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all setup with memory settings

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This commit is contained in:
Rémi Heredero
2023-08-30 15:37:53 +02:00
parent debececcfd
commit 7550d1907b
7 changed files with 684 additions and 168 deletions
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187
306-controller_interface.X/app/can_message.c
View File

@ -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);
}

61
306-controller_interface.X/app/can_message.h
View File

@ -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 */

11
306-controller_interface.X/app/car.h
View File

@ -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 */

6
306-controller_interface.X/app/factory/factory.c
View File

@ -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());

1
306-controller_interface.X/mcc_generated_files/memory.c
View File

@ -198,7 +198,6 @@ uint8_t DATAEE_ReadByte(uint16_t bAdd)
void MEMORY_Tasks( void )
{
/* TODO : Add interrupt handling code */
PIR0bits.NVMIF = 0;
}
/**

120
306-controller_interface.X/middleware/eeprom.c
View File

@ -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);
}
}