Force canmonitor check time to be 250ms

Keep if clause commented since not working properly Even if canmonitor params are not passed by icub-main the memory remains dirty and a value different from zero is passed to the EMS. So we need to force the default config value and check better the CAN monitor behaviour
robotology · Jan 8, 2024 · 3004c10 · 3004c10
1 parent 96cf51e
commit 3004c10
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Showing 9 changed files with 214 additions and 153 deletions.
diff --git a/emBODY/eBcode/arch-arm/board/bat/BAT_Rev_B/Inc/BAT_B.h b/emBODY/eBcode/arch-arm/board/bat/BAT_Rev_B/Inc/BAT_B.h
@@ -99,6 +99,8 @@ extern uint16_t time_delay;
 
 extern uint8_t can_message;
 
+extern uint8_t TX_ENABLED;
+
 extern __IO ITStatus UartReady;
 
 extern uint32_t VTH[7];

diff --git a/emBODY/eBcode/arch-arm/board/bat/BAT_Rev_B/Inc/global_var.h b/emBODY/eBcode/arch-arm/board/bat/BAT_Rev_B/Inc/global_var.h
@@ -115,4 +115,6 @@ extern uint16_t time_delay;
 
 extern uint8_t can_message;
 
+extern uint8_t TX_ENABLED;
+
 #endif
diff --git a/emBODY/eBcode/arch-arm/board/bat/BAT_Rev_B/Src/BAT_B.c b/emBODY/eBcode/arch-arm/board/bat/BAT_Rev_B/Src/BAT_B.c
@@ -10,8 +10,8 @@
 #include "BAT_B.h"
 
 char Firmware_vers = 1;
-char Revision_vers = 3;
-char Build_number  = 2;
+char Revision_vers = 9;
+char Build_number  = 9;
 
 uint32_t vtol=100;  // voltage tolerance for hysteresis
 uint32_t vhyst=0;    // voltage hysteresis
@@ -73,6 +73,8 @@ int32_t Current_board_in_fault = 0;
 int32_t Current_HSM_in_fault = 0;
 int32_t Current_motor_in_fault = 0;
 
+uint8_t TX_ENABLED = 0;
+
 uint8_t V12board_bdc  = 1;    // +++++++++++++++++++++++++++++++++++++++++++++ da cambiare logica ++++++++++++++++++
 uint8_t V12motor_bdc  = 1;    // +++++++++++++++++++++++++++++++++++++++++++++ da cambiare logica ++++++++++++++++++
 

diff --git a/emBODY/eBcode/arch-arm/board/bat/BAT_Rev_B/Src/can_utility.c b/emBODY/eBcode/arch-arm/board/bat/BAT_Rev_B/Src/can_utility.c
@@ -25,7 +25,7 @@ uint32_t              TxMailbox;
 // in the struct we can define the data, which have the same type for all the packets,
 // what changes is only the value
 // then there'll be a getInstance() sort of method for retrieving the struct
-// following the signleton usage in OOP
+// following the singleton usage in OOP
 // this will help to make code cleaner and avoid duplications
 // Instantiate data regarding info of battery pack
 CAN_TxHeaderTypeDef   TxHeader_620;
@@ -145,11 +145,21 @@ void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan)
     /* Reception Error */
     Error_Handler();
   }
+
+  /* Enable - Disable CAN Transmission from EMS */
+  if( (RxHeader.IDE == CAN_ID_STD) && ((RxHeader.StdId & 0x700) >> 8) == 2 ) // GOT MESSAGE FROM CLASS ICUBCANPROTO_CLASS_POLLING_ANALOGSENSOR
+  {
+      if((RxData[0] & 0x7F) == 7) // GOT MESSAGE OF TYPE ICUBCANPROTO_POL_AS_CMD__SET_TXMODE
+      {
+        TX_ENABLED = (RxData[1] == 0) ? 1 : 0;
+      }
+  }
 
   /* Display LEDx */
   if ((RxHeader.StdId == 0x621) && (RxHeader.IDE == CAN_ID_STD) && (RxHeader.DLC == 8))
   {
     //LED_Display(RxData[0]);
     //ubKeyNumber = RxData[0];
   }
+
 }
diff --git a/emBODY/eBcode/arch-arm/board/bat/BAT_Rev_B/Src/main.c b/emBODY/eBcode/arch-arm/board/bat/BAT_Rev_B/Src/main.c
@@ -303,6 +303,8 @@ void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim){
   }
   if(htim->Instance==TIM16){        // timer 100ms
     toggle_100ms = toggle_100ms^1;
+    if(TX_ENABLED == 0)
+        return;        
     CANBUS();
   }
   if(htim->Instance==TIM17){        // timer 1s

diff --git a/emBODY/eBcode/arch-arm/board/ems004/appl/v2/cfg/eoemsappl/EOMtheEMSapplCfg_cfg.h b/emBODY/eBcode/arch-arm/board/ems004/appl/v2/cfg/eoemsappl/EOMtheEMSapplCfg_cfg.h
@@ -81,7 +81,7 @@ extern "C" {
 #define EOMTHEEMSAPPLCFG_VERSION_MAJOR          (VERSION_MAJOR_OFFSET+3)
 //  <o> minor           <0-255> 
 //  <o> minor           <0-255>
-#define EOMTHEEMSAPPLCFG_VERSION_MINOR          82
+#define EOMTHEEMSAPPLCFG_VERSION_MINOR          99
 
 //  </h>version
Original file line number	Diff line number	Diff line change
Expand Up		@@ -115,4 +115,6 @@ extern uint16_t time_delay;

		extern uint8_t can_message;

		extern uint8_t TX_ENABLED;

		#endif