104 lines
1.9 KiB
C
104 lines
1.9 KiB
C
/**
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* @author Rémi Heredero
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* @version 1.0.0
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* @date August 2023
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* @file can_message.c
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*/
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#include "../middleware/can_interface.h"
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#include "car.h"
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#include "../app/factory/factory.h"
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typedef union {
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struct {
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uint8_t byte0;
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uint8_t byte1;
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uint8_t byte2;
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uint8_t byte3;
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} separate;
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struct {
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uint32_t bytes;
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} full;
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} BYTES_4;
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void CM_processIncome(uint8_t idSender, uint8_t idMsg, uint32_t data){
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switch(idSender){
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case 0: // Broadcast / Debug
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break;
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case 2: // Joystick
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if(idMsg == 0x1) { // JOY_MESURE
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}
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if(idMsg == 0xF) { // JOY_ALIVE
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ALIVE_CHECKER_ISALIVE(ACjoy());
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if(ACjoy()->state == STAC_DEAD){
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ALIVE_CHECKER_emitBorn(ACjoy(), 0, 0);
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ALIVE_CHECKER_emitReady(ACjoy(), 100, 0);
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}
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}
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break;
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case 3: // Display
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break;
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case 4: // Drive
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break;
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case 5: // Steering
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break;
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case 6: // Supply
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break;
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case 7: // Undefined
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break;
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}
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}
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void CM_CONTROLLER_ALIVE(void* p) {
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CAN_Send(0x0, 0xF, 0);
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}
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void CM_JOY_SETUP(void* p) {
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BYTES_4 joy;
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joy.separate.byte0 = CAR_CST.JOYSTICK_MODE;
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joy.separate.byte1 = CAR_CST.JOYSTICK_PARAM1;
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joy.separate.byte2 = CAR_CST.JOYSTICK_PARAM2;
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joy.separate.byte3 = CAR_CST.JOYSTICK_ALIVE_TIME;
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CAN_Send(2, 0, joy.full.bytes);
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}
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void CM_DISPLAY_SETUP(void* p) {
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}
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void CM_DISPLAY_SPEED(void* p) {
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}
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void CM_DISPLAY_DIRECTION(void* p) {
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}
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void CM_DRIVE_SETUP(void* p) {
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}
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void CM_DRIVE_POWER(void* p) {
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}
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void CM_STEERING_SETUP(void* p) {
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}
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void CM_STEERING_SET(void* p) {
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}
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void CM_SETUP_CONTROL(void* p) {
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}
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