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Work ID test

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This commit is contained in:
Valentin Dabstep 2025-06-11 22:00:51 +03:00
parent e80f04d857
commit 207b889fef
4 changed files with 164 additions and 89 deletions
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10
controller/fw/embed/include/process_can.h
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@ -4,13 +4,19 @@
#include "flash.h"
#include "reg_cah.h"
#define CAN_TIMEOUT 50
#define CAN_SILENCE_TIMEOUT 500
#define MAX_CAN_READS 2
extern FLASH_RECORD *flash_rec;
extern volatile uint16_t msg_id;
extern volatile uint16_t id_x;
extern volatile uint8_t msg_ch;
extern volatile uint8_t crc_h;
extern volatile uint8_t crc_l;
extern volatile bool send_blocked;
static volatile bool need_send_angle = false;
static volatile bool need_send_velocity = false;
void send_velocity();
void send_angle();
@ -19,10 +25,12 @@ void send_motor_enabled();
void send_id();
void firmware_update();
void send_pid_angle(uint8_t param_pid);
void send_torque();
void send_with_confirmation(void (*send_func)(void));
// void send_torque();
void send_pid(uint8_t param_pid);
void setup_id(uint8_t my_id);
void setup_angle(float target_angle);
void setup_velocity(float target_velocity);
void process_can_messages();
void listen_can(const CAN_message_t &msg);