diff --git a/306-controller_interface.X/app/can_message.c b/306-controller_interface.X/app/can_message.c index d8d9a97..3fa19b1 100644 --- a/306-controller_interface.X/app/can_message.c +++ b/306-controller_interface.X/app/can_message.c @@ -17,9 +17,7 @@ typedef union { uint8_t byte2; uint8_t byte3; } separate; - struct { - uint32_t bytes; - } full; + uint32_t full; } BYTES_4; void CM_processIncome(uint8_t idSender, uint8_t idMsg, uint32_t data){ @@ -32,67 +30,109 @@ void CM_processIncome(uint8_t idSender, uint8_t idMsg, uint32_t data){ if(idMsg == 0x0) { // CONTROL_SETUP // steeringMode eraseMemory - controlAliveTime BYTES_4 tmpData; - tmpData.full.bytes = data; + tmpData.full = data; if (tmpData.separate.byte1) { MEM_reset(); } - CAR_CST.CONTROL_STEERING_MODE = tmpData.separate.byte0; - CAR_CST.CONTROL_ALIVE_TIME = tmpData.separate.byte3; - MEM_write_1_byte(MEMADD_CONTROL_STEERING_MODE, CAR_CST.CONTROL_STEERING_MODE); - MEM_write_1_byte(MEMADD_CONTROL_ALIVE_TIME, CAR_CST.CONTROL_ALIVE_TIME); - ALIVE_setAliveTime(ALcontroller(), CAR_CST.CONTROL_ALIVE_TIME); + KART_CST.CONTROL_STEERING_MODE = tmpData.separate.byte0; + KART_CST.CONTROL_ALIVE_TIME = tmpData.separate.byte3; + 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); + ALIVE_setAliveTime(ALcontroller(), KART_CST.CONTROL_ALIVE_TIME); } if(idMsg == 0x1) { // CONTROL_SPEED_FACTOR // valHH valH valL valLL + KART_CST.CONTROL_SPEED_FACTOR = data; + MEM_write_4_byte(MEMADD_CONTROL_SPEED_FACTOR, KART_CST.CONTROL_SPEED_FACTOR); } if(idMsg == 0x2) { // CONTROL_POWER_FACTOR // valHH valH valL valLL + KART_CST.CONTROL_POWER_FACTOR = data; + MEM_write_4_byte(MEMADD_CONTROL_POWER_FACTOR, KART_CST.CONTROL_POWER_FACTOR); } if(idMsg == 0x3) { // CONTROL_STEERING_FACTOR // valHH valH valL valLL + KART_CST.CONTROL_STEERING_FACTOR = data; + MEM_write_4_byte(MEMADD_CONTROL_STEERING_FACTOR, KART_CST.CONTROL_STEERING_FACTOR); } if(idMsg == 0x4) { // CONTROL_SECURITY_PARAM // maxSpeedFw maxSpeedBw - - + BYTES_4 tmpData; + tmpData.full = data; + KART_CST.CONTROL_MAX_SPEED_FW = tmpData.separate.byte0; + KART_CST.CONTROL_MAX_SPEED_BW = tmpData.separate.byte1; + MEM_write_1_byte(MEMADD_CONTROL_MAX_SPEED_FW, KART_CST.CONTROL_MAX_SPEED_FW); + MEM_write_1_byte(MEMADD_CONTROL_MAX_SPEED_BW, KART_CST.CONTROL_MAX_SPEED_BW); } if(idMsg == 0x5) { // CONTROL_SETUP_PARAM // displayAliveTime steeringAliveTime - - + BYTES_4 tmpData; + tmpData.full = data; + KART_CST.DISPLAY_ALIVE_TIME = tmpData.separate.byte0; + KART_CST.STEERING_ALIVE_TIME = tmpData.separate.byte1; + MEM_write_1_byte(MEMADD_DISPLAY_ALIVE_TIME, KART_CST.DISPLAY_ALIVE_TIME); + MEM_write_1_byte(MEMADD_STEERING_ALIVE_TIME, KART_CST.STEERING_ALIVE_TIME); + // TODO set alive times + // TODO send params } if(idMsg == 0x6) { // CONTROL_SETUP_PARAM_JOY // joystickMode joystickParam1 joystickParam2 joystickAliveTime BYTES_4 tmpData; - tmpData.full.bytes = data; - CAR_CST.JOYSTICK_MODE = tmpData.separate.byte0; - CAR_CST.JOYSTICK_PARAM1 = tmpData.separate.byte1; - CAR_CST.JOYSTICK_PARAM2 = tmpData.separate.byte2; - CAR_CST.JOYSTICK_ALIVE_TIME = tmpData.separate.byte3; - MEM_write_1_byte(MEMADD_JOYSTICK_MODE, CAR_CST.JOYSTICK_MODE); - MEM_write_1_byte(MEMADD_JOYSTICK_PARAM1, CAR_CST.JOYSTICK_PARAM1); - MEM_write_1_byte(MEMADD_JOYSTICK_PARAM2, CAR_CST.JOYSTICK_PARAM2); - MEM_write_1_byte(MEMADD_JOYSTICK_ALIVE_TIME, CAR_CST.JOYSTICK_ALIVE_TIME); + tmpData.full = data; + KART_CST.JOYSTICK_MODE = tmpData.separate.byte0; + KART_CST.JOYSTICK_PARAM1 = tmpData.separate.byte1; + KART_CST.JOYSTICK_PARAM2 = tmpData.separate.byte2; + KART_CST.JOYSTICK_ALIVE_TIME = tmpData.separate.byte3; + MEM_write_1_byte(MEMADD_JOYSTICK_MODE, KART_CST.JOYSTICK_MODE); + MEM_write_1_byte(MEMADD_JOYSTICK_PARAM1, KART_CST.JOYSTICK_PARAM1); + MEM_write_1_byte(MEMADD_JOYSTICK_PARAM2, KART_CST.JOYSTICK_PARAM2); + MEM_write_1_byte(MEMADD_JOYSTICK_ALIVE_TIME, KART_CST.JOYSTICK_ALIVE_TIME); - ALIVE_setAliveTime(ALjoy(), CAR_CST.JOYSTICK_ALIVE_TIME); + ALIVE_setAliveTime(ALjoy(), KART_CST.JOYSTICK_ALIVE_TIME); CM_JOY_SETUP(NULL); } if(idMsg == 0x7) { // CONTROL_SETUP_PARAM_DRIVE // driveAliveTime driveSpeedTime driveStopTime - + BYTES_4 tmpData; + tmpData.full = data; + KART_CST.DRIVE_ALIVE_TIME = tmpData.separate.byte0; + KART_CST.DRIVE_SPEED_TIME = tmpData.separate.byte1; + KART_CST.DRIVE_STOP_TIME = tmpData.separate.byte2; + MEM_write_1_byte(MEMADD_DRIVE_ALIVE_TIME, KART_CST.DRIVE_ALIVE_TIME); + MEM_write_1_byte(MEMADD_DRIVE_SPEED_TIME, KART_CST.DRIVE_SPEED_TIME); + MEM_write_1_byte(MEMADD_DRIVE_STOP_TIME, KART_CST.DRIVE_STOP_TIME); + // TODO set alive time + // TODO send params } if(idMsg == 0x8) { // CONTROL_SETUP_PARAM_BATTERY // batteryVoltTime batteryCurrentTime batteryEnergyTime batteryAliveTime + BYTES_4 tmpData; + tmpData.full = data; + KART_CST.BATTERY_VOLT_TIME = tmpData.separate.byte0; + KART_CST.BATTERY_CURRENT_TIME = tmpData.separate.byte1; + KART_CST.BATTERY_ENERGY_TIME = tmpData.separate.byte2; + KART_CST.BATTERY_ALIVE_TIME = tmpData.separate.byte3; + MEM_write_1_byte(MEMADD_BATTERY_VOLT_TIME, KART_CST.BATTERY_VOLT_TIME); + MEM_write_1_byte(MEMADD_BATTERY_CURRENT_TIME, KART_CST.BATTERY_CURRENT_TIME); + 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); + // TODO set alive time + // TODO send params } @@ -112,11 +152,11 @@ void CM_processIncome(uint8_t idSender, uint8_t idMsg, uint32_t data){ // - - - - ALIVE_ISALIVE(ALjoy()); if(ALjoy()->state == STAL_DEAD){ - CAR_CST.JOYSTICK_MODE = MEM_read_1_byte(MEMADD_JOYSTICK_MODE); - CAR_CST.JOYSTICK_PARAM1 = MEM_read_1_byte(MEMADD_JOYSTICK_PARAM1); - CAR_CST.JOYSTICK_PARAM2 = MEM_read_1_byte(MEMADD_JOYSTICK_PARAM2); - CAR_CST.JOYSTICK_ALIVE_TIME = MEM_read_1_byte(MEMADD_JOYSTICK_ALIVE_TIME); - ALIVE_setAliveTime(ALjoy(), CAR_CST.JOYSTICK_ALIVE_TIME); + KART_CST.JOYSTICK_MODE = MEM_read_1_byte(MEMADD_JOYSTICK_MODE); + KART_CST.JOYSTICK_PARAM1 = MEM_read_1_byte(MEMADD_JOYSTICK_PARAM1); + KART_CST.JOYSTICK_PARAM2 = MEM_read_1_byte(MEMADD_JOYSTICK_PARAM2); + KART_CST.JOYSTICK_ALIVE_TIME = MEM_read_1_byte(MEMADD_JOYSTICK_ALIVE_TIME); + ALIVE_setAliveTime(ALjoy(), KART_CST.JOYSTICK_ALIVE_TIME); ALIVE_emitBorn(ALjoy(), 0, 0); ALIVE_emitReady(ALjoy(), 100, 0); } @@ -130,6 +170,7 @@ void CM_processIncome(uint8_t idSender, uint8_t idMsg, uint32_t data){ case 3: if(idMsg == 0xF) { // DISPLAY_ALIVE // powerMode - - - + // TODO display say ALIVE } break; @@ -146,6 +187,7 @@ void CM_processIncome(uint8_t idSender, uint8_t idMsg, uint32_t data){ if(idMsg == 0xF) { // DRIVE_ALIVE // statusH statusL - - + // TODO drive say ALIVE } break; @@ -167,6 +209,7 @@ void CM_processIncome(uint8_t idSender, uint8_t idMsg, uint32_t data){ if(idMsg == 0xF) { // STEERING_ALIVE // statusH statusL - - + // TODO steering say ALIVE with his status } break; @@ -178,6 +221,7 @@ void CM_processIncome(uint8_t idSender, uint8_t idMsg, uint32_t data){ case 6: if(idMsg == 0xF) { // BATTERY_ALIVE // - - - - + // TODO battery say ALIVE } break; @@ -192,46 +236,113 @@ void CM_processIncome(uint8_t idSender, uint8_t idMsg, uint32_t data){ } void CM_CONTROLLER_ALIVE(void* p) { + // - - - - CAN_Send(0x0, 0xF, 0); } void CM_JOY_SETUP(void* p) { + // mode parm1 param2 aliveTime BYTES_4 joy; - joy.separate.byte0 = CAR_CST.JOYSTICK_MODE; - joy.separate.byte1 = CAR_CST.JOYSTICK_PARAM1; - joy.separate.byte2 = CAR_CST.JOYSTICK_PARAM2; - joy.separate.byte3 = CAR_CST.JOYSTICK_ALIVE_TIME; - CAN_Send(2, 0, joy.full.bytes); - + joy.separate.byte0 = KART_CST.JOYSTICK_MODE; + joy.separate.byte1 = KART_CST.JOYSTICK_PARAM1; + joy.separate.byte2 = KART_CST.JOYSTICK_PARAM2; + joy.separate.byte3 = KART_CST.JOYSTICK_ALIVE_TIME; + CAN_Send(2, 0, joy.full); } void CM_DISPLAY_SETUP(void* p) { - + // reset - - aliveTime + BYTES_4 display; + display.separate.byte0 = 0; // reset + display.separate.byte3 = KART_CST.DISPLAY_ALIVE_TIME; + CAN_Send(3, 0, display.full); } void CM_DISPLAY_SPEED(void* p) { - + // valH valL - - + BYTES_4 tmpData; + // byte0 should be valH but isn't possible to go enough fast for use it + tmpData.separate.byte0 = 0; + tmpData.separate.byte1 = *((uint8_t*) p); + tmpData.separate.byte2 = 0; + tmpData.separate.byte3 = 0; + CAN_Send(3, 2, tmpData.full); } void CM_DISPLAY_DIRECTION(void* p) { - + // direction - - - + BYTES_4 tmpData; + tmpData.separate.byte0 = (uint8_t) p; + tmpData.separate.byte1 = 0; + tmpData.separate.byte2 = 0; + tmpData.separate.byte3 = 0; + CAN_Send(3, 3, tmpData.full); } void CM_DRIVE_SETUP(void* p) { + // reset/init speedTime stopTime aliveTime + BYTES_4 tmpData; + tmpData.separate.byte0 = (uint8_t) p; + tmpData.separate.byte1 = KART_CST.DRIVE_SPEED_TIME; + tmpData.separate.byte2 = KART_CST.DRIVE_STOP_TIME; + tmpData.separate.byte3 = KART_CST.DRIVE_ALIVE_TIME; + CAN_Send(4, 0, tmpData.full); } void CM_DRIVE_POWER(void* p) { - + // valH valL - - + // TODO } 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; + switch (choice) { + case 1: + tmpData.separate.byte0 = 1; + tmpData.separate.byte1 = 0; + tmpData.separate.byte2 = 0; + break; + case 2: + tmpData.separate.byte0 = 0; + tmpData.separate.byte1 = 1; + tmpData.separate.byte2 = 0; + break; + case 3: + tmpData.separate.byte0 = 0; + tmpData.separate.byte1 = 0; + tmpData.separate.byte2 = 1; + break; + default: + tmpData.separate.byte0 = 0; + tmpData.separate.byte1 = 0; + tmpData.separate.byte2 = 0; + break; + } + tmpData.separate.byte3 = KART_CST.STEERING_ALIVE_TIME; // 0 -> no alive + CAN_Send(5, 0, tmpData.full); } void CM_STEERING_SET(void* p) { - + // valHH valH valL valLL + BYTES_4 pPosition; + pPosition.full = *((uint32_t*) p); + BYTES_4 sPosition; + sPosition.separate.byte0 = pPosition.separate.byte3; + sPosition.separate.byte1 = pPosition.separate.byte2; + sPosition.separate.byte2 = pPosition.separate.byte1; + sPosition.separate.byte3 = pPosition.separate.byte0; + CAN_Send(5, 1, sPosition.full); } -void CM_SETUP_CONTROL(void* p) { - +void CM_SUPPLY_SETUP(void* p) { + // batteryVoltTime batteryCurrentTime batteryEnergyTime aliveTime + BYTES_4 supply; + supply.separate.byte0 = KART_CST.BATTERY_VOLT_TIME; + supply.separate.byte1 = KART_CST.BATTERY_CURRENT_TIME; + supply.separate.byte2 = KART_CST.BATTERY_ENERGY_TIME; + supply.separate.byte3 = KART_CST.BATTERY_ALIVE_TIME; + CAN_Send(6, 0, supply.full); } diff --git a/306-controller_interface.X/app/can_message.h b/306-controller_interface.X/app/can_message.h index 5e39140..64bab11 100644 --- a/306-controller_interface.X/app/can_message.h +++ b/306-controller_interface.X/app/can_message.h @@ -26,17 +26,76 @@ S R M 1 6 0 SETUP_CONTROL batteryVoltTime batteryCurrentTime batteryEnergyTime aliveTime */ +/** + * Process an incoming message + * @param idSender id of the sender + * @param idMsg is of the message + * @param data data of the message + */ void CM_processIncome(uint8_t idSender, uint8_t idMsg, uint32_t data); + +/** + * Send alive message from controller + * @param p have to be NULL + */ void CM_CONTROLLER_ALIVE(void* p); + +/** + * Send setup to the joystick (settings from memory) + * @param p have to be NULL + */ void CM_JOY_SETUP(void* p); + +/** + * Send setup to the display (settings from memory) + * @param p have to be NULL + */ void CM_DISPLAY_SETUP(void* p); + +/** + * Send speed to display + * @param p the speed in 100m/h (max 255 m/h) + */ void CM_DISPLAY_SPEED(void* p); + +/** + * Send direction of the steering wheel + * 0 is straight forward + * positive value is going right + * negative value is going left + * @param p the direction (int 8) + */ void CM_DISPLAY_DIRECTION(void* p); + +/** + * Send setup to the drive + * use with reset in parameter + * other settings from memory + * @param p 1 if reset/init 0 else + */ void CM_DRIVE_SETUP(void* p); + void CM_DRIVE_POWER(void* p); + +/** + * Send setup to the steering + * can be use for reset (1), homing (2) and setCenter (3) + * @param p 0 for setup, 1 for reset, 2 for homing, 3 for setCenter + */ void CM_STEERING_SETUP(void* p); + +/** + * Send position for steering + * no negative value because 0 is home (sensor) + * @param p the position (uint32_t*) + */ void CM_STEERING_SET(void* p); -void CM_SETUP_CONTROL(void* p); + +/** + * Send setup to the supply (settings from memory) + * @param p have to be NULL + */ +void CM_SUPPLY_SETUP(void* p); #endif /* CAN_MESSAGE_H */ diff --git a/306-controller_interface.X/app/car.h b/306-controller_interface.X/app/car.h index d1ba7a7..5551386 100644 --- a/306-controller_interface.X/app/car.h +++ b/306-controller_interface.X/app/car.h @@ -65,8 +65,15 @@ typedef struct { uint8_t BATTERY_CURRENT_TIME; uint8_t BATTERY_ENERGY_TIME; uint8_t BATTERY_ALIVE_TIME; -} CAR_CST_TYPE; -CAR_CST_TYPE CAR_CST; +} KART_CST_TYPE; +KART_CST_TYPE KART_CST; + +typedef struct { + int32_t speed; + uint32_t center; + uint32_t position; +} KART_VAR_TYPE; +KART_VAR_TYPE eKart; #endif /* CAR_H */ diff --git a/306-controller_interface.X/app/factory/factory.c b/306-controller_interface.X/app/factory/factory.c index fe819c8..2964f29 100644 --- a/306-controller_interface.X/app/factory/factory.c +++ b/306-controller_interface.X/app/factory/factory.c @@ -63,12 +63,10 @@ void Factory_init() { CAN_setSender(1); LED_off(l1()); - // TODO init EPROM interface MEM_init(); - // TODO init watchdog with EPROM CST ALIVE_init(ALcontroller()); - ALIVE_setAliveTime(ALcontroller(), CAR_CST.CONTROL_ALIVE_TIME); + ALIVE_setAliveTime(ALcontroller(), KART_CST.CONTROL_ALIVE_TIME); ALIVE_init(ALjoy()); } @@ -81,7 +79,7 @@ void Factory_build() { ALIVE_onAlive(ALcontroller(), CM_CONTROLLER_ALIVE, NULL); ALIVE_onSetup(ALjoy(), CM_JOY_SETUP, NULL); - ALIVE_setAliveTime(ALjoy(), CAR_CST.JOYSTICK_ALIVE_TIME); + ALIVE_setAliveTime(ALjoy(), KART_CST.JOYSTICK_ALIVE_TIME); ALIVE_onBorn(ALjoy(), LED_on, l1()); ALIVE_onDead(ALjoy(), LED_off, l1()); diff --git a/306-controller_interface.X/mcc_generated_files/memory.c b/306-controller_interface.X/mcc_generated_files/memory.c index b53aa2c..a2ebbd8 100644 --- a/306-controller_interface.X/mcc_generated_files/memory.c +++ b/306-controller_interface.X/mcc_generated_files/memory.c @@ -198,7 +198,6 @@ uint8_t DATAEE_ReadByte(uint16_t bAdd) void MEMORY_Tasks( void ) { - /* TODO : Add interrupt handling code */ PIR0bits.NVMIF = 0; } /** diff --git a/306-controller_interface.X/middleware/eeprom.c b/306-controller_interface.X/middleware/eeprom.c index e3041d6..6be123a 100644 --- a/306-controller_interface.X/middleware/eeprom.c +++ b/306-controller_interface.X/middleware/eeprom.c @@ -22,85 +22,85 @@ typedef union { void MEM_init(){ uint8_t check = MEM_read_1_byte(0x0); if(check != 0x42){ - CAR_CST.CONTROL_STEERING_MODE = 0; - CAR_CST.CONTROL_ALIVE_TIME = 50; - CAR_CST.CONTROL_SPEED_FACTOR = 0; - CAR_CST.CONTROL_POWER_FACTOR = 0; - CAR_CST.CONTROL_STEERING_FACTOR = 0; - CAR_CST.CONTROL_MAX_SPEED_FW = 0; - CAR_CST.CONTROL_MAX_SPEED_BW = 0; + KART_CST.CONTROL_STEERING_MODE = 0; + KART_CST.CONTROL_ALIVE_TIME = 50; + KART_CST.CONTROL_SPEED_FACTOR = 0; + KART_CST.CONTROL_POWER_FACTOR = 0; + KART_CST.CONTROL_STEERING_FACTOR = 0; + KART_CST.CONTROL_MAX_SPEED_FW = 0; + KART_CST.CONTROL_MAX_SPEED_BW = 0; - CAR_CST.JOYSTICK_MODE = 0; - CAR_CST.JOYSTICK_PARAM1 = 10; - CAR_CST.JOYSTICK_PARAM2 = 1; - CAR_CST.JOYSTICK_ALIVE_TIME = 10; + KART_CST.JOYSTICK_MODE = 0; + KART_CST.JOYSTICK_PARAM1 = 5; + KART_CST.JOYSTICK_PARAM2 = 1; + KART_CST.JOYSTICK_ALIVE_TIME = 25; - CAR_CST.DISPLAY_ALIVE_TIME = 50; + KART_CST.DISPLAY_ALIVE_TIME = 100; - CAR_CST.DRIVE_SPEED_TIME = 0; - CAR_CST.DRIVE_STOP_TIME = 0; - CAR_CST.DRIVE_ALIVE_TIME = 10; + KART_CST.DRIVE_SPEED_TIME = 0; + KART_CST.DRIVE_STOP_TIME = 0; + KART_CST.DRIVE_ALIVE_TIME = 10; - CAR_CST.STEERING_ALIVE_TIME = 100; + KART_CST.STEERING_ALIVE_TIME = 100; - CAR_CST.BATTERY_VOLT_TIME = 50; - CAR_CST.BATTERY_CURRENT_TIME = 50; - CAR_CST.BATTERY_ENERGY_TIME = 50; - CAR_CST.BATTERY_ALIVE_TIME = 50; + KART_CST.BATTERY_VOLT_TIME = 50; + KART_CST.BATTERY_CURRENT_TIME = 50; + KART_CST.BATTERY_ENERGY_TIME = 50; + KART_CST.BATTERY_ALIVE_TIME = 50; - MEM_write_1_byte(MEMADD_CONTROL_STEERING_MODE, CAR_CST.CONTROL_STEERING_MODE); - MEM_write_1_byte(MEMADD_CONTROL_ALIVE_TIME, CAR_CST.CONTROL_ALIVE_TIME); - MEM_write_4_byte(MEMADD_CONTROL_SPEED_FACTOR, CAR_CST.CONTROL_SPEED_FACTOR); - MEM_write_4_byte(MEMADD_CONTROL_POWER_FACTOR, CAR_CST.CONTROL_POWER_FACTOR); - MEM_write_4_byte(MEMADD_CONTROL_STEERING_FACTOR, CAR_CST.CONTROL_STEERING_FACTOR); - MEM_write_1_byte(MEMADD_CONTROL_MAX_SPEED_FW, CAR_CST.CONTROL_MAX_SPEED_FW); - MEM_write_1_byte(MEMADD_CONTROL_MAX_SPEED_BW, CAR_CST.CONTROL_MAX_SPEED_BW); + 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); + MEM_write_4_byte(MEMADD_CONTROL_POWER_FACTOR, KART_CST.CONTROL_POWER_FACTOR); + MEM_write_4_byte(MEMADD_CONTROL_STEERING_FACTOR, KART_CST.CONTROL_STEERING_FACTOR); + MEM_write_1_byte(MEMADD_CONTROL_MAX_SPEED_FW, KART_CST.CONTROL_MAX_SPEED_FW); + MEM_write_1_byte(MEMADD_CONTROL_MAX_SPEED_BW, KART_CST.CONTROL_MAX_SPEED_BW); - MEM_write_1_byte(MEMADD_JOYSTICK_MODE, CAR_CST.JOYSTICK_MODE); - MEM_write_1_byte(MEMADD_JOYSTICK_PARAM1, CAR_CST.JOYSTICK_PARAM1); - MEM_write_1_byte(MEMADD_JOYSTICK_PARAM2, CAR_CST.JOYSTICK_PARAM2); - MEM_write_1_byte(MEMADD_JOYSTICK_ALIVE_TIME, CAR_CST.JOYSTICK_ALIVE_TIME); + MEM_write_1_byte(MEMADD_JOYSTICK_MODE, KART_CST.JOYSTICK_MODE); + MEM_write_1_byte(MEMADD_JOYSTICK_PARAM1, KART_CST.JOYSTICK_PARAM1); + MEM_write_1_byte(MEMADD_JOYSTICK_PARAM2, KART_CST.JOYSTICK_PARAM2); + MEM_write_1_byte(MEMADD_JOYSTICK_ALIVE_TIME, KART_CST.JOYSTICK_ALIVE_TIME); - MEM_write_1_byte(MEMADD_DISPLAY_ALIVE_TIME, CAR_CST.DISPLAY_ALIVE_TIME); + MEM_write_1_byte(MEMADD_DISPLAY_ALIVE_TIME, KART_CST.DISPLAY_ALIVE_TIME); - MEM_write_1_byte(MEMADD_DRIVE_SPEED_TIME, CAR_CST.DRIVE_SPEED_TIME); - MEM_write_1_byte(MEMADD_DRIVE_STOP_TIME, CAR_CST.DRIVE_STOP_TIME); - MEM_write_1_byte(MEMADD_DRIVE_ALIVE_TIME, CAR_CST.DRIVE_ALIVE_TIME); + MEM_write_1_byte(MEMADD_DRIVE_SPEED_TIME, KART_CST.DRIVE_SPEED_TIME); + MEM_write_1_byte(MEMADD_DRIVE_STOP_TIME, KART_CST.DRIVE_STOP_TIME); + MEM_write_1_byte(MEMADD_DRIVE_ALIVE_TIME, KART_CST.DRIVE_ALIVE_TIME); - MEM_write_1_byte(MEMADD_STEERING_ALIVE_TIME, CAR_CST.STEERING_ALIVE_TIME); + MEM_write_1_byte(MEMADD_STEERING_ALIVE_TIME, KART_CST.STEERING_ALIVE_TIME); - MEM_write_1_byte(MEMADD_BATTERY_VOLT_TIME, CAR_CST.BATTERY_VOLT_TIME); - MEM_write_1_byte(MEMADD_BATTERY_CURRENT_TIME, CAR_CST.BATTERY_CURRENT_TIME); - MEM_write_1_byte(MEMADD_BATTERY_ENERGY_TIME, CAR_CST.BATTERY_ENERGY_TIME); - MEM_write_1_byte(MEMADD_BATTERY_ALIVE_TIME, CAR_CST.BATTERY_ALIVE_TIME); + MEM_write_1_byte(MEMADD_BATTERY_VOLT_TIME, KART_CST.BATTERY_VOLT_TIME); + MEM_write_1_byte(MEMADD_BATTERY_CURRENT_TIME, KART_CST.BATTERY_CURRENT_TIME); + 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(0x0, 0x42); } else { - CAR_CST.CONTROL_STEERING_MODE = MEM_read_1_byte(MEMADD_CONTROL_STEERING_MODE); - CAR_CST.CONTROL_ALIVE_TIME = MEM_read_1_byte(MEMADD_CONTROL_ALIVE_TIME); - CAR_CST.CONTROL_SPEED_FACTOR = MEM_read_1_byte(MEMADD_CONTROL_SPEED_FACTOR); - CAR_CST.CONTROL_POWER_FACTOR = MEM_read_1_byte(MEMADD_CONTROL_POWER_FACTOR); - CAR_CST.CONTROL_STEERING_FACTOR = MEM_read_1_byte(MEMADD_CONTROL_STEERING_FACTOR); - CAR_CST.CONTROL_MAX_SPEED_FW = MEM_read_1_byte(MEMADD_CONTROL_MAX_SPEED_FW); - CAR_CST.CONTROL_MAX_SPEED_BW = MEM_read_1_byte(MEMADD_CONTROL_MAX_SPEED_BW); + KART_CST.CONTROL_STEERING_MODE = MEM_read_1_byte(MEMADD_CONTROL_STEERING_MODE); + KART_CST.CONTROL_ALIVE_TIME = MEM_read_1_byte(MEMADD_CONTROL_ALIVE_TIME); + KART_CST.CONTROL_SPEED_FACTOR = MEM_read_1_byte(MEMADD_CONTROL_SPEED_FACTOR); + KART_CST.CONTROL_POWER_FACTOR = MEM_read_1_byte(MEMADD_CONTROL_POWER_FACTOR); + KART_CST.CONTROL_STEERING_FACTOR = MEM_read_1_byte(MEMADD_CONTROL_STEERING_FACTOR); + KART_CST.CONTROL_MAX_SPEED_FW = MEM_read_1_byte(MEMADD_CONTROL_MAX_SPEED_FW); + KART_CST.CONTROL_MAX_SPEED_BW = MEM_read_1_byte(MEMADD_CONTROL_MAX_SPEED_BW); - CAR_CST.JOYSTICK_MODE = MEM_read_1_byte(MEMADD_JOYSTICK_MODE); - CAR_CST.JOYSTICK_PARAM1 = MEM_read_1_byte(MEMADD_JOYSTICK_PARAM1); - CAR_CST.JOYSTICK_PARAM2 = MEM_read_1_byte(MEMADD_JOYSTICK_PARAM2); - CAR_CST.JOYSTICK_ALIVE_TIME = MEM_read_1_byte(MEMADD_JOYSTICK_ALIVE_TIME); + KART_CST.JOYSTICK_MODE = MEM_read_1_byte(MEMADD_JOYSTICK_MODE); + KART_CST.JOYSTICK_PARAM1 = MEM_read_1_byte(MEMADD_JOYSTICK_PARAM1); + KART_CST.JOYSTICK_PARAM2 = MEM_read_1_byte(MEMADD_JOYSTICK_PARAM2); + KART_CST.JOYSTICK_ALIVE_TIME = MEM_read_1_byte(MEMADD_JOYSTICK_ALIVE_TIME); - CAR_CST.DISPLAY_ALIVE_TIME = MEM_read_1_byte(MEMADD_DISPLAY_ALIVE_TIME); + KART_CST.DISPLAY_ALIVE_TIME = MEM_read_1_byte(MEMADD_DISPLAY_ALIVE_TIME); - CAR_CST.DRIVE_SPEED_TIME = MEM_read_1_byte(MEMADD_DRIVE_SPEED_TIME); - CAR_CST.DRIVE_STOP_TIME = MEM_read_1_byte(MEMADD_DRIVE_STOP_TIME); - CAR_CST.DRIVE_ALIVE_TIME = MEM_read_1_byte(MEMADD_DRIVE_ALIVE_TIME); + KART_CST.DRIVE_SPEED_TIME = MEM_read_1_byte(MEMADD_DRIVE_SPEED_TIME); + KART_CST.DRIVE_STOP_TIME = MEM_read_1_byte(MEMADD_DRIVE_STOP_TIME); + KART_CST.DRIVE_ALIVE_TIME = MEM_read_1_byte(MEMADD_DRIVE_ALIVE_TIME); - CAR_CST.STEERING_ALIVE_TIME = MEM_read_1_byte(MEMADD_STEERING_ALIVE_TIME); + KART_CST.STEERING_ALIVE_TIME = MEM_read_1_byte(MEMADD_STEERING_ALIVE_TIME); - CAR_CST.BATTERY_VOLT_TIME = MEM_read_1_byte(MEMADD_BATTERY_VOLT_TIME); - CAR_CST.BATTERY_CURRENT_TIME = MEM_read_1_byte(MEMADD_BATTERY_CURRENT_TIME); - CAR_CST.BATTERY_ENERGY_TIME = MEM_read_1_byte(MEMADD_BATTERY_ENERGY_TIME); - CAR_CST.BATTERY_ALIVE_TIME = MEM_read_1_byte(MEMADD_BATTERY_ALIVE_TIME); + KART_CST.BATTERY_VOLT_TIME = MEM_read_1_byte(MEMADD_BATTERY_VOLT_TIME); + KART_CST.BATTERY_CURRENT_TIME = MEM_read_1_byte(MEMADD_BATTERY_CURRENT_TIME); + 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); } } diff --git a/busmaster_config.cfx b/busmaster_config.cfx index 94c32ac..783a951 100644 --- a/busmaster_config.cfx +++ b/busmaster_config.cfx @@ -8,8 +8,8 @@ FALSE FALSE FALSE - FALSE - TRUE + TRUE + FALSE SYSTEM FALSE FALSE @@ -17,7 +17,7 @@ FALSE SHOWNORMAL - HIDE + SHOWNORMAL 655 0 874 @@ -28,6 +28,44 @@ threewheeler.DBF + + + + Parameter + 1 + 200 + 1 + + + Channel 1 + 2 + 90 + 1 + + + + + Parameter + 1 + 200 + 1 + + + Channel 1 + 2 + 90 + 1 + + + + SHOWNORMAL + RESTORETOMAXIMIZED + 388 + 612 + 1002 + 1034 + + MHS Tiny-CAN @@ -85,27 +123,305 @@ + + + notAlive + STOP + + 271 + 271 + Rx + STD + NONRTR + 0 + + + 799 + 799 + ALL + STD + ALL + 0 + + + 543 + 543 + ALL + STD + ALL + 0 + + + 1055 + 1055 + ALL + STD + ALL + 0 + + + 1311 + 1311 + ALL + STD + ALL + 0 + + + + display + PASS + + 306 + 306 + ALL + STD + ALL + 0 + + + 307 + 307 + ALL + ALL + ALL + 0 + + + 799 + 799 + ALL + ALL + ALL + 0 + + + 1585 + 1585 + ALL + ALL + ALL + 0 + + + 1586 + 1586 + ALL + ALL + ALL + 0 + + + 1587 + 1587 + ALL + ALL + ALL + 0 + + + + drive + PASS + + 320 + 320 + ALL + ALL + ALL + 0 + + + 321 + 321 + ALL + ALL + ALL + 0 + + + 1055 + 1055 + ALL + ALL + ALL + 0 + + + 1040 + 1040 + ALL + ALL + ALL + 0 + + + + steering + PASS + + 336 + 336 + ALL + ALL + ALL + 0 + + + 337 + 337 + ALL + ALL + ALL + 0 + + + 1298 + 1298 + ALL + ALL + ALL + 0 + + + 1311 + 1311 + ALL + ALL + ALL + 0 + + + 82 + 82 + ALL + ALL + ALL + 0 + + + + joy + PASS + + 288 + 288 + ALL + ALL + ALL + 0 + + + 529 + 529 + ALL + ALL + ALL + 0 + + + 543 + 543 + ALL + ALL + ALL + 0 + + + + controller + PASS + + 16 + 16 + ALL + ALL + ALL + 0 + + + 271 + 271 + ALL + ALL + ALL + 0 + + + 17 + 17 + ALL + ALL + ALL + 0 + + + 18 + 18 + ALL + ALL + ALL + 0 + + + 19 + 19 + ALL + ALL + ALL + 0 + + + 20 + 20 + ALL + ALL + ALL + 0 + + + 22 + 22 + ALL + ALL + ALL + 0 + + + - 288 - DeltaY - aliveTime - timeMeasureOrDeltaX - mode + 337 + SteeringPosition + + + 336 + SET_CENTER + HOMING + RESET + ALIVE_TIME + + + 82 + CENTER_POS + + + 1298 + POSITION SHOWNORMAL HIDE - 622 - 86 - 816 - 998 + 157 + 596 + 1086 + 387 - 142 - 174 - 285 - 142 + 94 + 178 + 189 + 94 @@ -192,12 +508,12 @@ - HIDE + SHOWNORMAL RESTORETOMAXIMIZED 0 0 - 0 - 0 + 577 + 423 @@ -212,9 +528,11 @@ - 5000 - 2000 - 100 + 2025155376 + 24800128 + 2025155348 + notAlive + steering 1 @@ -223,27 +541,27 @@ Time - 2 + 5 1 - 138 + 129 Tx/Rx - 3 + 4 1 - 85 + 53 Channel - 4 - 1 - 92 + 2 + 0 + 0 Msg Type - 5 - 1 - 71 + 3 + 0 + 0 ID @@ -255,22 +573,22 @@ Message 7 1 - 174 + 143 DLC 8 1 - 75 + 38 Data Byte(s) 9 1 - 198 + 158 1 - 0 + 1 0 SYSTEM @@ -278,16 +596,16 @@ RESTORETOMAXIMIZED 0 0 - 295 - 909 + 810 + 606 SHOWNORMAL RESTORETOMAXIMIZED - 271 - 879 - 958 - 1552 + 173 + 10 + 451 + 359 @@ -378,15 +696,15 @@ RESTORETOMAXIMIZED 0 0 - 543 + 549 1614 SHOWNORMAL RESTORETOMAXIMIZED - 179 + 173 10 - 457 + 451 359 @@ -463,15 +781,15 @@ RESTORETOMAXIMIZED 0 0 - 543 + 549 1614 SHOWNORMAL RESTORETOMAXIMIZED - 179 + 173 10 - 457 + 451 359 @@ -479,19 +797,19 @@ SHOWNORMAL SETMINPOSITION - 12 - 989 - 667 - 1849 + 3 + 1055 + 658 + 1915 1 - 528 + 22 FALSE FALSE 4 - 0,0,0,0 + 0,5,1,25 10 FALSE a @@ -499,11 +817,11 @@ 1 - 529 + 16 FALSE FALSE 4 - 0,0,0,0 + 0,0,0,50 10 FALSE a @@ -511,11 +829,11 @@ 1 - 288 + 306 FALSE FALSE - 4 - 0,255,1,5 + 2 + 0,100 10 FALSE a @@ -523,11 +841,35 @@ 1 - 543 + 336 FALSE FALSE - 1 - 0 + 4 + 1,0,0,0 + 10 + FALSE + a + FALSE + + + 1 + 336 + FALSE + FALSE + 4 + 0,1,0,0 + 10 + FALSE + a + FALSE + + + 1 + 337 + FALSE + FALSE + 4 + 0,1,134,160 10 FALSE a