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Add interrupt

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This commit is contained in:
Valentin Dabstep 2025-06-16 00:31:26 +03:00
parent 207b889fef
commit 4d6a5f8700
123 changed files with 1181239 additions and 1181234 deletions
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72
controller/fw/embed/include/process_can.h
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@ -1,36 +1,36 @@
#pragma once
#include "config.h"
#include "STM32_CAN.h"
#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();
void send_motor_enabled();
void send_motor_enabled();
void send_id();
void firmware_update();
void send_pid_angle(uint8_t param_pid);
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);
#pragma once
#include "config.h"
#include "STM32_CAN.h"
#include "flash.h"
#include "reg_cah.h"
#define CAN_TIMEOUT 5
#define CAN_SILENCE_TIMEOUT 5
#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();
void send_motor_enabled();
void send_motor_enabled();
void send_id();
void firmware_update();
void send_pid_angle(uint8_t param_pid);
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);