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Iacopo #55

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Iacopo #55

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4c8e1be
CAN is working
Jul 26, 2023
8440c30
Merge remote-tracking branch 'origin/iacopo' into iacopo
Jul 26, 2023
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Binary file modified CM4/RemoteProc/WildhornAV_CM4.elf.bz2
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13 changes: 10 additions & 3 deletions CM4/ert/driver/can.c
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Original file line number Diff line number Diff line change
Expand Up @@ -19,6 +19,7 @@
#include <od/od.h>
#include <device/device.h>
#include <feedback/led.h>
#include <feedback/debug.h>

/**********************
* CONSTANTS
Expand Down Expand Up @@ -144,7 +145,9 @@ util_error_t can_handle_data(device_interface_t * can_if) {
frame.data_id = rxHeader.Identifier >> CAN_DATAID_OFFSET;
uint8_t source = rxHeader.Identifier & CAN_BOARDID_MASK;

od_handle_can_frame(source, &frame);
debug_log("CAN Received: %x\n", source);

//od_handle_can_frame(source, &frame);

}
return ER_SUCCESS;
Expand Down Expand Up @@ -270,13 +273,17 @@ void can_transmit_thread(__attribute__((unused)) void *arg) {
while(1) {
// retrieve next frame
od_frame_t frame;
od_pop_from_out_q(&frame);
od_push_to_in_q(&frame);

frame.data[0] = 35;
//od_pop_from_out_q(&frame);
//od_push_to_in_q(&frame);

led_checkpoint(checkpoint_tx);

// send over CAN
device_interface_send(&fdcan1_interface, (uint8_t *) &frame, sizeof(od_frame_t));

osDelay(1000);
}
}

Expand Down
6 changes: 3 additions & 3 deletions CM4/ert/init.c
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Original file line number Diff line number Diff line change
Expand Up @@ -123,7 +123,7 @@ void init(void) {
od_init();

// NOT USED DUE TO BUGS!!!!
//can_init(WH_COMPUTER);
can_init(1);

#if WH_HAS_FEEDBACK == WH_TRUE
#if WH_USE_BUZZER == WH_TRUE
Expand Down Expand Up @@ -155,9 +155,9 @@ void init(void) {
INIT_THREAD_CREATE(hostcom_handle, hostcom, hostcom_thread, NULL, HOSTCOM_SZ, HOSTCOM_PRIO);

// NOT USED DUE TO BUGS!!!!
//INIT_THREAD_CREATE(can_rx_handle, can_rx, can_receive_thread, NULL, CAN_TX_SZ, CAN_TX_PRIO);
INIT_THREAD_CREATE(can_rx_handle, can_rx, can_receive_thread, NULL, CAN_TX_SZ, CAN_TX_PRIO);
UNUSED(can_rx_handle);
//INIT_THREAD_CREATE(can_tx_handle, can_tx, can_transmit_thread, NULL, CAN_RX_SZ, CAN_RX_PRIO);
INIT_THREAD_CREATE(can_tx_handle, can_tx, can_transmit_thread, NULL, CAN_RX_SZ, CAN_RX_PRIO);
UNUSED(can_tx_handle);

#if WH_HAS_RADIO
Expand Down
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