391 lines
14 KiB
C
391 lines
14 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 "can_message.h"
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#include "car.h"
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#include "../app/factory/factory.h"
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#include "../middleware/can_interface.h"
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#include "kartculator.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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uint32_t full;
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} BYTES_4;
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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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} separate;
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uint16_t full;
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} BYTES_2;
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void CM_processIncome(uint8_t idSender, uint8_t idMsg, bool rtr, uint32_t data){
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BYTES_4 incomeData;
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incomeData.full = data;
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BYTES_4 revertData;
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revertData.separate.byte0 = incomeData.separate.byte3;
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revertData.separate.byte1 = incomeData.separate.byte2;
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revertData.separate.byte2 = incomeData.separate.byte1;
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revertData.separate.byte3 = incomeData.separate.byte0;
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switch(idSender){
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/*********************
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* BROADCAST / DEBUG *
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*********************/
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case 0:
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if(idMsg == 0x0) { // CONTROL_SETUP
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// steeringMode eraseMemory - controlAliveTime
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if (incomeData.separate.byte1) {
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MEM_reset();
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}
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KART_CST.CONTROL_STEERING_MODE = incomeData.separate.byte0;
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KART_CST.CONTROL_ALIVE_TIME = incomeData.separate.byte3;
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MEM_write_1_byte(MEMADD_CONTROL_STEERING_MODE, KART_CST.CONTROL_STEERING_MODE);
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MEM_write_1_byte(MEMADD_CONTROL_ALIVE_TIME, KART_CST.CONTROL_ALIVE_TIME);
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ALIVE_setAliveTime(ALcontroller(), KART_CST.CONTROL_ALIVE_TIME);
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ALIVE_emitStart(ALcontroller(), 0, 0);
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}
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if(idMsg == 0x1) { // CONTROL_SPEED_FACTOR
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// valHH valH valL valLL
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KART_CST.CONTROL_SPEED_FACTOR = revertData.full;
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MEM_write_4_byte(MEMADD_CONTROL_SPEED_FACTOR, KART_CST.CONTROL_SPEED_FACTOR);
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}
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if(idMsg == 0x2) { // CONTROL_POWER_FACTOR
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// valHH valH valL valLL
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KART_CST.CONTROL_POWER_FACTOR = revertData.full;
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MEM_write_4_byte(MEMADD_CONTROL_POWER_FACTOR, KART_CST.CONTROL_POWER_FACTOR);
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CAN_Send(0, 5, KART_CST.CONTROL_POWER_FACTOR);
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}
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if(idMsg == 0x3) { // CONTROL_STEERING_FACTOR
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// valHH valH valL valLL
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KART_CST.CONTROL_STEERING_FACTOR = revertData.full;
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MEM_write_4_byte(MEMADD_CONTROL_STEERING_FACTOR, KART_CST.CONTROL_STEERING_FACTOR);
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}
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if(idMsg == 0x4) { // CONTROL_SECURITY_PARAM
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// maxSpeedFw maxSpeedBw - -
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KART_CST.CONTROL_MAX_SPEED_FW = incomeData.separate.byte0;
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KART_CST.CONTROL_MAX_SPEED_BW = incomeData.separate.byte1;
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MEM_write_1_byte(MEMADD_CONTROL_MAX_SPEED_FW, KART_CST.CONTROL_MAX_SPEED_FW);
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MEM_write_1_byte(MEMADD_CONTROL_MAX_SPEED_BW, KART_CST.CONTROL_MAX_SPEED_BW);
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}
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if(idMsg == 0x5) { // CONTROL_SETUP_PARAM
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// displayAliveTime steeringAliveTime - -
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KART_CST.DISPLAY_ALIVE_TIME = incomeData.separate.byte0;
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KART_CST.STEERING_ALIVE_TIME = incomeData.separate.byte1;
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MEM_write_1_byte(MEMADD_DISPLAY_ALIVE_TIME, KART_CST.DISPLAY_ALIVE_TIME);
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MEM_write_1_byte(MEMADD_STEERING_ALIVE_TIME, KART_CST.STEERING_ALIVE_TIME);
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// TODO set alive times
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// start alives
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CM_DISPLAY_SETUP(NULL);
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CM_STEERING_SETUP(&ALWAYSFALSE);
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}
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if(idMsg == 0x6) { // CONTROL_SETUP_PARAM_JOY
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// joystickMode joystickParam1 joystickParam2 joystickAliveTime
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KART_CST.JOYSTICK_MODE = incomeData.separate.byte0;
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KART_CST.JOYSTICK_PARAM1 = incomeData.separate.byte1;
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KART_CST.JOYSTICK_PARAM2 = incomeData.separate.byte2;
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KART_CST.JOYSTICK_ALIVE_TIME = incomeData.separate.byte3;
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MEM_write_1_byte(MEMADD_JOYSTICK_MODE, KART_CST.JOYSTICK_MODE);
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MEM_write_1_byte(MEMADD_JOYSTICK_PARAM1, KART_CST.JOYSTICK_PARAM1);
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MEM_write_1_byte(MEMADD_JOYSTICK_PARAM2, KART_CST.JOYSTICK_PARAM2);
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MEM_write_1_byte(MEMADD_JOYSTICK_ALIVE_TIME, KART_CST.JOYSTICK_ALIVE_TIME);
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ALIVE_setAliveTime(ALjoy(), KART_CST.JOYSTICK_ALIVE_TIME);
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ALIVE_emitStart(ALjoy(), 0, 0);
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CM_JOY_SETUP(NULL);
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}
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if(idMsg == 0x7) { // CONTROL_SETUP_PARAM_DRIVE
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// driveAliveTime driveSpeedTime driveStopTime -
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KART_CST.DRIVE_ALIVE_TIME = incomeData.separate.byte0;
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KART_CST.DRIVE_SPEED_TIME = incomeData.separate.byte1;
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KART_CST.DRIVE_STOP_TIME = incomeData.separate.byte2;
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MEM_write_1_byte(MEMADD_DRIVE_ALIVE_TIME, KART_CST.DRIVE_ALIVE_TIME);
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MEM_write_1_byte(MEMADD_DRIVE_SPEED_TIME, KART_CST.DRIVE_SPEED_TIME);
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MEM_write_1_byte(MEMADD_DRIVE_STOP_TIME, KART_CST.DRIVE_STOP_TIME);
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ALIVE_setAliveTime(&drive()->myChecker, KART_CST.DRIVE_ALIVE_TIME);
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ALIVE_emitStart(&drive()->myChecker, 0, 0);
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CM_DRIVE_SETUP(&ALWAYSFALSE);
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}
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if(idMsg == 0x8) { // CONTROL_SETUP_PARAM_BATTERY
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// batteryVoltTime batteryCurrentTime batteryEnergyTime batteryAliveTime
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KART_CST.BATTERY_VOLT_TIME = incomeData.separate.byte0;
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KART_CST.BATTERY_CURRENT_TIME = incomeData.separate.byte1;
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KART_CST.BATTERY_ENERGY_TIME = incomeData.separate.byte2;
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KART_CST.BATTERY_ALIVE_TIME = incomeData.separate.byte3;
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MEM_write_1_byte(MEMADD_BATTERY_VOLT_TIME, KART_CST.BATTERY_VOLT_TIME);
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MEM_write_1_byte(MEMADD_BATTERY_CURRENT_TIME, KART_CST.BATTERY_CURRENT_TIME);
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MEM_write_1_byte(MEMADD_BATTERY_ENERGY_TIME, KART_CST.BATTERY_ENERGY_TIME);
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MEM_write_1_byte(MEMADD_BATTERY_ALIVE_TIME, KART_CST.BATTERY_ALIVE_TIME);
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// TODO set alive time
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// TODO start alive
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CM_SUPPLY_SETUP(NULL);
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}
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break;
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/************
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* JOYSTICK *
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************/
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case 2:
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if(idMsg == 0x1) { // JOY_MESURE
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// posX posY button -
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calcTorque(incomeData.separate.byte1);
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calcPosition(incomeData.separate.byte0);
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}
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if(idMsg == 0xF) { // JOY_ALIVE
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// - - - -
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ALIVE_ISALIVE(ALjoy());
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if(ALjoy()->state == STAL_DEAD){
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KART_CST.JOYSTICK_MODE = MEM_read_1_byte(MEMADD_JOYSTICK_MODE);
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KART_CST.JOYSTICK_PARAM1 = MEM_read_1_byte(MEMADD_JOYSTICK_PARAM1);
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KART_CST.JOYSTICK_PARAM2 = MEM_read_1_byte(MEMADD_JOYSTICK_PARAM2);
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KART_CST.JOYSTICK_ALIVE_TIME = MEM_read_1_byte(MEMADD_JOYSTICK_ALIVE_TIME);
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ALIVE_setAliveTime(ALjoy(), KART_CST.JOYSTICK_ALIVE_TIME);
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ALIVE_emitResurrect(ALjoy(), 0, 0);
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ALIVE_emitBorn(ALjoy(), 0, 0);
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ALIVE_emitReady(ALjoy(), 0, 0);
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}
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}
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break;
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/***********
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* DISPLAY *
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***********/
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case 3:
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if(idMsg == 0xF) { // DISPLAY_ALIVE
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// powerMode - - -
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// TODO display say ALIVE
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}
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break;
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/*********
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* DRIVE *
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*********/
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case 4:
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if(idMsg == 0x0) { // DRIVE_SPEED
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// speedHH speedH speedL speedLL
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calcSpeed(revertData.full);
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DRIVE_emitPollSpeed(drive());
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}
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if(idMsg == 0xF) { // DRIVE_ALIVE
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// statusH statusL - -
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ALIVE_ISALIVE(&drive()->myChecker);
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if(drive()->myChecker.state == STAL_DEAD){
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KART_CST.DRIVE_SPEED_TIME = MEM_read_1_byte(MEMADD_DRIVE_SPEED_TIME);
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KART_CST.DRIVE_STOP_TIME = MEM_read_1_byte(MEMADD_DRIVE_STOP_TIME);
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KART_CST.DRIVE_ALIVE_TIME = MEM_read_1_byte(MEMADD_DRIVE_ALIVE_TIME);
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ALIVE_emitResurrect(&drive()->myChecker, 0, 0);
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ALIVE_emitBorn(&drive()->myChecker, 0, 0);
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}
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}
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break;
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/************
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* STEERING *
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************/
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case 5:
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if(idMsg == 0x1) { // STEERING_GET_CENTER
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// valHH valH valL valLL
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eKart.center = revertData.full;
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}
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if(idMsg == 0x2) { // STEERING_GET_POSITION
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// valHH valH valL valLL
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}
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if(idMsg == 0x3) { // STEERING_READY
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// - - - -
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}
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if(idMsg == 0xF) { // STEERING_ALIVE
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// statusH statusL - -
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ALIVE_ISALIVE(&steering()->myChecker);
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if(steering()->myChecker.state == STST_DEAD) {
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KART_CST.STEERING_ALIVE_TIME = MEM_read_1_byte(MEMADD_STEERING_ALIVE_TIME);
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ALIVE_emitResurrect(&steering()->myChecker, 0, 0);
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ALIVE_emitBorn(&steering()->myChecker, 0, 0);
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}
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}
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break;
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/**********
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* SUPPLY *
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**********/
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case 6:
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if(idMsg == 0xF) { // BATTERY_ALIVE
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// - - - -
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// TODO battery say ALIVE
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}
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break;
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/*************
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* UNDEFINED *
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*************/
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case 7:
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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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// - - - -
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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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// mode parm1 param2 aliveTime
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BYTES_4 joy;
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joy.separate.byte0 = KART_CST.JOYSTICK_MODE;
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joy.separate.byte1 = KART_CST.JOYSTICK_PARAM1;
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joy.separate.byte2 = KART_CST.JOYSTICK_PARAM2;
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joy.separate.byte3 = KART_CST.JOYSTICK_ALIVE_TIME;
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CAN_Send(2, 0, joy.full);
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}
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void CM_DISPLAY_SETUP(void* p) {
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// reset - - aliveTime
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BYTES_4 display;
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display.separate.byte0 = 0; // reset
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display.separate.byte3 = KART_CST.DISPLAY_ALIVE_TIME;
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CAN_Send(3, 0, display.full);
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}
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void CM_DISPLAY_SPEED(void* p) {
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// valH valL - -
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BYTES_4 tmpData;
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// byte0 should be valH but isn't possible to go enough fast for use it
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tmpData.separate.byte0 = 0;
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tmpData.separate.byte1 = *((uint8_t*) p);
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tmpData.separate.byte2 = 0;
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tmpData.separate.byte3 = 0;
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CAN_Send(3, 2, tmpData.full);
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}
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void CM_DISPLAY_DIRECTION(void* p) {
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// direction - - -
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BYTES_4 tmpData;
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tmpData.separate.byte0 = (uint8_t) p;
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tmpData.separate.byte1 = 0;
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tmpData.separate.byte2 = 0;
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tmpData.separate.byte3 = 0;
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CAN_Send(3, 3, tmpData.full);
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}
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void CM_DRIVE_SETUP(void* p) {
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// reset/init speedTime stopTime aliveTime
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BYTES_4 tmpData;
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tmpData.separate.byte0 = (uint8_t) p;
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tmpData.separate.byte1 = KART_CST.DRIVE_SPEED_TIME;
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tmpData.separate.byte2 = KART_CST.DRIVE_STOP_TIME;
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tmpData.separate.byte3 = KART_CST.DRIVE_ALIVE_TIME;
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CAN_Send(4, 0, tmpData.full);
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}
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void CM_DRIVE_POWER(void* p) {
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// valH valL - -
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BYTES_2 torque;
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BYTES_4 tmpData;
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torque.full = *((int16_t*) p);
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tmpData.separate.byte0 = torque.separate.byte1;
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tmpData.separate.byte1 = torque.separate.byte0;
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tmpData.separate.byte2 = 0;
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tmpData.separate.byte3 = 0;
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CAN_Send(4, 1, tmpData.full);
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}
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void CM_STEERING_SETUP(void* p) {
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// reset/init homing setCenter aliveTime
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// TODO not working have to fix it
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BYTES_4 tmpData;
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uint8_t choice = (uint8_t) p;
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switch (choice) {
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case 1:
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tmpData.separate.byte0 = 1;
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tmpData.separate.byte1 = 0;
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tmpData.separate.byte2 = 0;
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break;
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case 2:
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tmpData.separate.byte0 = 0;
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tmpData.separate.byte1 = 1;
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tmpData.separate.byte2 = 0;
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break;
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case 3:
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tmpData.separate.byte0 = 0;
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tmpData.separate.byte1 = 0;
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tmpData.separate.byte2 = 1;
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break;
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default:
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tmpData.separate.byte0 = 0;
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tmpData.separate.byte1 = 0;
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tmpData.separate.byte2 = 0;
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break;
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}
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tmpData.separate.byte3 = KART_CST.STEERING_ALIVE_TIME; // 0 -> no alive
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CAN_Send(5, 0, tmpData.full);
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}
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void CM_STEERING_SET(void* p) {
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// valHH valH valL valLL
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BYTES_4 pPosition;
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pPosition.full = *((uint32_t*) p);
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BYTES_4 sPosition;
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sPosition.separate.byte0 = pPosition.separate.byte3;
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sPosition.separate.byte1 = pPosition.separate.byte2;
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sPosition.separate.byte2 = pPosition.separate.byte1;
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sPosition.separate.byte3 = pPosition.separate.byte0;
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CAN_Send(5, 1, sPosition.full);
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}
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void CM_SUPPLY_SETUP(void* p) {
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// batteryVoltTime batteryCurrentTime batteryEnergyTime aliveTime
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BYTES_4 supply;
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supply.separate.byte0 = KART_CST.BATTERY_VOLT_TIME;
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supply.separate.byte1 = KART_CST.BATTERY_CURRENT_TIME;
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supply.separate.byte2 = KART_CST.BATTERY_ENERGY_TIME;
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supply.separate.byte3 = KART_CST.BATTERY_ALIVE_TIME;
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CAN_Send(6, 0, supply.full);
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}
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