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Fix cpp file

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This commit is contained in:
Valentin Dabstep 2025-05-26 22:40:53 +03:00
parent d2d8f89eb3
commit d654443621
4 changed files with 12 additions and 14 deletions
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13
controller/fw/embed/src/process_can.cpp
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@ -62,9 +62,9 @@ void send_motor_enabled() {
// Error handling: logging, alerts, etc.
return;
}
uint8_t value = flash_rec[foc_id].value;
uint8_t value = motor_control_inputs.motor_enabled; //copy current motor state
uint8_t id = flash_rec[addr_id].value;
send_can_with_id_crc(id,'F',&value);
send_can_with_id_crc(id,'M',&value);
}
void send_id() {
@ -90,7 +90,7 @@ void send_id() {
// Can.write(CAN_TX_msg);
// }
void send_pid(uint8_t param_pid){
void send_pid_angle(uint8_t param_pid){
if (flash_rec == nullptr) { // Null check
return;
}
@ -148,7 +148,6 @@ void setup_pid_angle(uint8_t param_pid, float data){
}
void listen_can(const CAN_message_t &msg) {
msg_id = msg.id;
msg_ch = msg_id & 0xF; // Extract message channel
@ -235,9 +234,9 @@ void listen_can(const CAN_message_t &msg) {
case MOTOR_ENABLED: send_motor_enabled(); break;
// case MOTOR_TORQUE: send_motor_torque(); break;
// case FOC_STATE: send_foc_state(); break;
case REG_MOTOR_POSPID_Kp: send_pid(pid_p); break;
case REG_MOTOR_POSPID_Ki: send_pid(pid_i); break;
case REG_MOTOR_POSPID_Kd: send_pid(pid_d); break;
case REG_MOTOR_POSPID_Kp: send_pid_angle(pid_p); break;
case REG_MOTOR_POSPID_Ki: send_pid_angle(pid_i); break;
case REG_MOTOR_POSPID_Kd: send_pid_angle(pid_d); break;
default: break;
}
}