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Valentin Dabstep 2025-05-16 21:06:31 +03:00
parent 320eb21de8
commit 4f42094b0e
6 changed files with 373 additions and 331 deletions
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25
controller/fw/embed/include/process_can.h Normal file
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#pragma once
#include "config.h"
#include "STM32_CAN.h"
#include "flash.h"
#include "reg_cah.h"
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;
void send_velocity();
void send_angle();
void send_motor_enabled();
void send_motor_enabled();
void send_id();
// void send_motor_torque();
void send_pid(uint8_t param_pid);
void setup_id(uint8_t my_id);
void setup_angle(float target_angle);
void setup_pid_angle(uint8_t param_pid, float data);
void listen_can(const CAN_message_t &msg);