Revision 3a4c95b0 devices/DiWheelDrive/DiWheelDrive.cpp
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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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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