36 lines
970 B
C
36 lines
970 B
C
#pragma once
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#include "config.h"
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#include "STM32_CAN.h"
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#include "flash.h"
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#include "reg_cah.h"
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#define CAN_TIMEOUT 50
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#define CAN_SILENCE_TIMEOUT 500
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#define MAX_CAN_READS 2
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extern FLASH_RECORD *flash_rec;
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extern volatile uint16_t msg_id;
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extern volatile uint16_t id_x;
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extern volatile uint8_t msg_ch;
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extern volatile uint8_t crc_h;
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extern volatile uint8_t crc_l;
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extern volatile bool send_blocked;
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static volatile bool need_send_angle = false;
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static volatile bool need_send_velocity = false;
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void send_velocity();
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void send_angle();
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void send_motor_enabled();
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void send_motor_enabled();
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void send_id();
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void firmware_update();
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void send_pid_angle(uint8_t param_pid);
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void send_with_confirmation(void (*send_func)(void));
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// void send_torque();
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void send_pid(uint8_t param_pid);
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void setup_id(uint8_t my_id);
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void setup_angle(float target_angle);
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void setup_velocity(float target_velocity);
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void process_can_messages();
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void listen_can(const CAN_message_t &msg);
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