robossembler/servo
7
0
Fork 0
Code Issues 27 Pull requests 2 Projects 1 Releases 1 Packages Wiki Activity Actions

Реализована адресация

Browse source
This commit is contained in:
lulko 2025-03-03 15:02:32 +03:00
parent aa1a78117b
commit f02703659d
2 changed files with 11 additions and 10 deletions
Download patch file Download diff file Expand all files Collapse all files

13
controller/fw/embed/src/main.cpp
View file

@ -140,8 +140,7 @@ void send_id() {
uint8_t id = *(volatile uint32_t*)ADDR_VAR_ID;
FLASH->CR |= FLASH_CR_LOCK;
CAN_TX_msg.id = id;
CAN_TX_msg.buf[0] = 0x22;
memcpy(&CAN_TX_msg.buf[1], &id, sizeof(id));
memcpy(&CAN_TX_msg.buf[0], &id, sizeof(id));
Can.write(CAN_TX_msg);
}
@ -205,11 +204,12 @@ void send_data() {
void listen_can() {
uint8_t reg_id = CAN_inMsg.id;
if (CAN_inMsg.buf[0] == REG_WRITE) {
if (CAN_inMsg.buf[0] == *(volatile uint8_t*)ADDR_VAR_ID) {
if (CAN_inMsg.buf[1] == REG_WRITE) {
switch (reg_id) {
case REG_ID:
/* setup new id */
setup_id(CAN_inMsg.buf[1]);
setup_id(CAN_inMsg.buf[2]);
break;
case REG_LED_BLINK:
@ -220,7 +220,7 @@ void listen_can() {
break;
case MOTOR_ENABLED:
if (CAN_inMsg.buf[1] == 1) {
if (CAN_inMsg.buf[2] == 1) {
motor.enable();
motor_control_inputs.motor_enabled = 1;
} else {
@ -232,7 +232,7 @@ void listen_can() {
default:
break;
}
} else if (CAN_inMsg.buf[0] == REG_READ) {
} else if (CAN_inMsg.buf[1] == REG_READ) {
switch (reg_id) {
case REG_ID:
send_id();
@ -242,6 +242,7 @@ void listen_can() {
break;
}
}
}
}