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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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5
controller/fw/embed/src/main.cpp
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@ -18,6 +18,7 @@
#include "config.h"
#include "process_can.h"
void SysTick_Handler(void) {
HAL_IncTick();
}
@ -98,9 +99,13 @@ MotorControlInputs motor_control_inputs;
void loop() {
__enable_irq();
send_angle();
send_velocity();
foc_step(&motor);
CAN_message_t msg;
// Process incoming CAN messages
while (Can.read(msg)) {
listen_can(msg);