From d31544783c293b9b8ce7fdcc256f3ddf4f83eb0b Mon Sep 17 00:00:00 2001
From: Klagarge <remi@heredero.ch>
Date: Thu, 31 Aug 2023 17:02:23 +0200
Subject: [PATCH] test drive

---
 306-controller_interface.X/app/can_message.c  | 11 ++++++
 .../app/factory/factory.c                     | 39 +++++++++++++++++--
 .../app/factory/factory.h                     |  2 +
 .../middleware/eeprom.c                       |  8 ++--
 4 files changed, 52 insertions(+), 8 deletions(-)

diff --git a/306-controller_interface.X/app/can_message.c b/306-controller_interface.X/app/can_message.c
index 2075c90..763192a 100644
--- a/306-controller_interface.X/app/can_message.c
+++ b/306-controller_interface.X/app/can_message.c
@@ -208,6 +208,15 @@ void CM_processIncome(uint8_t idSender, uint8_t idMsg, uint32_t data){
             
             if(idMsg == 0xF) { // DRIVE_ALIVE
                 //  statusH statusL -   -
+                ALIVE_ISALIVE(ALdrive());
+                if(ALdrive()->state == STAL_DEAD){
+                    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);
+                    ALIVE_setAliveTime(ALdrive(), KART_CST.DRIVE_ALIVE_TIME);
+                    ALIVE_emitBorn(ALdrive(), 0, 0);
+                    ALIVE_emitReady(ALdrive(), 100, 0);
+                }
                 // TODO drive say ALIVE
                 
             }
@@ -324,6 +333,8 @@ void CM_DRIVE_POWER(void* p) {
     torque.full = *((int16_t*) p);
     tmpData.separate.byte0 = torque.separate.byte1;
     tmpData.separate.byte1 = torque.separate.byte0;
+    tmpData.separate.byte2 = 0;
+    tmpData.separate.byte3 = 0;
     CAN_Send(4, 1, tmpData.full);
 }
 
diff --git a/306-controller_interface.X/app/factory/factory.c b/306-controller_interface.X/app/factory/factory.c
index c3d018b..a2905fa 100644
--- a/306-controller_interface.X/app/factory/factory.c
+++ b/306-controller_interface.X/app/factory/factory.c
@@ -42,6 +42,10 @@ ALIVE* ALjoy(){
     return &theFactory.ALjoy_;
 }
 
+ALIVE* ALdrive(){
+    return &theFactory.ALdrive_;
+}
+
 
 //initialize all objects
 void Factory_init() {
@@ -75,6 +79,20 @@ void Factory_init() {
     ALIVE_setAliveTime(ALcontroller(), KART_CST.CONTROL_ALIVE_TIME);
     
     ALIVE_init(ALjoy());
+    ALIVE_init(ALdrive());
+}
+
+void foo(void* p){
+    static int16_t speed = 0;
+    static bool up = true;
+    if(up) {
+        speed += 3;
+        if(speed >100) up = false;
+    } else {
+        speed -= 3;
+        if(speed < -100) up = true;
+    }
+    CM_DRIVE_POWER(&speed);
 }
 
 //connect objects if required
@@ -84,26 +102,39 @@ void Factory_build() {
     
     ALIVE_onAlive(ALcontroller(), CM_CONTROLLER_ALIVE, NULL);
     
-    BLINKER_onOn(b1(), LED_on, l6());
-    BLINKER_onOff(b1(), LED_off, l6());
+    //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_onSetup(ALdrive(), CM_DRIVE_SETUP, NULL);
+    ALIVE_setAliveTime(ALdrive(), KART_CST.DRIVE_ALIVE_TIME);
+    ALIVE_onBorn(ALdrive(), LED_on, l2());
+    ALIVE_onDead(ALdrive(), LED_off, l2());
+    
+    BLINKER_setTimeOn(b1(), (KART_CST.DRIVE_STOP_TIME*9)/2);
+    BLINKER_setTimeOff(b1(), (KART_CST.DRIVE_STOP_TIME*9)/2);
+    BLINKER_onOn(b1(), foo, NULL);
 }
 
 //start all state machines
 void Factory_start() {
     CAN_startBehaviour();
     
-    BLINKER_startBehaviour(b1());
-    BLINKER_emitBlink(b1(), 0);
         
     ALIVE_startBehaviourSender(ALcontroller());
     ALIVE_startBehaviourChecker(ALjoy());
     ALIVE_emitBorn(ALjoy(), 100, 0);
     ALIVE_emitReady(ALjoy(), 200, 0);
+    ALIVE_startBehaviourChecker(ALdrive());
+    ALIVE_emitBorn(ALdrive(), 100, 0);
+    ALIVE_emitReady(ALdrive(), 200, 0);
+    
+    BLINKER_startBehaviour(b1());
+    BLINKER_emitBlink(b1(), 300);
+    
     
 }
diff --git a/306-controller_interface.X/app/factory/factory.h b/306-controller_interface.X/app/factory/factory.h
index 9835497..80a6acb 100644
--- a/306-controller_interface.X/app/factory/factory.h
+++ b/306-controller_interface.X/app/factory/factory.h
@@ -36,6 +36,7 @@ typedef struct {
     
     ALIVE ALcontroller_;
     ALIVE ALjoy_;
+    ALIVE ALdrive_;
 
 } Factory;
 
@@ -58,6 +59,7 @@ BLINKER* b1();
 
 ALIVE* ALcontroller();
 ALIVE* ALjoy();
+ALIVE* ALdrive();
 
 
 #endif
\ No newline at end of file
diff --git a/306-controller_interface.X/middleware/eeprom.c b/306-controller_interface.X/middleware/eeprom.c
index 874f425..77708e7 100644
--- a/306-controller_interface.X/middleware/eeprom.c
+++ b/306-controller_interface.X/middleware/eeprom.c
@@ -35,11 +35,11 @@ void MEM_init(){
         KART_CST.JOYSTICK_PARAM2         =   1;
         KART_CST.JOYSTICK_ALIVE_TIME     =   25;
         
-        KART_CST.DISPLAY_ALIVE_TIME      =   100;
+        KART_CST.DISPLAY_ALIVE_TIME      =  100;
         
-        KART_CST.DRIVE_SPEED_TIME        =   5;
-        KART_CST.DRIVE_STOP_TIME         =   20;
-        KART_CST.DRIVE_ALIVE_TIME        =   10;
+        KART_CST.DRIVE_SPEED_TIME        =   20;
+        KART_CST.DRIVE_STOP_TIME         =   10;
+        KART_CST.DRIVE_ALIVE_TIME        =   25;
         
         KART_CST.STEERING_ALIVE_TIME     =  100;