107 lines
2.8 KiB
C
107 lines
2.8 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.h
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*/
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#ifndef CAN_MESSAGE_H
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#define CAN_MESSAGE_H
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#include <stdint.h> // usage of standard types
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#include <stdbool.h> // usage of boolean types
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#include "../mcc_generated_files/mcc.h"
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/*
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S R M
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1 0 F CONTROL_ALIVE - - - -
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1 2 0 JOY_SETUP Mode Param1 Param2 aliveTime
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1 3 0 DISPLAY_SETUP reset - - aliveTime
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1 3 2 DISPLAY_SPEED valH valL - -
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1 3 3 DISPLAY_DIRECTION direction - - -
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1 4 0 DRIVE_SETUP Reset/init speedTime stopTime aliveTime
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1 4 1 DRIVE_POWER valH valL - -
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1 5 0 STEERING_SETUP Reset/init homing setCenter aliveTime
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1 5 1 STEERING_SET valHH valH valL valLL
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1 6 0 SETUP_CONTROL batteryVoltTime batteryCurrentTime batteryEnergyTime aliveTime
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*/
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/**
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* Process an incoming message
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* @param idSender id of the sender
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* @param idMsg is of the message
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* @param data data of the message
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*/
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void CM_processIncome(uint8_t idSender, uint8_t idMsg, uint32_t data);
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/**
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* Send alive message from controller
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* @param p have to be NULL
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*/
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void CM_CONTROLLER_ALIVE(void* p);
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/**
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* Send setup to the joystick (settings from memory)
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* @param p have to be NULL
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*/
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void CM_JOY_SETUP(void* p);
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/**
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* Send setup to the display (settings from memory)
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* @param p have to be NULL
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*/
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void CM_DISPLAY_SETUP(void* p);
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/**
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* Send speed to display
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* @param p the speed in 100m/h (max 255 m/h)
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*/
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void CM_DISPLAY_SPEED(void* p);
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/**
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* Send direction of the steering wheel
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* 0 is straight forward
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* positive value is going right
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* negative value is going left
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* @param p the direction (int 8)
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*/
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void CM_DISPLAY_DIRECTION(void* p);
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/**
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* Send setup to the drive
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* use with reset in parameter
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* other settings from memory
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* @param p 1 if reset/init 0 else
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*/
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void CM_DRIVE_SETUP(void* p);
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/**
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* Send power to the drive
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* @param p the torque (int16_t*)
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*/
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void CM_DRIVE_POWER(void* p);
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/**
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* Send setup to the steering
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* can be use for reset (1), homing (2) and setCenter (3)
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* @param p 0 for setup, 1 for reset, 2 for homing, 3 for setCenter
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*/
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void CM_STEERING_SETUP(void* p);
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/**
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* Send position for steering
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* no negative value because 0 is home (sensor)
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* @param p the position (uint32_t*)
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*/
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void CM_STEERING_SET(void* p);
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/**
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* Send setup to the supply (settings from memory)
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* @param p have to be NULL
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*/
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void CM_SUPPLY_SETUP(void* p);
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#endif /* CAN_MESSAGE_H */
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