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Add new process msg

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This commit is contained in:
Valentin Dabstep 2025-06-06 18:37:48 +03:00
parent 66e917de4d
commit 58a051b217
5 changed files with 71 additions and 42 deletions
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7
controller/fw/embed/include/process_can.h
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@ -19,9 +19,10 @@ void send_motor_enabled();
void send_id();
void firmware_update();
void send_pid_angle(uint8_t param_pid);
// void send_motor_torque();
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_pid_angle(uint8_t param_pid, float data);
void listen_can(const CAN_message_t &msg);
void setup_velocity(float target_velocity);
void listen_can(const CAN_message_t &msg);

10
controller/fw/embed/include/reg_cah.h
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@ -1,5 +1,4 @@
#ifndef REG_CAH_H_
#define REG_CAH_H_
#pragma once
#define APP_ADDR 0x0800400 // 16KB - Application
#define ADDR_VAR 0x8040000
@ -16,6 +15,10 @@
#define REG_ID 0x01
#define REG_BAUDRATE 0x02
#define DATA_TYPE_ANGLE 0x03
#define DATA_TYPE_VELOCITY 0x04
#define DATA_TYPE_TORQUE 0x05
#define REG_MOTOR_POSPID_Kp 0x30
#define REG_MOTOR_POSPID_Ki 0x31
#define REG_MOTOR_POSPID_Kd 0x32
@ -43,6 +46,3 @@
#define CAN_MSG_MAX_LEN 7
#define CRC_SIZE 2
#define ID_SIZE sizeof(uint8_t)
#endif // REG_CAH_H_