value&quot;:&quot;None&quot;},&quot;data&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;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&quot;,&quot;text&quot;:&quot;None&quot;,&quot;value&quot;:&quot;None&quot;},&quot;id&quot;:&quot;Start Trigger_rowCount_1&quot;},&quot;Abort Trigger&quot;:{&quot;data&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;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&quot;,&quot;text&quot;:&quot;None&quot;,&quot;value&quot;:&quot;None&quot;},&quot;id&quot;:&quot;Abort Trigger_rowCount_1&quot;,&quot;Abort Trigger&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;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&quot;,&quot;text&quot;:&quot;None&quot;,&quot;value&quot;:&quot;None&quot;}}}],&quot;type&quot;:&quot;tableDynamicControls&quot;,&quot;key&quot;:&quot;dmaTable&quot;}</value>
+         <value>{&quot;dataArray&quot;:[{&quot;DMA Channels&quot;:{&quot;data&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;--NONE--&quot;,&quot;text&quot;:&quot;DMA CHANNEL1&quot;,&quot;value&quot;:&quot;false&quot;},&quot;id&quot;:&quot;DMA Channels_rowCount_0&quot;},&quot;Src Module&quot;:{&quot;data&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;--NONE--,TMR0,ECAN,MEMORY&quot;,&quot;text&quot;:&quot;--NONE--&quot;,&quot;value&quot;:&quot;--NONE--&quot;},&quot;id&quot;:&quot;Src Module_rowCount_0&quot;},&quot;Src Region&quot;:{&quot;data&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;SFR#disabled,GPR#enabled,Program Flash#enabled,Data EEPROM#enabled&quot;,&quot;text&quot;:&quot;GPR&quot;,&quot;value&quot;:&quot;GPR&quot;},&quot;id&quot;:&quot;Src Region_rowCount_0&quot;},&quot;Src SFR&quot;:{&quot;Src SFR&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;&quot;,&quot;text&quot;:&quot;&quot;,&quot;value&quot;:&quot;&quot;},&quot;data&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;&quot;,&quot;text&quot;:&quot;&quot;,&quot;value&quot;:&quot;&quot;},&quot;id&quot;:&quot;Src SFR_rowCount_0&quot;},&quot;Src VarName&quot;:{&quot;data&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;&quot;,&quot;text&quot;:&quot;SrcVarName0&quot;,&quot;value&quot;:&quot;SrcVarName0&quot;},&quot;Src VarName&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;&quot;,&quot;text&quot;:&quot;SrcVarName0&quot;,&quot;value&quot;:&quot;SrcVarName0&quot;},&quot;id&quot;:&quot;Src VarName_rowCount_0&quot;},&quot;Src VarSize&quot;:{&quot;data&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;&quot;,&quot;text&quot;:&quot;10&quot;,&quot;value&quot;:&quot;10&quot;},&quot;id&quot;:&quot;Src VarSize_rowCount_0&quot;,&quot;Src VarSize&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;&quot;,&quot;text&quot;:&quot;10&quot;,&quot;value&quot;:&quot;10&quot;}},&quot;Src Address&quot;:{&quot;data&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;&quot;,&quot;text&quot;:&quot;Enter Address0&quot;,&quot;value&quot;:&quot;Enter Address0&quot;},&quot;id&quot;:&quot;Src Address_rowCount_0&quot;,&quot;Src Address&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;&quot;,&quot;text&quot;:&quot;Enter Address0&quot;,&quot;value&quot;:&quot;Enter Address0&quot;}},&quot;Src Mode&quot;:{&quot;Src Mode&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;decremented,incremented,unchanged&quot;,&quot;text&quot;:&quot;unchanged&quot;,&quot;value&quot;:&quot;unchanged&quot;},&quot;data&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;decremented,incremented,unchanged&quot;,&quot;text&quot;:&quot;unchanged&quot;,&quot;value&quot;:&quot;unchanged&quot;},&quot;id&quot;:&quot;Src Mode_rowCount_0&quot;},&quot;Src Message Size&quot;:{&quot;data&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;&quot;,&quot;text&quot;:&quot;1&quot;,&quot;value&quot;:&quot;1&quot;},&quot;Src Message Size&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;&quot;,&quot;text&quot;:&quot;1&quot;,&quot;value&quot;:&quot;1&quot;},&quot;id&quot;:&quot;Src Message Size_rowCount_0&quot;},&quot;Dst Module&quot;:{&quot;data&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;--NONE--,TMR0,ECAN,MEMORY&quot;,&quot;text&quot;:&quot;--NONE--&quot;,&quot;value&quot;:&quot;--NONE--&quot;},&quot;id&quot;:&quot;Dst Module_rowCount_0&quot;},&quot;Dst Region&quot;:{&quot;data&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;SFR,GPR&quot;,&quot;text&quot;:&quot;GPR&quot;,&quot;value&quot;:&quot;GPR&quot;},&quot;id&quot;:&quot;Dst Region_rowCount_0&quot;},&quot;Dst SFR&quot;:{&quot;Dst SFR&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;&quot;,&quot;text&quot;:&quot;&quot;,&quot;value&quot;:&quot;&quot;},&quot;data&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;&quot;,&quot;text&quot;:&quot;&quot;,&quot;value&quot;:&quot;&quot;},&quot;id&quot;:&quot;Dst SFR_rowCount_0&quot;},&quot;Dst VarName&quot;:{&quot;data&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;&quot;,&quot;text&quot;:&quot;DstVarName0&quot;,&quot;value&quot;:&quot;DstVarName0&quot;},&quot;Dst VarName&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;&quot;,&quot;text&quot;:&quot;DstVarName0&quot;,&quot;value&quot;:&quot;DstVarName0&quot;},&quot;id&quot;:&quot;Dst VarName_rowCount_0&quot;},&quot;Dst VarSize&quot;:{&quot;data&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;&quot;,&quot;text&quot;:&quot;10&quot;,&quot;value&quot;:&quot;10&quot;},&quot;id&quot;:&quot;Dst VarSize_rowCount_0&quot;,&quot;Dst VarSize&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;&quot;,&quot;text&quot;:&quot;10&quot;,&quot;value&quot;:&quot;10&quot;}},&quot;Dst Mode&quot;:{&quot;data&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;decremented,incremented,unchanged&quot;,&quot;text&quot;:&quot;unchanged&quot;,&quot;value&quot;:&quot;unchanged&quot;},&quot;Dst Mode&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;decremented,incremented,unchanged&quot;,&quot;text&quot;:&quot;unchanged&quot;,&quot;value&quot;:&quot;unchanged&quot;},&quot;id&quot;:&quot;Dst Mode_rowCount_0&quot;},&quot;Dst Message Size&quot;:{&quot;data&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;&quot;,&quot;text&quot;:&quot;1&quot;,&quot;value&quot;:&quot;1&quot;},&quot;Dst Message Size&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;&quot;,&quot;text&quot;:&quot;1&quot;,&quot;value&quot;:&quot;1&quot;},&quot;id&quot;:&quot;Dst Message Size_rowCount_0&quot;},&quot;Start Trigger&quot;:{&quot;Start Trigger&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;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&quot;,&quot;text&quot;:&quot;None&quot;,&quot;value&quot;:&quot;None&quot;},&quot;data&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;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&quot;,&quot;text&quot;:&quot;None&quot;,&quot;value&quot;:&quot;None&quot;},&quot;id&quot;:&quot;Start Trigger_rowCount_0&quot;},&quot;Abort Trigger&quot;:{&quot;data&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;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&quot;,&quot;text&quot;:&quot;None&quot;,&quot;value&quot;:&quot;None&quot;},&quot;id&quot;:&quot;Abort Trigger_rowCount_0&quot;,&quot;Abort Trigger&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;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&quot;,&quot;text&quot;:&quot;None&quot;,&quot;value&quot;:&quot;None&quot;}}},{&quot;DMA Channels&quot;:{&quot;data&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;--NONE--&quot;,&quot;text&quot;:&quot;DMA CHANNEL2&quot;,&quot;value&quot;:&quot;false&quot;},&quot;id&quot;:&quot;DMA Channels_rowCount_1&quot;},&quot;Src Module&quot;:{&quot;data&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;--NONE--,TMR0,ECAN,MEMORY&quot;,&quot;text&quot;:&quot;--NONE--&quot;,&quot;value&quot;:&quot;--NONE--&quot;},&quot;id&quot;:&quot;Src Module_rowCount_1&quot;},&quot;Src Region&quot;:{&quot;data&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;SFR#disabled,GPR#enabled,Program Flash#enabled,Data EEPROM#enabled&quot;,&quot;text&quot;:&quot;GPR&quot;,&quot;value&quot;:&quot;GPR&quot;},&quot;id&quot;:&quot;Src Region_rowCount_1&quot;},&quot;Src SFR&quot;:{&quot;Src SFR&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;&quot;,&quot;text&quot;:&quot;&quot;,&quot;value&quot;:&quot;&quot;},&quot;data&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;&quot;,&quot;text&quot;:&quot;&quot;,&quot;value&quot;:&quot;&quot;},&quot;id&quot;:&quot;Src SFR_rowCount_1&quot;},&quot;Src VarName&quot;:{&quot;data&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;&quot;,&quot;text&quot;:&quot;SrcVarName1&quot;,&quot;value&quot;:&quot;SrcVarName1&quot;},&quot;Src VarName&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;&quot;,&quot;text&quot;:&quot;SrcVarName1&quot;,&quot;value&quot;:&quot;SrcVarName1&quot;},&quot;id&quot;:&quot;Src VarName_rowCount_1&quot;},&quot;Src VarSize&quot;:{&quot;data&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;&quot;,&quot;text&quot;:&quot;10&quot;,&quot;value&quot;:&quot;10&quot;},&quot;id&quot;:&quot;Src VarSize_rowCount_1&quot;,&quot;Src VarSize&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;&quot;,&quot;text&quot;:&quot;10&quot;,&quot;value&quot;:&quot;10&quot;}},&quot;Src Address&quot;:{&quot;data&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;&quot;,&quot;text&quot;:&quot;Enter Address1&quot;,&quot;value&quot;:&quot;Enter Address1&quot;},&quot;id&quot;:&quot;Src Address_rowCount_1&quot;,&quot;Src Address&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;&quot;,&quot;text&quot;:&quot;Enter Address1&quot;,&quot;value&quot;:&quot;Enter Address1&quot;}},&quot;Src Mode&quot;:{&quot;Src Mode&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;decremented,incremented,unchanged&quot;,&quot;text&quot;:&quot;unchanged&quot;,&quot;value&quot;:&quot;unchanged&quot;},&quot;data&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;decremented,incremented,unchanged&quot;,&quot;text&quot;:&quot;unchanged&quot;,&quot;value&quot;:&quot;unchanged&quot;},&quot;id&quot;:&quot;Src Mode_rowCount_1&quot;},&quot;Src Message Size&quot;:{&quot;data&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;&quot;,&quot;text&quot;:&quot;1&quot;,&quot;value&quot;:&quot;1&quot;},&quot;Src Message Size&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;&quot;,&quot;text&quot;:&quot;1&quot;,&quot;value&quot;:&quot;1&quot;},&quot;id&quot;:&quot;Src Message Size_rowCount_1&quot;},&quot;Dst Module&quot;:{&quot;data&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;--NONE--,TMR0,ECAN,MEMORY&quot;,&quot;text&quot;:&quot;--NONE--&quot;,&quot;value&quot;:&quot;--NONE--&quot;},&quot;id&quot;:&quot;Dst Module_rowCount_1&quot;},&quot;Dst Region&quot;:{&quot;data&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;SFR,GPR&quot;,&quot;text&quot;:&quot;GPR&quot;,&quot;value&quot;:&quot;GPR&quot;},&quot;id&quot;:&quot;Dst Region_rowCount_1&quot;},&quot;Dst SFR&quot;:{&quot;Dst SFR&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;&quot;,&quot;text&quot;:&quot;&quot;,&quot;value&quot;:&quot;&quot;},&quot;data&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;&quot;,&quot;text&quot;:&quot;&quot;,&quot;value&quot;:&quot;&quot;},&quot;id&quot;:&quot;Dst SFR_rowCount_1&quot;},&quot;Dst VarName&quot;:{&quot;data&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;&quot;,&quot;text&quot;:&quot;DstVarName1&quot;,&quot;value&quot;:&quot;DstVarName1&quot;},&quot;Dst VarName&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;&quot;,&quot;text&quot;:&quot;DstVarName1&quot;,&quot;value&quot;:&quot;DstVarName1&quot;},&quot;id&quot;:&quot;Dst VarName_rowCount_1&quot;},&quot;Dst VarSize&quot;:{&quot;data&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;&quot;,&quot;text&quot;:&quot;10&quot;,&quot;value&quot;:&quot;10&quot;},&quot;id&quot;:&quot;Dst VarSize_rowCount_1&quot;,&quot;Dst VarSize&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;&quot;,&quot;text&quot;:&quot;10&quot;,&quot;value&quot;:&quot;10&quot;}},&quot;Dst Mode&quot;:{&quot;data&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;decremented,incremented,unchanged&quot;,&quot;text&quot;:&quot;unchanged&quot;,&quot;value&quot;:&quot;unchanged&quot;},&quot;Dst Mode&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;decremented,incremented,unchanged&quot;,&quot;text&quot;:&quot;unchanged&quot;,&quot;value&quot;:&quot;unchanged&quot;},&quot;id&quot;:&quot;Dst Mode_rowCount_1&quot;},&quot;Dst Message Size&quot;:{&quot;data&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;&quot;,&quot;text&quot;:&quot;1&quot;,&quot;value&quot;:&quot;1&quot;},&quot;Dst Message Size&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;&quot;,&quot;text&quot;:&quot;1&quot;,&quot;value&quot;:&quot;1&quot;},&quot;id&quot;:&quot;Dst Message Size_rowCount_1&quot;},&quot;Start Trigger&quot;:{&quot;Start Trigger&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;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&quot;,&quot;text&quot;:&quot;None&quot;,&quot;value&quot;:&quot;None&quot;},&quot;data&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;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&quot;,&quot;text&quot;:&quot;None&quot;,&quot;value&quot;:&quot;None&quot;},&quot;id&quot;:&quot;Start Trigger_rowCount_1&quot;},&quot;Abort Trigger&quot;:{&quot;data&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;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&quot;,&quot;text&quot;:&quot;None&quot;,&quot;value&quot;:&quot;None&quot;},&quot;id&quot;:&quot;Abort Trigger_rowCount_1&quot;,&quot;Abort Trigger&quot;:{&quot;isDisable&quot;:&quot;true&quot;,&quot;options&quot;:&quot;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&quot;,&quot;text&quot;:&quot;None&quot;,&quot;value&quot;:&quot;None&quot;}}}],&quot;type&quot;:&quot;tableDynamicControls&quot;,&quot;key&quot;:&quot;dmaTable&quot;}</value>
       </entry>
       <entry>
          <key class="com.microchip.mcc.core.tokenManager.CustomKey" moduleName="ECAN" name="ECAN_ERRIISRFunction"/>
@@ -17159,27 +17159,7 @@
          <value>Window delay time 87.5%</value>
       </entry>
    </tokenMap>
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-         <file>mcc_generated_files\tmr0.h</file>
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       <entry>
          <file>main.c</file>
          <hash>cae37ae3b36cf22e97e106633433f5c00a66dd5d38ec353eb67fbbb0d88bde4d</hash>
@@ -17188,6 +17168,46 @@
          <file>mcc_generated_files\device_config.c</file>
          <hash>ac2a2ad923df635be3b193de8878c95bc16cfb8c91d37b98c4c1a4a1e0e6b990</hash>
       </entry>
+      <entry>
+         <file>mcc_generated_files\device_config.h</file>
+         <hash>89c6172ff575ce515b93f2fbc85dcedc2978e58a8e0e1fbdc52e42511ae3bc05</hash>
+      </entry>
+      <entry>
+         <file>mcc_generated_files\ecan.c</file>
+         <hash>ea62f50d319e1e537d7632774728ad6a779f442e896d043dbdea8066d028a6c6</hash>
+      </entry>
+      <entry>
+         <file>mcc_generated_files\ecan.h</file>
+         <hash>aa9a50aae81bab76b876ea6123777af7d6a6d0a58fe953be27e8b88776395b2e</hash>
+      </entry>
+      <entry>
+         <file>mcc_generated_files\interrupt_manager.c</file>
+         <hash>df04edcd2c7d85ef90a8dbe4e46f1b1c9487b872153f4f2321249a4ce0d9635f</hash>
+      </entry>
+      <entry>
+         <file>mcc_generated_files\interrupt_manager.h</file>
+         <hash>9c2f1ae45f2ac887bb3e8b3763e1a394a6a22ffe4e9ae1c20c336fe6f12da1aa</hash>
+      </entry>
+      <entry>
+         <file>mcc_generated_files\mcc.c</file>
+         <hash>a1b3e2d6ddc04b8a97973fcb818a7243d9723f4763c2c496b4b2eb1aa06ad645</hash>
+      </entry>
+      <entry>
+         <file>mcc_generated_files\mcc.h</file>
+         <hash>7dd04034216f3c639fcfb88387572f995d54189bb8fb587a3401371ec2651c65</hash>
+      </entry>
+      <entry>
+         <file>mcc_generated_files\memory.c</file>
+         <hash>17fb4759c4719b77287f6c4be48edfbcf117b5b8398b771c434f23aceac256e0</hash>
+      </entry>
+      <entry>
+         <file>mcc_generated_files\memory.h</file>
+         <hash>fbbca4e9d7ce92ddcc637d82b694a1f5cbefa75710a8a18bb1dc9ab5161f0924</hash>
+      </entry>
+      <entry>
+         <file>mcc_generated_files\pin_manager.c</file>
+         <hash>04b16a3d3fcbbb333ee6fb545a405b76aba47ef3935be548bf2b8165c43c5654</hash>
+      </entry>
       <entry>
          <file>mcc_generated_files\pin_manager.h</file>
          <hash>611a409602fd8fba29be052e06a3ce86ad0a3b723b5e0f4c1a998854de7f9a7b</hash>
@@ -17197,28 +17217,8 @@
          <hash>e0b4d075e819024ae77ea60a2c01182fdca45b783980cb50358d0a614736339d</hash>
       </entry>
       <entry>
-         <file>mcc_generated_files\pin_manager.c</file>
-         <hash>04b16a3d3fcbbb333ee6fb545a405b76aba47ef3935be548bf2b8165c43c5654</hash>
-      </entry>
-      <entry>
-         <file>mcc_generated_files\ecan.c</file>
-         <hash>ea62f50d319e1e537d7632774728ad6a779f442e896d043dbdea8066d028a6c6</hash>
-      </entry>
-      <entry>
-         <file>mcc_generated_files\mcc.c</file>
-         <hash>a1b3e2d6ddc04b8a97973fcb818a7243d9723f4763c2c496b4b2eb1aa06ad645</hash>
-      </entry>
-      <entry>
-         <file>mcc_generated_files\interrupt_manager.c</file>
-         <hash>df04edcd2c7d85ef90a8dbe4e46f1b1c9487b872153f4f2321249a4ce0d9635f</hash>
-      </entry>
-      <entry>
-         <file>mcc_generated_files\memory.h</file>
-         <hash>fbbca4e9d7ce92ddcc637d82b694a1f5cbefa75710a8a18bb1dc9ab5161f0924</hash>
-      </entry>
-      <entry>
-         <file>mcc_generated_files\ecan.h</file>
-         <hash>aa9a50aae81bab76b876ea6123777af7d6a6d0a58fe953be27e8b88776395b2e</hash>
+         <file>mcc_generated_files\tmr0.h</file>
+         <hash>6661ab783aae9f11e952805f9bca14209ec06551939552123056eefd5524fff8</hash>
       </entry>
    </generatedFileHashHistoryMap>
 </config>
\ No newline at end of file
diff --git a/busmaster_config.cfx b/busmaster_config.cfx
index b14d828..d30f012 100644
--- a/busmaster_config.cfx
+++ b/busmaster_config.cfx
@@ -46,10 +46,10 @@
       <Window_Position>
         <Visibility>SHOWNORMAL</Visibility>
         <WindowPlacement>RESTORETOMAXIMIZED</WindowPlacement>
-        <Top>522</Top>
-        <Left>622</Left>
-        <Bottom>1019</Bottom>
-        <Right>1044</Right>
+        <Top>195</Top>
+        <Left>426</Left>
+        <Bottom>692</Bottom>
+        <Right>848</Right>
       </Window_Position>
     </Bus_Statistics>
     <J1939_Database_Files/>
@@ -327,8 +327,8 @@
       <Message>
         <Id>529</Id>
         <Signal>posX</Signal>
-        <Signal>button</Signal>
         <Signal>posY</Signal>
+        <Signal>button</Signal>
       </Message>
       <Message>
         <Id>1040</Id>
@@ -348,9 +348,9 @@
       </Message>
       <Message>
         <Id>336</Id>
-        <Signal>HOMING</Signal>
-        <Signal>SET_CENTER</Signal>
         <Signal>RESET</Signal>
+        <Signal>SET_CENTER</Signal>
+        <Signal>HOMING</Signal>
       </Message>
       <Message>
         <Id>82</Id>
@@ -363,16 +363,16 @@
       <Window_Position>
         <Visibility>SHOWNORMAL</Visibility>
         <WindowPlacement>HIDE</WindowPlacement>
-        <Top>151</Top>
-        <Left>608</Left>
-        <Right>1098</Right>
-        <Bottom>582</Bottom>
+        <Top>456</Top>
+        <Left>632</Left>
+        <Right>1079</Right>
+        <Bottom>744</Bottom>
       </Window_Position>
       <COLUMN_WIDTH>
-        <MESSAGE_COLUMN>94</MESSAGE_COLUMN>
-        <Raw_Val_Column>94</Raw_Val_Column>
+        <MESSAGE_COLUMN>151</MESSAGE_COLUMN>
+        <Raw_Val_Column>137</Raw_Val_Column>
         <Physical_Val_Column>172</Physical_Val_Column>
-        <Signal_Column>94</Signal_Column>
+        <Signal_Column>86</Signal_Column>
       </COLUMN_WIDTH>
     </CAN_Signal_Watch>
     <J1939_Signal_Watch>
@@ -562,9 +562,9 @@
       <Window_Position>
         <Visibility>SHOWNORMAL</Visibility>
         <WindowPlacement>SETMINPOSITION</WindowPlacement>
-        <Top>0</Top>
+        <Top>3</Top>
         <Left>0</Left>
-        <Bottom>810</Bottom>
+        <Bottom>627</Bottom>
         <Right>606</Right>
       </Window_Position>
       <Interpretation_Window_Position>
@@ -653,7 +653,7 @@
         <ID>Data Byte(s)</ID>
         <Order>13</Order>
         <IsVisible>1</IsVisible>
-        <Width>701</Width>
+        <Width>643</Width>
       </COLUMN>
       <IsHex>1</IsHex>
       <IsAppend>0</IsAppend>
@@ -665,7 +665,7 @@
         <Top>0</Top>
         <Left>0</Left>
         <Bottom>549</Bottom>
-        <Right>1614</Right>
+        <Right>1556</Right>
       </Window_Position>
       <Interpretation_Window_Position>
         <Visibility>SHOWNORMAL</Visibility>
@@ -738,7 +738,7 @@
         <ID>Checksum</ID>
         <Order>10</Order>
         <IsVisible>1</IsVisible>
-        <Width>715</Width>
+        <Width>657</Width>
       </COLUMN>
       <IsHex>1</IsHex>
       <IsAppend>0</IsAppend>
@@ -750,7 +750,7 @@
         <Top>0</Top>
         <Left>0</Left>
         <Bottom>549</Bottom>
-        <Right>1614</Right>
+        <Right>1556</Right>
       </Window_Position>
       <Interpretation_Window_Position>
         <Visibility>SHOWNORMAL</Visibility>
@@ -765,10 +765,10 @@
       <Window_Position>
         <Visibility>SHOWNORMAL</Visibility>
         <WindowPlacement>SETMINPOSITION</WindowPlacement>
-        <Top>3</Top>
-        <Left>1052</Left>
-        <Bottom>658</Bottom>
-        <Right>1912</Right>
+        <Top>4</Top>
+        <Left>648</Left>
+        <Bottom>659</Bottom>
+        <Right>1508</Right>
       </Window_Position>
       <Message_List>
         <Message>
@@ -885,7 +885,7 @@
           <IsExtended>FALSE</IsExtended>
           <IsRtr>FALSE</IsRtr>
           <DLC>3</DLC>
-          <DataBytes>25,0,0</DataBytes>
+          <DataBytes>25,50,0</DataBytes>
           <Repetion>10</Repetion>
           <Repetition_Enabled>FALSE</Repetition_Enabled>
           <Key_Value>a</Key_Value>
@@ -899,7 +899,43 @@
           <DLC>2</DLC>
           <DataBytes>0,0</DataBytes>
           <Repetion>500</Repetion>
-          <Repetition_Enabled>TRUE</Repetition_Enabled>
+          <Repetition_Enabled>FALSE</Repetition_Enabled>
+          <Key_Value>a</Key_Value>
+          <Key_Enabled>FALSE</Key_Enabled>
+        </Message>
+        <Message>
+          <Channel>1</Channel>
+          <Message_ID>543</Message_ID>
+          <IsExtended>FALSE</IsExtended>
+          <IsRtr>FALSE</IsRtr>
+          <DLC>1</DLC>
+          <DataBytes>0</DataBytes>
+          <Repetion>100</Repetion>
+          <Repetition_Enabled>FALSE</Repetition_Enabled>
+          <Key_Value>a</Key_Value>
+          <Key_Enabled>FALSE</Key_Enabled>
+        </Message>
+        <Message>
+          <Channel>1</Channel>
+          <Message_ID>23</Message_ID>
+          <IsExtended>FALSE</IsExtended>
+          <IsRtr>FALSE</IsRtr>
+          <DLC>4</DLC>
+          <DataBytes>250,0,0,0</DataBytes>
+          <Repetion>10</Repetion>
+          <Repetition_Enabled>FALSE</Repetition_Enabled>
+          <Key_Value>a</Key_Value>
+          <Key_Enabled>FALSE</Key_Enabled>
+        </Message>
+        <Message>
+          <Channel>1</Channel>
+          <Message_ID>1540</Message_ID>
+          <IsExtended>FALSE</IsExtended>
+          <IsRtr>FALSE</IsRtr>
+          <DLC>4</DLC>
+          <DataBytes>0,0,0,0</DataBytes>
+          <Repetion>10</Repetion>
+          <Repetition_Enabled>FALSE</Repetition_Enabled>
           <Key_Value>a</Key_Value>
           <Key_Enabled>FALSE</Key_Enabled>
         </Message>

From 5da1775718170c02fc1b9af2885029ba43529e51 Mon Sep 17 00:00:00 2001
From: Klagarge <remi@heredero.ch>
Date: Wed, 6 Sep 2023 21:03:34 +0200
Subject: [PATCH 24/31] start new ramp

---
 306-controller_interface.X/app/car.h         |  19 ++++
 306-controller_interface.X/app/kartculator.c | 106 +++++++++++++++++++
 2 files changed, 125 insertions(+)

diff --git a/306-controller_interface.X/app/car.h b/306-controller_interface.X/app/car.h
index b81fe60..90edcff 100644
--- a/306-controller_interface.X/app/car.h
+++ b/306-controller_interface.X/app/car.h
@@ -85,9 +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 exp[100];
+uint8_t log[100];
+
+
 
 #endif	/* CAR_H */
 
diff --git a/306-controller_interface.X/app/kartculator.c b/306-controller_interface.X/app/kartculator.c
index 298cbcd..1895a24 100644
--- a/306-controller_interface.X/app/kartculator.c
+++ b/306-controller_interface.X/app/kartculator.c
@@ -12,6 +12,112 @@ void deadJoystick(void* p){
     eKart.position = eKart.center;
 }
 
+void initRamp() {
+    exp[0] = 0;
+    exp[1] = 0;
+    exp[2] = 0;
+    exp[3] = 0;
+    exp[4] = 0;
+    exp[5] = 0;
+    exp[6] = 0;
+    exp[7] = 0;
+    exp[8] = 0;
+    exp[9] = 0;
+    exp[10] = 1;
+    exp[11] = 1;
+    exp[12] = 1;
+    exp[13] = 1;
+    exp[14] = 1;
+    exp[15] = 1;
+    exp[16] = 1;
+    exp[17] = 1;
+    exp[18] = 1;
+    exp[19] = 1;
+    exp[20] = 1;
+    exp[21] = 2;
+    exp[22] = 2;
+    exp[23] = 2;
+    exp[24] = 2;
+    exp[25] = 2;
+    exp[26] = 2;
+    exp[27] = 2;
+    exp[28] = 2;
+    exp[29] = 3;
+    exp[30] = 3;
+    exp[31] = 3;
+    exp[32] = 3;
+    exp[33] = 3;
+    exp[34] = 4;
+    exp[35] = 4;
+    exp[36] = 4;
+    exp[37] = 4;
+    exp[38] = 5;
+    exp[39] = 5;
+    exp[40] = 5;
+    exp[41] = 6;
+    exp[42] = 6;
+    exp[43] = 6;
+    exp[44] = 7;
+    exp[45] = 7;
+    exp[46] = 7;
+    exp[47] = 8;
+    exp[48] = 8;
+    exp[49] = 9;
+    exp[50] = 9;
+    exp[51] = 10;
+    exp[52] = 10;
+    exp[53] = 11;
+    exp[54] = 11;
+    exp[55] = 12;
+    exp[56] = 12;
+    exp[57] = 13;
+    exp[58] = 14;
+    exp[59] = 14;
+    exp[60] = 15;
+    exp[61] = 16;
+    exp[62] = 16;
+    exp[63] = 17;
+    exp[64] = 18;
+    exp[65] = 19;
+    exp[66] = 20;
+    exp[67] = 21;
+    exp[68] = 22;
+    exp[69] = 23;
+    exp[70] = 24;
+    exp[71] = 25;
+    exp[72] = 27;
+    exp[73] = 28;
+    exp[74] = 29;
+    exp[75] = 31;
+    exp[76] = 32;
+    exp[77] = 34;
+    exp[78] = 36;
+    exp[79] = 37;
+    exp[80] = 39;
+    exp[81] = 41;
+    exp[82] = 43;
+    exp[83] = 45;
+    exp[84] = 47;
+    exp[85] = 50;
+    exp[86] = 52;
+    exp[87] = 54;
+    exp[88] = 57;
+    exp[89] = 60;
+    exp[90] = 63;
+    exp[91] = 66;
+    exp[92] = 69;
+    exp[93] = 72;
+    exp[94] = 76;
+    exp[95] = 79;
+    exp[96] = 83;
+    exp[97] = 87;
+    exp[98] = 91;
+    exp[99] = 95;
+    exp[100] = 100;
+
+    log[0] = 0;
+}
+
 void calcTorque(uint8_t joy_pos) {
     int32_t calcTorque;
     static int8_t lastPos = 0;

From cc6a8fc39ae2d71407d9f230bf41e9c15940e130 Mon Sep 17 00:00:00 2001
From: Klagarge <remi@heredero.ch>
Date: Thu, 7 Sep 2023 09:10:45 +0200
Subject: [PATCH 25/31] send alive before 0x604

---
 306-controller_interface.X/app/can_message.c     | 2 --
 306-controller_interface.X/app/factory/factory.c | 4 ++--
 2 files changed, 2 insertions(+), 4 deletions(-)

diff --git a/306-controller_interface.X/app/can_message.c b/306-controller_interface.X/app/can_message.c
index f4ea129..789ec16 100644
--- a/306-controller_interface.X/app/can_message.c
+++ b/306-controller_interface.X/app/can_message.c
@@ -302,8 +302,6 @@ void CM_processIncome(uint8_t idSender, uint8_t idMsg, bool rtr, uint32_t data){
                 DRIVE_startBehaviour(drive());
                 STEERING_startBehaviour(steering());
 
-                ALIVE_startBehaviourSender(ALcontroller());
-
                 ALIVE_startBehaviourChecker(ALjoy());
                 ALIVE_emitBorn(ALjoy(), 100, 0);
                 ALIVE_emitReady(ALjoy(), 200, 0);
diff --git a/306-controller_interface.X/app/factory/factory.c b/306-controller_interface.X/app/factory/factory.c
index 4e92ebb..bc0d6db 100644
--- a/306-controller_interface.X/app/factory/factory.c
+++ b/306-controller_interface.X/app/factory/factory.c
@@ -72,12 +72,12 @@ void Factory_build() {
 //start all state machines
 void Factory_start() {
     CAN_startBehaviour();
+    ALIVE_startBehaviourSender(ALcontroller());
+    
 /*        
     DRIVE_startBehaviour(drive());
     STEERING_startBehaviour(steering());
     
-    ALIVE_startBehaviourSender(ALcontroller());
-    
     ALIVE_startBehaviourChecker(ALjoy());
     ALIVE_emitBorn(ALjoy(), 100, 0);
     ALIVE_emitReady(ALjoy(), 200, 0);

From 8d389cdea229532a28dcf4291a83bec959331b72 Mon Sep 17 00:00:00 2001
From: Klagarge <remi@heredero.ch>
Date: Thu, 7 Sep 2023 09:10:58 +0200
Subject: [PATCH 26/31] ramp->curve

---
 306-controller_interface.X/app/car.h         |   4 +-
 306-controller_interface.X/app/kartculator.c | 337 ++++++++++++-------
 2 files changed, 215 insertions(+), 126 deletions(-)

diff --git a/306-controller_interface.X/app/car.h b/306-controller_interface.X/app/car.h
index 90edcff..71f4347 100644
--- a/306-controller_interface.X/app/car.h
+++ b/306-controller_interface.X/app/car.h
@@ -103,8 +103,8 @@ typedef struct {
 } KART_VAR_TYPE;
 KART_VAR_TYPE eKart;
 
-uint8_t exp[100];
-uint8_t log[100];
+uint8_t rampTorque[101];
+uint8_t rampPosition[101];
 
 
 
diff --git a/306-controller_interface.X/app/kartculator.c b/306-controller_interface.X/app/kartculator.c
index 1895a24..f57f435 100644
--- a/306-controller_interface.X/app/kartculator.c
+++ b/306-controller_interface.X/app/kartculator.c
@@ -13,125 +13,220 @@ void deadJoystick(void* p){
 }
 
 void initRamp() {
-    exp[0] = 0;
-    exp[1] = 0;
-    exp[2] = 0;
-    exp[3] = 0;
-    exp[4] = 0;
-    exp[5] = 0;
-    exp[6] = 0;
-    exp[7] = 0;
-    exp[8] = 0;
-    exp[9] = 0;
-    exp[10] = 1;
-    exp[11] = 1;
-    exp[12] = 1;
-    exp[13] = 1;
-    exp[14] = 1;
-    exp[15] = 1;
-    exp[16] = 1;
-    exp[17] = 1;
-    exp[18] = 1;
-    exp[19] = 1;
-    exp[20] = 1;
-    exp[21] = 2;
-    exp[22] = 2;
-    exp[23] = 2;
-    exp[24] = 2;
-    exp[25] = 2;
-    exp[26] = 2;
-    exp[27] = 2;
-    exp[28] = 2;
-    exp[29] = 3;
-    exp[30] = 3;
-    exp[31] = 3;
-    exp[32] = 3;
-    exp[33] = 3;
-    exp[34] = 4;
-    exp[35] = 4;
-    exp[36] = 4;
-    exp[37] = 4;
-    exp[38] = 5;
-    exp[39] = 5;
-    exp[40] = 5;
-    exp[41] = 6;
-    exp[42] = 6;
-    exp[43] = 6;
-    exp[44] = 7;
-    exp[45] = 7;
-    exp[46] = 7;
-    exp[47] = 8;
-    exp[48] = 8;
-    exp[49] = 9;
-    exp[50] = 9;
-    exp[51] = 10;
-    exp[52] = 10;
-    exp[53] = 11;
-    exp[54] = 11;
-    exp[55] = 12;
-    exp[56] = 12;
-    exp[57] = 13;
-    exp[58] = 14;
-    exp[59] = 14;
-    exp[60] = 15;
-    exp[61] = 16;
-    exp[62] = 16;
-    exp[63] = 17;
-    exp[64] = 18;
-    exp[65] = 19;
-    exp[66] = 20;
-    exp[67] = 21;
-    exp[68] = 22;
-    exp[69] = 23;
-    exp[70] = 24;
-    exp[71] = 25;
-    exp[72] = 27;
-    exp[73] = 28;
-    exp[74] = 29;
-    exp[75] = 31;
-    exp[76] = 32;
-    exp[77] = 34;
-    exp[78] = 36;
-    exp[79] = 37;
-    exp[80] = 39;
-    exp[81] = 41;
-    exp[82] = 43;
-    exp[83] = 45;
-    exp[84] = 47;
-    exp[85] = 50;
-    exp[86] = 52;
-    exp[87] = 54;
-    exp[88] = 57;
-    exp[89] = 60;
-    exp[90] = 63;
-    exp[91] = 66;
-    exp[92] = 69;
-    exp[93] = 72;
-    exp[94] = 76;
-    exp[95] = 79;
-    exp[96] = 83;
-    exp[97] = 87;
-    exp[98] = 91;
-    exp[99] = 95;
-    exp[100] = 100;
+    rampTorque[0] = 0;
+    rampTorque[1] = 2;
+    rampTorque[2] = 5;
+    rampTorque[3] = 7;
+    rampTorque[4] = 9;
+    rampTorque[5] = 11;
+    rampTorque[6] = 13;
+    rampTorque[7] = 14;
+    rampTorque[8] = 16;
+    rampTorque[9] = 18;
+    rampTorque[10] = 19;
+    rampTorque[11] = 21;
+    rampTorque[12] = 22;
+    rampTorque[13] = 23;
+    rampTorque[14] = 24;
+    rampTorque[15] = 26;
+    rampTorque[16] = 27;
+    rampTorque[17] = 28;
+    rampTorque[18] = 29;
+    rampTorque[19] = 29;
+    rampTorque[20] = 30;
+    rampTorque[21] = 31;
+    rampTorque[22] = 32;
+    rampTorque[23] = 32;
+    rampTorque[24] = 33;
+    rampTorque[25] = 33;
+    rampTorque[26] = 34;
+    rampTorque[27] = 34;
+    rampTorque[28] = 35;
+    rampTorque[29] = 35;
+    rampTorque[30] = 35;
+    rampTorque[31] = 36;
+    rampTorque[32] = 36;
+    rampTorque[33] = 36;
+    rampTorque[34] = 36;
+    rampTorque[35] = 37;
+    rampTorque[36] = 37;
+    rampTorque[37] = 37;
+    rampTorque[38] = 37;
+    rampTorque[39] = 37;
+    rampTorque[40] = 37;
+    rampTorque[41] = 37;
+    rampTorque[42] = 37;
+    rampTorque[43] = 37;
+    rampTorque[44] = 37;
+    rampTorque[45] = 37;
+    rampTorque[46] = 37;
+    rampTorque[47] = 37;
+    rampTorque[48] = 37;
+    rampTorque[49] = 37;
+    rampTorque[50] = 38;
+    rampTorque[51] = 38;
+    rampTorque[52] = 38;
+    rampTorque[53] = 38;
+    rampTorque[54] = 38;
+    rampTorque[55] = 38;
+    rampTorque[56] = 38;
+    rampTorque[57] = 38;
+    rampTorque[58] = 38;
+    rampTorque[59] = 39;
+    rampTorque[60] = 39;
+    rampTorque[61] = 39;
+    rampTorque[62] = 39;
+    rampTorque[63] = 40;
+    rampTorque[64] = 40;
+    rampTorque[65] = 41;
+    rampTorque[66] = 41;
+    rampTorque[67] = 42;
+    rampTorque[68] = 42;
+    rampTorque[69] = 43;
+    rampTorque[70] = 44;
+    rampTorque[71] = 44;
+    rampTorque[72] = 45;
+    rampTorque[73] = 46;
+    rampTorque[74] = 47;
+    rampTorque[75] = 48;
+    rampTorque[76] = 49;
+    rampTorque[77] = 50;
+    rampTorque[78] = 51;
+    rampTorque[79] = 52;
+    rampTorque[80] = 54;
+    rampTorque[81] = 55;
+    rampTorque[82] = 57;
+    rampTorque[83] = 58;
+    rampTorque[84] = 60;
+    rampTorque[85] = 62;
+    rampTorque[86] = 64;
+    rampTorque[87] = 65;
+    rampTorque[88] = 67;
+    rampTorque[89] = 70;
+    rampTorque[90] = 72;
+    rampTorque[91] = 74;
+    rampTorque[92] = 77;
+    rampTorque[93] = 79;
+    rampTorque[94] = 82;
+    rampTorque[95] = 85;
+    rampTorque[96] = 87;
+    rampTorque[97] = 90;
+    rampTorque[98] = 93;
+    rampTorque[99] = 97;
+    rampTorque[100] = 100;
+
+    rampPosition[0] = 0;
+    rampPosition[1] = 0;
+    rampPosition[2] = 1;
+    rampPosition[3] = 1;
+    rampPosition[4] = 1;
+    rampPosition[5] = 1;
+    rampPosition[6] = 2;
+    rampPosition[7] = 2;
+    rampPosition[8] = 2;
+    rampPosition[9] = 3;
+    rampPosition[10] = 3;
+    rampPosition[11] = 4;
+    rampPosition[12] = 4;
+    rampPosition[13] = 4;
+    rampPosition[14] = 5;
+    rampPosition[15] = 5;
+    rampPosition[16] = 6;
+    rampPosition[17] = 6;
+    rampPosition[18] = 7;
+    rampPosition[19] = 7;
+    rampPosition[20] = 8;
+    rampPosition[21] = 8;
+    rampPosition[22] = 9;
+    rampPosition[23] = 9;
+    rampPosition[24] = 10;
+    rampPosition[25] = 11;
+    rampPosition[26] = 11;
+    rampPosition[27] = 12;
+    rampPosition[28] = 13;
+    rampPosition[29] = 13;
+    rampPosition[30] = 14;
+    rampPosition[31] = 15;
+    rampPosition[32] = 15;
+    rampPosition[33] = 16;
+    rampPosition[34] = 17;
+    rampPosition[35] = 18;
+    rampPosition[36] = 18;
+    rampPosition[37] = 19;
+    rampPosition[38] = 20;
+    rampPosition[39] = 21;
+    rampPosition[40] = 22;
+    rampPosition[41] = 23;
+    rampPosition[42] = 23;
+    rampPosition[43] = 24;
+    rampPosition[44] = 25;
+    rampPosition[45] = 26;
+    rampPosition[46] = 27;
+    rampPosition[47] = 28;
+    rampPosition[48] = 29;
+    rampPosition[49] = 30;
+    rampPosition[50] = 31;
+    rampPosition[51] = 32;
+    rampPosition[52] = 33;
+    rampPosition[53] = 34;
+    rampPosition[54] = 35;
+    rampPosition[55] = 36;
+    rampPosition[56] = 37;
+    rampPosition[57] = 38;
+    rampPosition[58] = 39;
+    rampPosition[59] = 41;
+    rampPosition[60] = 42;
+    rampPosition[61] = 43;
+    rampPosition[62] = 44;
+    rampPosition[63] = 45;
+    rampPosition[64] = 46;
+    rampPosition[65] = 48;
+    rampPosition[66] = 49;
+    rampPosition[67] = 50;
+    rampPosition[68] = 51;
+    rampPosition[69] = 53;
+    rampPosition[70] = 54;
+    rampPosition[71] = 55;
+    rampPosition[72] = 57;
+    rampPosition[73] = 58;
+    rampPosition[74] = 59;
+    rampPosition[75] = 61;
+    rampPosition[76] = 62;
+    rampPosition[77] = 63;
+    rampPosition[78] = 65;
+    rampPosition[79] = 66;
+    rampPosition[80] = 68;
+    rampPosition[81] = 69;
+    rampPosition[82] = 71;
+    rampPosition[83] = 72;
+    rampPosition[84] = 74;
+    rampPosition[85] = 75;
+    rampPosition[86] = 77;
+    rampPosition[87] = 78;
+    rampPosition[88] = 80;
+    rampPosition[89] = 82;
+    rampPosition[90] = 83;
+    rampPosition[91] = 85;
+    rampPosition[92] = 86;
+    rampPosition[93] = 88;
+    rampPosition[94] = 90;
+    rampPosition[95] = 91;
+    rampPosition[96] = 93;
+    rampPosition[97] = 95;
+    rampPosition[98] = 97;
+    rampPosition[99] = 98;
+    rampPosition[100] = 100;
 
-    log[0] = 0;
 }
 
 void calcTorque(uint8_t joy_pos) {
     int32_t calcTorque;
-    static int8_t lastPos = 0;
-    int8_t diff = ((int8_t)joy_pos) - lastPos;
-    
-    if (diff > KART_CST.CONTROL_PARAM_MAX_CHANGE_DRIVE) {
-        calcTorque = lastPos + KART_CST.CONTROL_PARAM_MAX_CHANGE_DRIVE;
-    } else if (diff < -KART_CST.CONTROL_PARAM_MAX_CHANGE_DRIVE) {
-        calcTorque = lastPos - KART_CST.CONTROL_PARAM_MAX_CHANGE_DRIVE;
+    calcTorque = (int8_t) joy_pos;                  // joystick position
+    if(joy_pos >= 0) {
+        calcTorque = rampTorque[joy_pos];
     } else {
-        calcTorque = (int8_t) joy_pos;                  // joystick position
+        calcTorque = -rampTorque[-joy_pos];
     }
-    lastPos = calcTorque;
-    
     calcTorque *= KART_CST.CONTROL_POWER_FACTOR;    // convert by power factor
     calcTorque /= 1000;                             // torque define by joystick
     eKart.torque = (int16_t) calcTorque;
@@ -139,19 +234,13 @@ void calcTorque(uint8_t joy_pos) {
 
 void calcPosition(uint8_t joy_pos){
     int32_t calcPosition;
-    static int8_t lastPos = 0;
-    int8_t diff = ((int8_t)joy_pos) - lastPos;
-    
-    if (diff > KART_CST.CONTROL_PARAM_MAX_CHANGE_STEERING) {
-        calcPosition = lastPos + KART_CST.CONTROL_PARAM_MAX_CHANGE_STEERING;
-    } else if (diff < -KART_CST.CONTROL_PARAM_MAX_CHANGE_STEERING) {
-        calcPosition = lastPos - KART_CST.CONTROL_PARAM_MAX_CHANGE_STEERING;
-    } else {
-        calcPosition = (int8_t) joy_pos;
-    }
-    lastPos = calcPosition;
-    
+    calcPosition = (int8_t) joy_pos;
     calcPosition *= -1;     // change left and right
+    if(joy_pos >= 0) {
+        calcPosition = rampPosition[joy_pos];
+    } else {
+        calcPosition = -rampPosition[-joy_pos];
+    }
     calcPosition *= (int32_t) KART_CST.CONTROL_STEERING_FACTOR;
     calcPosition /= 1000;
     calcPosition += eKart.center;

From 5c555f6ee1edcb84423de9515ba161cf1f01a80c Mon Sep 17 00:00:00 2001
From: Klagarge <remi@heredero.ch>
Date: Thu, 7 Sep 2023 10:31:26 +0200
Subject: [PATCH 27/31] fix ramp

---
 306-controller_interface.X/app/eeprom.c          | 2 +-
 306-controller_interface.X/app/factory/factory.c | 1 +
 306-controller_interface.X/app/kartculator.c     | 8 ++++++--
 306-controller_interface.X/app/kartculator.h     | 1 +
 4 files changed, 9 insertions(+), 3 deletions(-)

diff --git a/306-controller_interface.X/app/eeprom.c b/306-controller_interface.X/app/eeprom.c
index 1f256f6..bd6dc71 100644
--- a/306-controller_interface.X/app/eeprom.c
+++ b/306-controller_interface.X/app/eeprom.c
@@ -24,7 +24,7 @@ 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      =   250; // should be 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 =   5600240;   //   5'600'024
diff --git a/306-controller_interface.X/app/factory/factory.c b/306-controller_interface.X/app/factory/factory.c
index bc0d6db..f326b16 100644
--- a/306-controller_interface.X/app/factory/factory.c
+++ b/306-controller_interface.X/app/factory/factory.c
@@ -40,6 +40,7 @@ void Factory_init() {
     CAN_setSender(1);
     
     MEM_init();
+    initRamp();
     
     ALIVE_init(ALcontroller(), 6);
     ALIVE_setAliveTime(ALcontroller(), KART_CST.CONTROL_ALIVE_TIME);
diff --git a/306-controller_interface.X/app/kartculator.c b/306-controller_interface.X/app/kartculator.c
index f57f435..d4137e1 100644
--- a/306-controller_interface.X/app/kartculator.c
+++ b/306-controller_interface.X/app/kartculator.c
@@ -225,7 +225,9 @@ void calcTorque(uint8_t joy_pos) {
     if(joy_pos >= 0) {
         calcTorque = rampTorque[joy_pos];
     } else {
-        calcTorque = -rampTorque[-joy_pos];
+        joy_pos *= -1;
+        calcTorque = rampTorque[joy_pos];
+        calcTorque *= -1;
     }
     calcTorque *= KART_CST.CONTROL_POWER_FACTOR;    // convert by power factor
     calcTorque /= 1000;                             // torque define by joystick
@@ -239,7 +241,9 @@ void calcPosition(uint8_t joy_pos){
     if(joy_pos >= 0) {
         calcPosition = rampPosition[joy_pos];
     } else {
-        calcPosition = -rampPosition[-joy_pos];
+        joy_pos *= -1;
+        calcPosition = rampPosition[joy_pos];
+        rampPosition *= -1;
     }
     calcPosition *= (int32_t) KART_CST.CONTROL_STEERING_FACTOR;
     calcPosition /= 1000;
diff --git a/306-controller_interface.X/app/kartculator.h b/306-controller_interface.X/app/kartculator.h
index cad450f..dcfd52c 100644
--- a/306-controller_interface.X/app/kartculator.h
+++ b/306-controller_interface.X/app/kartculator.h
@@ -13,6 +13,7 @@
 #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);

From 8f1b0c2c1322aa799976bf62fd975b27ae034489 Mon Sep 17 00:00:00 2001
From: Klagarge <remi@heredero.ch>
Date: Thu, 7 Sep 2023 14:18:29 +0200
Subject: [PATCH 28/31] fix ramp

fix curve and add headlights
---
 306-controller_interface.X/app/can_message.c |  13 +-
 306-controller_interface.X/app/can_message.h |   6 +
 306-controller_interface.X/app/kartculator.c | 415 ++++++++++---------
 3 files changed, 231 insertions(+), 203 deletions(-)

diff --git a/306-controller_interface.X/app/can_message.c b/306-controller_interface.X/app/can_message.c
index 789ec16..9f4010d 100644
--- a/306-controller_interface.X/app/can_message.c
+++ b/306-controller_interface.X/app/can_message.c
@@ -224,7 +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;
             
@@ -441,3 +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 77fcb77..7d3ac5d 100644
--- a/306-controller_interface.X/app/can_message.h
+++ b/306-controller_interface.X/app/can_message.h
@@ -88,6 +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/kartculator.c b/306-controller_interface.X/app/kartculator.c
index d4137e1..32af8c3 100644
--- a/306-controller_interface.X/app/kartculator.c
+++ b/306-controller_interface.X/app/kartculator.c
@@ -14,221 +14,227 @@ void deadJoystick(void* p){
 
 void initRamp() {
     rampTorque[0] = 0;
-    rampTorque[1] = 2;
+    rampTorque[1] = 3;
     rampTorque[2] = 5;
     rampTorque[3] = 7;
-    rampTorque[4] = 9;
-    rampTorque[5] = 11;
-    rampTorque[6] = 13;
-    rampTorque[7] = 14;
-    rampTorque[8] = 16;
-    rampTorque[9] = 18;
-    rampTorque[10] = 19;
-    rampTorque[11] = 21;
-    rampTorque[12] = 22;
-    rampTorque[13] = 23;
-    rampTorque[14] = 24;
-    rampTorque[15] = 26;
-    rampTorque[16] = 27;
-    rampTorque[17] = 28;
-    rampTorque[18] = 29;
-    rampTorque[19] = 29;
-    rampTorque[20] = 30;
-    rampTorque[21] = 31;
-    rampTorque[22] = 32;
-    rampTorque[23] = 32;
-    rampTorque[24] = 33;
-    rampTorque[25] = 33;
-    rampTorque[26] = 34;
-    rampTorque[27] = 34;
-    rampTorque[28] = 35;
-    rampTorque[29] = 35;
-    rampTorque[30] = 35;
-    rampTorque[31] = 36;
-    rampTorque[32] = 36;
-    rampTorque[33] = 36;
-    rampTorque[34] = 36;
-    rampTorque[35] = 37;
-    rampTorque[36] = 37;
-    rampTorque[37] = 37;
-    rampTorque[38] = 37;
-    rampTorque[39] = 37;
-    rampTorque[40] = 37;
-    rampTorque[41] = 37;
-    rampTorque[42] = 37;
-    rampTorque[43] = 37;
-    rampTorque[44] = 37;
-    rampTorque[45] = 37;
-    rampTorque[46] = 37;
-    rampTorque[47] = 37;
-    rampTorque[48] = 37;
-    rampTorque[49] = 37;
-    rampTorque[50] = 38;
-    rampTorque[51] = 38;
-    rampTorque[52] = 38;
-    rampTorque[53] = 38;
-    rampTorque[54] = 38;
-    rampTorque[55] = 38;
-    rampTorque[56] = 38;
-    rampTorque[57] = 38;
-    rampTorque[58] = 38;
-    rampTorque[59] = 39;
-    rampTorque[60] = 39;
-    rampTorque[61] = 39;
-    rampTorque[62] = 39;
-    rampTorque[63] = 40;
-    rampTorque[64] = 40;
-    rampTorque[65] = 41;
-    rampTorque[66] = 41;
-    rampTorque[67] = 42;
-    rampTorque[68] = 42;
-    rampTorque[69] = 43;
-    rampTorque[70] = 44;
-    rampTorque[71] = 44;
-    rampTorque[72] = 45;
-    rampTorque[73] = 46;
-    rampTorque[74] = 47;
-    rampTorque[75] = 48;
-    rampTorque[76] = 49;
-    rampTorque[77] = 50;
-    rampTorque[78] = 51;
-    rampTorque[79] = 52;
-    rampTorque[80] = 54;
-    rampTorque[81] = 55;
-    rampTorque[82] = 57;
-    rampTorque[83] = 58;
-    rampTorque[84] = 60;
-    rampTorque[85] = 62;
-    rampTorque[86] = 64;
-    rampTorque[87] = 65;
-    rampTorque[88] = 67;
-    rampTorque[89] = 70;
-    rampTorque[90] = 72;
-    rampTorque[91] = 74;
-    rampTorque[92] = 77;
-    rampTorque[93] = 79;
-    rampTorque[94] = 82;
-    rampTorque[95] = 85;
-    rampTorque[96] = 87;
-    rampTorque[97] = 90;
-    rampTorque[98] = 93;
-    rampTorque[99] = 97;
+    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] = 1;
-    rampPosition[3] = 1;
-    rampPosition[4] = 1;
+    rampPosition[2] = 0;
+    rampPosition[3] = 0;
+    rampPosition[4] = 0;
     rampPosition[5] = 1;
-    rampPosition[6] = 2;
-    rampPosition[7] = 2;
+    rampPosition[6] = 1;
+    rampPosition[7] = 1;
     rampPosition[8] = 2;
-    rampPosition[9] = 3;
+    rampPosition[9] = 2;
     rampPosition[10] = 3;
-    rampPosition[11] = 4;
+    rampPosition[11] = 3;
     rampPosition[12] = 4;
-    rampPosition[13] = 4;
+    rampPosition[13] = 5;
     rampPosition[14] = 5;
-    rampPosition[15] = 5;
-    rampPosition[16] = 6;
-    rampPosition[17] = 6;
-    rampPosition[18] = 7;
-    rampPosition[19] = 7;
-    rampPosition[20] = 8;
-    rampPosition[21] = 8;
-    rampPosition[22] = 9;
-    rampPosition[23] = 9;
-    rampPosition[24] = 10;
-    rampPosition[25] = 11;
-    rampPosition[26] = 11;
-    rampPosition[27] = 12;
-    rampPosition[28] = 13;
-    rampPosition[29] = 13;
-    rampPosition[30] = 14;
-    rampPosition[31] = 15;
-    rampPosition[32] = 15;
-    rampPosition[33] = 16;
-    rampPosition[34] = 17;
-    rampPosition[35] = 18;
-    rampPosition[36] = 18;
-    rampPosition[37] = 19;
-    rampPosition[38] = 20;
-    rampPosition[39] = 21;
-    rampPosition[40] = 22;
-    rampPosition[41] = 23;
-    rampPosition[42] = 23;
-    rampPosition[43] = 24;
-    rampPosition[44] = 25;
-    rampPosition[45] = 26;
-    rampPosition[46] = 27;
-    rampPosition[47] = 28;
-    rampPosition[48] = 29;
-    rampPosition[49] = 30;
-    rampPosition[50] = 31;
-    rampPosition[51] = 32;
-    rampPosition[52] = 33;
-    rampPosition[53] = 34;
-    rampPosition[54] = 35;
-    rampPosition[55] = 36;
-    rampPosition[56] = 37;
-    rampPosition[57] = 38;
-    rampPosition[58] = 39;
-    rampPosition[59] = 41;
-    rampPosition[60] = 42;
-    rampPosition[61] = 43;
-    rampPosition[62] = 44;
-    rampPosition[63] = 45;
-    rampPosition[64] = 46;
-    rampPosition[65] = 48;
-    rampPosition[66] = 49;
-    rampPosition[67] = 50;
-    rampPosition[68] = 51;
-    rampPosition[69] = 53;
-    rampPosition[70] = 54;
-    rampPosition[71] = 55;
-    rampPosition[72] = 57;
-    rampPosition[73] = 58;
-    rampPosition[74] = 59;
-    rampPosition[75] = 61;
-    rampPosition[76] = 62;
-    rampPosition[77] = 63;
-    rampPosition[78] = 65;
-    rampPosition[79] = 66;
-    rampPosition[80] = 68;
-    rampPosition[81] = 69;
-    rampPosition[82] = 71;
-    rampPosition[83] = 72;
-    rampPosition[84] = 74;
-    rampPosition[85] = 75;
-    rampPosition[86] = 77;
-    rampPosition[87] = 78;
-    rampPosition[88] = 80;
-    rampPosition[89] = 82;
-    rampPosition[90] = 83;
-    rampPosition[91] = 85;
-    rampPosition[92] = 86;
-    rampPosition[93] = 88;
-    rampPosition[94] = 90;
-    rampPosition[95] = 91;
-    rampPosition[96] = 93;
-    rampPosition[97] = 95;
-    rampPosition[98] = 97;
-    rampPosition[99] = 98;
+    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(joy_pos >= 0) {
-        calcTorque = rampTorque[joy_pos];
-    } else {
-        joy_pos *= -1;
-        calcTorque = rampTorque[joy_pos];
-        calcTorque *= -1;
+    
+    // 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;
@@ -238,13 +244,18 @@ void calcPosition(uint8_t joy_pos){
     int32_t calcPosition;
     calcPosition = (int8_t) joy_pos;
     calcPosition *= -1;     // change left and right
-    if(joy_pos >= 0) {
-        calcPosition = rampPosition[joy_pos];
-    } else {
-        joy_pos *= -1;
-        calcPosition = rampPosition[joy_pos];
-        rampPosition *= -1;
+    
+    // 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;

From b7aad73c25327211d0789a33a644a1c22a670fd3 Mon Sep 17 00:00:00 2001
From: Klagarge <remi@heredero.ch>
Date: Thu, 7 Sep 2023 14:20:47 +0200
Subject: [PATCH 29/31] add binary files

---
 binary_files/v1_0_0.hex                       | 2842 ++++++++++++++++
 binary_files/v1_0_1.hex                       | 2842 ++++++++++++++++
 ...ontroller_alive_and_wait_604-no_curves.hex | 2853 ++++++++++++++++
 binary_files/v1_2_0-curve_and_headlights.hex  | 2974 +++++++++++++++++
 binary_files/without_set_center.hex           | 2843 ++++++++++++++++
 5 files changed, 14354 insertions(+)
 create mode 100644 binary_files/v1_0_0.hex
 create mode 100644 binary_files/v1_0_1.hex
 create mode 100644 binary_files/v1_1_0-controller_alive_and_wait_604-no_curves.hex
 create mode 100644 binary_files/v1_2_0-curve_and_headlights.hex
 create mode 100644 binary_files/without_set_center.hex

diff --git a/binary_files/v1_0_0.hex b/binary_files/v1_0_0.hex
new file mode 100644
index 0000000..baa504f
--- /dev/null
+++ b/binary_files/v1_0_0.hex
@@ -0,0 +1,2842 @@
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+:04000800C6EF4BF004
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index 0000000..f334a31
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diff --git a/binary_files/v1_1_0-controller_alive_and_wait_604-no_curves.hex b/binary_files/v1_1_0-controller_alive_and_wait_604-no_curves.hex
new file mode 100644
index 0000000..3a4b8b9
--- /dev/null
+++ b/binary_files/v1_1_0-controller_alive_and_wait_604-no_curves.hex
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new file mode 100644
index 0000000..e6c4831
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diff --git a/binary_files/without_set_center.hex b/binary_files/without_set_center.hex
new file mode 100644
index 0000000..f10f0a7
--- /dev/null
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+:10BC1000DA6EFF0EDA22FE0E6F008CFF38F0FF0E98
+:10BC20006F008CFF39F0030E3824E96E000E3920C6
+:10BC3000EA6E6F007BFFEEFF6F0077FFEDFFE552CE
+:10BC4000E552E552E5521200060EE126000EE22210
+:10BC5000F80E6F008CFF38F0F90E6F008CFF39F092
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+:10BCB000E126FF0EE2221200E652D2BE62EF5EF0F3
+:10BCC00066EF5EF0396A392A67EF5EF0396AFF0E77
+:10BCD0006000E7F0E3FFD29E39015B510400FF0EE4
+:10BCE000E3B002D0D29E01D0D28EE552120048ECD1
+:10BCF0005FF03EEC48F0F1EC51F092EC54F05EEC69
+:10BD000052F0860EE66E9C0EE66EC0EC5FF0D28EB0
+:10BD10005CEC5EF0C5EC52F088EF5EF00DEF00F0E9
+:10BD2000FF0EE124D96EFF0EE220DA6EDF50030B26
+:10BD30003901E16FFE0E6F008FFFE0F93F0EE5174E
+:10BD4000E58100F000F06E008CF72EF0E552E55230
+:10BD500012003901A39F000171517211D8B4B3EFE1
+:10BD60005EF0B5EF5EF0C1EF5EF002D8C1EF5EF0BD
+:10BD70000500FA6E7151FD6E7251FE6EFF6AFA5047
+:10BD800012001200FE0E6F008CFF38F0FF0E6F00E5
+:10BD90008CFF39F0030E3824D96E000E3920DA6E8C
+:10BDA0006F0078FF2EF06F0074FF2FF0E552E55220
+:10BDB0001200FE0E6F008CFF38F0FF0E6F008CFF3C
+:10BDC00039F0050E3824D96E000E3920DA6E6F0076
+:10BDD00078FF2EF06F0074FF2FF0E552E55212004D
+:10BDE000FE0E6F008CFF38F0FF0E6F008CFF39F0F5
+:10BDF0001A0E3824D96E000E3920DA6EFD0E6F004F
+:10BE00008FFFDFFFE552E552E5521200000EE66EAD
+:10BE1000000EE66E000EE66E000EE66E0F0EE66E8B
+:10BE2000000EE66E9BEC3AF0E552E5521200460E2B
+:10BE3000B96EF90EB76EB66A3901A39F938F180ECB
+:10BE4000E66EC10EE66EC0EC5FF0890EB86E1200B1
+:10BE5000FE0E6F008FFFD9FFFF0E6F008FFFDAFF1E
+:10BE6000FD0E6F008FFFDFFFE552E552E552120035
+:10BE7000FE0E6F008FFFD9FFFF0E6F008FFFDAFFFE
+:10BE8000FD0E6F008FFFDFFFE552E552E552120015
+:10BE90008AEC60F023EC60F022EC5DF02DEC60F0B9
+:10BEA00073EC60F017EC5FF0CBEC45F0120002D8B9
+:10BEB00063EF5FF00500FA6E2650FD6E2750FE6EB0
+:10BEC000FF6AFA5012003901A5931200010EE66EC6
+:10BED000FD0E6F008FFFE6FF6F008FFFE6FFF0ECB7
+:10BEE0005EF0E552E55212000001666B676B68C0B8
+:10BEF0006CF069C06DF06AC06EF06BC06FF0E55217
+:10BF0000E5521200FE0E6F008FFFD9FFFF0E6F008B
+:10BF10008FFFDAFFDF502E6EE552E5521200FE0E63
+:10BF2000E350E66EFE0EE350E66E000EE66EABECFE
+:10BF300055F0E552E5521200FF0EE350D8A4A3EFEE
+:10BF40005FF0A5EF5FF0A6EF5FF0D28EE552120032
+:10BF5000FF0EE350D8A4AFEF5FF0B1EF5FF0B2EFA8
+:10BF60005FF0D29EE5521200FE0E6F008FFFE6FFDB
+:10BF70006F008FFFE6FF9CEC50F0E552E552120097
+:10BF8000FE0E6F008CFF71F0FF0E6F008CFF72F0E1
+:10BF9000E552E5521200FE0E6F008CFF62F0FF0EBC
+:10BFA0006F008CFF63F0E552E5521200FE0E6F0049
+:10BFB0008CFF20F0FF0E6F008CFF21F0E552E55260
+:10BFC0001200FE0E6F008CFF60F0FF0E6F008CFF02
+:10BFD00061F0E552E5521200FE0E6F008CFF64F036
+:10BFE000FF0E6F008CFF65F0E552E5521200FE0E69
+:10BFF0006F008CFF24F0FF0E6F008CFF25F0E552E0
+:10C00000E5521200FE0E6F008CFF22F0FF0E6F0053
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+:10C0200026F0FF0E6F008CFF27F0E552E55212005C
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+:10C0C000000E2F221200000E2E6E010E2F6E020E99
+:10C0D0002E26000E2F221200000EE66E000EE66ED7
+:10C0E0008FEC5FF012000C0E39015B6F370E5C6F46
+:10C0F0001200FF0E6F008CFF2BF0E55212000A0EAB
+:10C100002A6E2C6A2D6A2B6A1200000E2E6E010E0A
+:10C110002F6E1200D29A12001200120012001200AA
+:08C120001200120012001200CF
+:020000040020DA
+:10000000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF00
+:020000040030CA
+:0A0000008CFFF7FFA6FFFFFFFFFFD4
+:00000001FF

From c5403fe7f9fbce4d130f90c8f09acfbf254e060c Mon Sep 17 00:00:00 2001
From: Klagarge <remi@heredero.ch>
Date: Thu, 7 Sep 2023 16:55:24 +0200
Subject: [PATCH 30/31] fix speed

---
 306-controller_interface.X/app/kartculator.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/306-controller_interface.X/app/kartculator.c b/306-controller_interface.X/app/kartculator.c
index 32af8c3..6f30af2 100644
--- a/306-controller_interface.X/app/kartculator.c
+++ b/306-controller_interface.X/app/kartculator.c
@@ -269,7 +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;
 }

From d667b7d01e5b75b8f55269414c6733c3fd993c5d Mon Sep 17 00:00:00 2001
From: Klagarge <remi@heredero.ch>
Date: Thu, 7 Sep 2023 16:56:02 +0200
Subject: [PATCH 31/31] try way to setup drive every time

---
 .../app/factory/factory.c                     |   2 +-
 .../nbproject/configurations.xml              |   5 +-
 ...nter.hex => v1_0_2-without_set_center.hex} |   0
 busmaster_config.cfx                          | 171 ++++++------------
 threewheeler.DBF                              |  13 +-
 5 files changed, 74 insertions(+), 117 deletions(-)
 rename binary_files/{without_set_center.hex => v1_0_2-without_set_center.hex} (100%)

diff --git a/306-controller_interface.X/app/factory/factory.c b/306-controller_interface.X/app/factory/factory.c
index f326b16..56b976f 100644
--- a/306-controller_interface.X/app/factory/factory.c
+++ b/306-controller_interface.X/app/factory/factory.c
@@ -57,7 +57,7 @@ void Factory_build() {
     
     ALIVE_onAlive(ALcontroller(), CM_CONTROLLER_ALIVE, NULL);
     
-    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(), deadJoystick, NULL);
diff --git a/306-controller_interface.X/nbproject/configurations.xml b/306-controller_interface.X/nbproject/configurations.xml
index c7281e6..39bf0d7 100644
--- a/306-controller_interface.X/nbproject/configurations.xml
+++ b/306-controller_interface.X/nbproject/configurations.xml
@@ -224,7 +224,6 @@
         <property key="debugoptions.useswbreakpoints" value="false"/>
         <property key="event.recorder.enabled" value="false"/>
         <property key="event.recorder.scvd.files" value=""/>
-        <property key="firmware.download.all" value="false"/>
         <property key="hwtoolclock.frcindebug" value="false"/>
         <property key="lastid" value=""/>
         <property key="memories.aux" value="false"/>
@@ -248,7 +247,7 @@
         <property key="programoptions.preservedataflash" value="false"/>
         <property key="programoptions.preservedataflash.ranges"
                   value="${programoptions.preservedataflash.ranges}"/>
-        <property key="programoptions.preserveeeprom" value="false"/>
+        <property key="programoptions.preserveeeprom" value="true"/>
         <property key="programoptions.preserveeeprom.ranges" value="310000-3103ff"/>
         <property key="programoptions.preserveprogram.ranges" value=""/>
         <property key="programoptions.preserveprogramrange" value="false"/>
@@ -296,7 +295,7 @@
         <property key="programoptions.preservedataflash" value="false"/>
         <property key="programoptions.preservedataflash.ranges"
                   value="${programoptions.preservedataflash.ranges}"/>
-        <property key="programoptions.preserveeeprom" value="false"/>
+        <property key="programoptions.preserveeeprom" value="true"/>
         <property key="programoptions.preserveeeprom.ranges" value="310000-3103ff"/>
         <property key="programoptions.preserveprogram.ranges" value=""/>
         <property key="programoptions.preserveprogramrange" value="false"/>
diff --git a/binary_files/without_set_center.hex b/binary_files/v1_0_2-without_set_center.hex
similarity index 100%
rename from binary_files/without_set_center.hex
rename to binary_files/v1_0_2-without_set_center.hex
diff --git a/busmaster_config.cfx b/busmaster_config.cfx
index d30f012..25b8137 100644
--- a/busmaster_config.cfx
+++ b/busmaster_config.cfx
@@ -2,14 +2,14 @@
 <BUSMASTER_CONFIGURATION>
   <Global_Configuration>
     <BUSMASTER_Version>3.2.2</BUSMASTER_Version>
-    <IsMsgFilterEnabled>FALSE</IsMsgFilterEnabled>
+    <IsMsgFilterEnabled>TRUE</IsMsgFilterEnabled>
     <IsMsgFilterEnabledLin>FALSE</IsMsgFilterEnabledLin>
     <IsReplayFilterEnabled>FALSE</IsReplayFilterEnabled>
     <IsLogFilterEnabled>FALSE</IsLogFilterEnabled>
     <IsLogFilterLINEnabled>FALSE</IsLogFilterLINEnabled>
     <IsLoggingEnabled>FALSE</IsLoggingEnabled>
     <IsMsgIntepretationEnabled>TRUE</IsMsgIntepretationEnabled>
-    <IsOverWriteEnabled>TRUE</IsOverWriteEnabled>
+    <IsOverWriteEnabled>FALSE</IsOverWriteEnabled>
     <DisplayTimeMode>SYSTEM</DisplayTimeMode>
     <DisplayNumericMode>FALSE</DisplayNumericMode>
     <LogOnConnect_CAN>FALSE</LogOnConnect_CAN>
@@ -328,7 +328,6 @@
         <Id>529</Id>
         <Signal>posX</Signal>
         <Signal>posY</Signal>
-        <Signal>button</Signal>
       </Message>
       <Message>
         <Id>1040</Id>
@@ -347,30 +346,26 @@
         <Signal>SteeringPosition</Signal>
       </Message>
       <Message>
-        <Id>336</Id>
-        <Signal>RESET</Signal>
-        <Signal>SET_CENTER</Signal>
-        <Signal>HOMING</Signal>
+        <Id>1311</Id>
       </Message>
       <Message>
-        <Id>82</Id>
-        <Signal>CENTER_POS</Signal>
+        <Id>1294</Id>
+        <Signal>brake</Signal>
       </Message>
       <Message>
-        <Id>1298</Id>
-        <Signal>POSITION</Signal>
+        <Id>1540</Id>
       </Message>
       <Window_Position>
         <Visibility>SHOWNORMAL</Visibility>
         <WindowPlacement>HIDE</WindowPlacement>
-        <Top>456</Top>
-        <Left>632</Left>
-        <Right>1079</Right>
-        <Bottom>744</Bottom>
+        <Top>170</Top>
+        <Left>421</Left>
+        <Right>868</Right>
+        <Bottom>731</Bottom>
       </Window_Position>
       <COLUMN_WIDTH>
-        <MESSAGE_COLUMN>151</MESSAGE_COLUMN>
-        <Raw_Val_Column>137</Raw_Val_Column>
+        <MESSAGE_COLUMN>144</MESSAGE_COLUMN>
+        <Raw_Val_Column>86</Raw_Val_Column>
         <Physical_Val_Column>172</Physical_Val_Column>
         <Signal_Column>86</Signal_Column>
       </COLUMN_WIDTH>
@@ -424,15 +419,15 @@
         <Display_Type>NORMAL</Display_Type>
       </GRAPH_PARAMETERS>
       <GRAPH_ELEMENT>
-        <Message_ID>321</Message_ID>
-        <Message_Name>DRIVE_POWER</Message_Name>
+        <Message_ID>1586</Message_ID>
+        <Message_Name>DISPLAY_CURRENT</Message_Name>
         <Frame_Format/>
-        <Element_Name>Power</Element_Name>
+        <Element_Name>BatteryCurrent</Element_Name>
         <Value_Type>Physical</Value_Type>
         <Line_Type>SOLID</Line_Type>
-        <Line_Color>16711680</Line_Color>
-        <Point_Type>1</Point_Type>
-        <Point_Color>8388736</Point_Color>
+        <Line_Color>65280</Line_Color>
+        <Point_Type>2</Point_Type>
+        <Point_Color>8421376</Point_Color>
         <Visibility>TRUE</Visibility>
         <Enable>TRUE</Enable>
         <Display_Type>NORMAL</Display_Type>
@@ -440,10 +435,10 @@
       <Window_Position>
         <Visibility>SHOWNORMAL</Visibility>
         <Window_Position>HIDE</Window_Position>
-        <Top>291</Top>
-        <Left>205</Left>
-        <Bottom>957</Bottom>
-        <Right>1530</Right>
+        <Top>39</Top>
+        <Left>74</Left>
+        <Bottom>586</Bottom>
+        <Right>1399</Right>
       </Window_Position>
       <Splitter_Window_Col_0>
         <CxIdeal>479</CxIdeal>
@@ -454,11 +449,11 @@
         <CxMin>0</CxMin>
       </Splitter_Window_Col_1>
       <Splitter_Window_Row_0>
-        <CxIdeal>308</CxIdeal>
+        <CxIdeal>275</CxIdeal>
         <CxMin>0</CxMin>
       </Splitter_Window_Row_0>
       <Splitter_Window_Row_1>
-        <CxIdeal>308</CxIdeal>
+        <CxIdeal>222</CxIdeal>
         <CxMin>0</CxMin>
       </Splitter_Window_Row_1>
     </CAN_Signal_Graph>
@@ -503,19 +498,19 @@
       <Filter IsEnabled="0">steering</Filter>
       <COLUMN>
         <ID/>
-        <Order>5</Order>
-        <IsVisible>1</IsVisible>
-        <Width>19</Width>
+        <Order>1</Order>
+        <IsVisible>0</IsVisible>
+        <Width>0</Width>
       </COLUMN>
       <COLUMN>
         <ID>Time</ID>
-        <Order>4</Order>
+        <Order>5</Order>
         <IsVisible>1</IsVisible>
         <Width>129</Width>
       </COLUMN>
       <COLUMN>
         <ID>Tx/Rx</ID>
-        <Order>1</Order>
+        <Order>4</Order>
         <IsVisible>1</IsVisible>
         <Width>53</Width>
       </COLUMN>
@@ -553,11 +548,11 @@
         <ID>Data Byte(s)</ID>
         <Order>9</Order>
         <IsVisible>1</IsVisible>
-        <Width>139</Width>
+        <Width>158</Width>
       </COLUMN>
       <IsHex>1</IsHex>
-      <IsAppend>0</IsAppend>
-      <IsInterpret>1</IsInterpret>
+      <IsAppend>1</IsAppend>
+      <IsInterpret>0</IsInterpret>
       <Time_Mode>SYSTEM</Time_Mode>
       <Window_Position>
         <Visibility>SHOWNORMAL</Visibility>
@@ -570,10 +565,10 @@
       <Interpretation_Window_Position>
         <Visibility>SHOWNORMAL</Visibility>
         <WindowPlacement>RESTORETOMAXIMIZED</WindowPlacement>
-        <Top>173</Top>
-        <Left>10</Left>
-        <Bottom>451</Bottom>
-        <Right>359</Right>
+        <Top>181</Top>
+        <Left>12</Left>
+        <Bottom>459</Bottom>
+        <Right>361</Right>
       </Interpretation_Window_Position>
     </CAN_Message_Window>
     <J1939_Message_Window>
@@ -670,10 +665,10 @@
       <Interpretation_Window_Position>
         <Visibility>SHOWNORMAL</Visibility>
         <WindowPlacement>RESTORETOMAXIMIZED</WindowPlacement>
-        <Top>173</Top>
-        <Left>10</Left>
-        <Bottom>451</Bottom>
-        <Right>359</Right>
+        <Top>181</Top>
+        <Left>12</Left>
+        <Bottom>459</Bottom>
+        <Right>361</Right>
       </Interpretation_Window_Position>
     </J1939_Message_Window>
     <LIN_Message_Window>
@@ -755,10 +750,10 @@
       <Interpretation_Window_Position>
         <Visibility>SHOWNORMAL</Visibility>
         <WindowPlacement>RESTORETOMAXIMIZED</WindowPlacement>
-        <Top>173</Top>
-        <Left>10</Left>
-        <Bottom>451</Bottom>
-        <Right>359</Right>
+        <Top>181</Top>
+        <Left>12</Left>
+        <Bottom>459</Bottom>
+        <Right>361</Right>
       </Interpretation_Window_Position>
     </LIN_Message_Window>
     <CAN_Tx_Window>
@@ -855,73 +850,25 @@
           <Key_Value>a</Key_Value>
           <Key_Enabled>FALSE</Key_Enabled>
         </Message>
-        <Message>
-          <Channel>1</Channel>
-          <Message_ID>1311</Message_ID>
-          <IsExtended>FALSE</IsExtended>
-          <IsRtr>FALSE</IsRtr>
-          <DLC>2</DLC>
-          <DataBytes>16,0</DataBytes>
-          <Repetion>500</Repetion>
-          <Repetition_Enabled>FALSE</Repetition_Enabled>
-          <Key_Value>a</Key_Value>
-          <Key_Enabled>FALSE</Key_Enabled>
-        </Message>
-        <Message>
-          <Channel>1</Channel>
-          <Message_ID>1297</Message_ID>
-          <IsExtended>FALSE</IsExtended>
-          <IsRtr>FALSE</IsRtr>
-          <DLC>8</DLC>
-          <DataBytes>152,139,8,0,0,0,0,0</DataBytes>
-          <Repetion>10</Repetion>
-          <Repetition_Enabled>FALSE</Repetition_Enabled>
-          <Key_Value>a</Key_Value>
-          <Key_Enabled>FALSE</Key_Enabled>
-        </Message>
-        <Message>
-          <Channel>1</Channel>
-          <Message_ID>529</Message_ID>
-          <IsExtended>FALSE</IsExtended>
-          <IsRtr>FALSE</IsRtr>
-          <DLC>3</DLC>
-          <DataBytes>25,50,0</DataBytes>
-          <Repetion>10</Repetion>
-          <Repetition_Enabled>FALSE</Repetition_Enabled>
-          <Key_Value>a</Key_Value>
-          <Key_Enabled>FALSE</Key_Enabled>
-        </Message>
-        <Message>
-          <Channel>1</Channel>
-          <Message_ID>1055</Message_ID>
-          <IsExtended>FALSE</IsExtended>
-          <IsRtr>FALSE</IsRtr>
-          <DLC>2</DLC>
-          <DataBytes>0,0</DataBytes>
-          <Repetion>500</Repetion>
-          <Repetition_Enabled>FALSE</Repetition_Enabled>
-          <Key_Value>a</Key_Value>
-          <Key_Enabled>FALSE</Key_Enabled>
-        </Message>
-        <Message>
-          <Channel>1</Channel>
-          <Message_ID>543</Message_ID>
-          <IsExtended>FALSE</IsExtended>
-          <IsRtr>FALSE</IsRtr>
-          <DLC>1</DLC>
-          <DataBytes>0</DataBytes>
-          <Repetion>100</Repetion>
-          <Repetition_Enabled>FALSE</Repetition_Enabled>
-          <Key_Value>a</Key_Value>
-          <Key_Enabled>FALSE</Key_Enabled>
-        </Message>
         <Message>
           <Channel>1</Channel>
           <Message_ID>23</Message_ID>
           <IsExtended>FALSE</IsExtended>
           <IsRtr>FALSE</IsRtr>
           <DLC>4</DLC>
-          <DataBytes>250,0,0,0</DataBytes>
+          <DataBytes>0,0,0,0</DataBytes>
+          <Repetion>10</Repetion>
+          <Repetition_Enabled>FALSE</Repetition_Enabled>
+          <Key_Value>a</Key_Value>
+          <Key_Enabled>FALSE</Key_Enabled>
+        </Message>
+        <Message>
+          <Channel>1</Channel>
+          <Message_ID>24</Message_ID>
+          <IsExtended>FALSE</IsExtended>
+          <IsRtr>FALSE</IsRtr>
+          <DLC>4</DLC>
+          <DataBytes>0,0,0,0</DataBytes>
           <Repetion>10</Repetion>
           <Repetition_Enabled>FALSE</Repetition_Enabled>
           <Key_Value>a</Key_Value>
@@ -932,8 +879,8 @@
           <Message_ID>1540</Message_ID>
           <IsExtended>FALSE</IsExtended>
           <IsRtr>FALSE</IsRtr>
-          <DLC>4</DLC>
-          <DataBytes>0,0,0,0</DataBytes>
+          <DLC>0</DLC>
+          <DataBytes>0</DataBytes>
           <Repetion>10</Repetion>
           <Repetition_Enabled>FALSE</Repetition_Enabled>
           <Key_Value>a</Key_Value>
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