Revision 3a4c95b0 devices/DiWheelDrive/DiWheelDrive.cpp

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devices/DiWheelDrive/DiWheelDrive.cpp
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#include "hal.h"
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#include "qei.h"
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#include "DiWheelDrive.h"
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// #include <chprintf.h>
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#include <global.hpp>
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......
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    case CAN::POWER_STATUS_ID:
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      if (frame->DLC == 6) {
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        // The power status is evaluated by inherited ControllerAreaNetworkRx object, but depending on the flags the power path controller needs to enabled or disabled.
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        types::power_status::ChargingState charging_flags;
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        charging_flags.value = frame->data8[0];
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        global.ltc4412.enable(charging_flags.content.diwheeldrive_enable_power_path);
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        // Do not return with RDY_OK, or the inherited ControllerAreaNetworkRx object would not evaluate the rest of this message.
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      }
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    break;
......
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  this->transmitMessage(&frame);
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}
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void DiWheelDrive::transmitState(uint8_t state){
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  CANTxFrame frame;
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  frame.SID = 0;
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  this->encodeDeviceId(&frame, CAN::TRANSMIT_LINE_FOLLOW_STATE);
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  frame.data8[0] = state;
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  frame.DLC = 1;
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  this->transmitMessage(&frame);
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}
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void DiWheelDrive::periodicBroadcast() {
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  CANTxFrame frame;
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  frame.SID = 0;
......
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  frame.DLC = 6;
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  this->transmitMessage(&frame);
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  // Send the board ID (board ID of DiWheelDrive = Robot ID)
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  if (this->bcCounter % 10 == 0) {
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    frame.SID = 0;

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