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] 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;