Klagarge/SummerSchool2-Controller
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create alive_checker

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This commit is contained in:
Rémi Heredero
2023-08-25 18:23:36 +02:00
parent deba3fbf0d
commit 88096a007c
7 changed files with 149 additions and 24 deletions
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22
306-controller_interface.X/app/factory/factory.c
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@ -34,6 +34,10 @@ WATCHDOG* WDcontroller(){
return &theFactory.WDcontroller_;
}
ALIVE_CHECKER* ACjoy() {
return &theFactory.ACjoy_;
}
//initialize all objects
void Factory_init() {
@ -63,8 +67,15 @@ void Factory_init() {
// TODO init watchdog with EPROM CST
WATCHDOG_init(WDcontroller());
CAR_CST.CONTROL_ALIVE_TIME = 10;
CAR_CST.CONTROL_ALIVE_TIME = 100;
WATCHDOG_setTime(WDcontroller(), CAR_CST.CONTROL_ALIVE_TIME);
// TODO init ALIVE CHECKER with EPROM CST
CAR_CST.JOYSTICK_MODE = 0;
CAR_CST.JOYSTICK_PARAM1 = 100;
CAR_CST.JOYSTICK_PARAM2 = 1;
CAR_CST.JOYSTICK_ALIVE_TIME = 10;
ALIVE_CHECKER_init(ACjoy());
}
void foo(uint8_t a, uint8_t b, uint32_t c){
@ -81,11 +92,18 @@ void Factory_build() {
ECAN_SetRXBnInterruptHandler(CAN_newMsg);
CAN_onReceiveCan(foo);
WATCHDOG_onAlive(WDcontroller(), CM_controller_alive, NULL);
WATCHDOG_onAlive(WDcontroller(), CM_CONTROLLER_ALIVE, NULL);
ALIVE_CHECKER_onSetup(ACjoy(), CM_JOY_SETUP, NULL);
ALIVE_CHECKER_setAliveTime(ACjoy(), CAR_CST.JOYSTICK_ALIVE_TIME);
}
//start all state machines
void Factory_start() {
CAN_startBehaviour();
WATCHDOG_startBehaviour(WDcontroller());
ALIVE_CHECKER_startBehaviour(ACjoy());
ALIVE_CHECKER_emitBorn(ACjoy(), 100, 0);
ALIVE_CHECKER_emitReady(ACjoy(), 200, 0);
}

2
306-controller_interface.X/app/factory/factory.h
View File

@ -32,6 +32,7 @@ typedef struct {
LED l8_;
WATCHDOG WDcontroller_;
ALIVE_CHECKER ACjoy_;
} Factory;
@ -51,6 +52,7 @@ LED* l7();
LED* l8();
WATCHDOG* WDcontroller();
ALIVE_CHECKER* ACjoy();
#endif