[Krobot-commits] [SCM] krobot branch, master, updated. 09f53a63386e5040989f92aa9ef00498ec72931f

[Xavier L. <Ba...@us...>]

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- Log -----------------------------------------------------------------
commit 09f53a63386e5040989f92aa9ef00498ec72931f
Author: Xavier Lagorce <Xav...@cr...>
Date:   Tue Apr 5 22:39:55 2011 +0200

    [Controller_Motor_STM32] Blink LEDs when in HIL simulation mode (+typo)

-----------------------------------------------------------------------

Changes:
diff --git a/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/can_monitor.c b/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/can_monitor.c
index 0613ca0..0625ce5 100644
--- a/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/can_monitor.c
+++ b/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/can_monitor.c
@@ -278,7 +278,7 @@ static void NORETURN canMonitorListen_process(void) {
             odo_setState(&odometry);
             break;
           case CAN_MSG_ODOMETRY:
-            // We should only receiv such message in HIL mode
+            // We should only receive such message in HIL mode
             if (mode == ROBOT_MODE_HIL) {
               odometry_msg.data32[0] = frame.data32[0];
               odometry_msg.data32[1] = frame.data32[1];
diff --git a/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/motor_controller.c b/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/motor_controller.c
index 967a552..4875872 100644
--- a/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/motor_controller.c
+++ b/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/motor_controller.c
@@ -176,6 +176,8 @@ static void NORETURN motorController_process(void) {
 static void NORETURN motorController_HIL_process(void) {
   control_params_t *params;
   Timer timer;
+  float last_t = 0;
+  uint8_t led_state = 0;
 
   // get data
   params = (control_params_t *) proc_currentUserData();
@@ -194,6 +196,19 @@ static void NORETURN motorController_HIL_process(void) {
     } else {
       timer_add(&timer);
 
+      if (last_t >= 1.0) {
+        if (led_state == 0) {
+          led_state = 1;
+          LED3_ON();
+          LED4_ON();
+        } else {
+          led_state = 0;
+          LED3_ON();
+          LED4_ON();
+        }
+        last_t -= 1.0;
+      }
+
       // Compute "state estimation"
       params->last_estimate[0] = get_output_value(params->reference);
       params->last_estimate[1] = (params->last_estimate[0] - params->last_output) / params->T;
@@ -202,6 +217,7 @@ static void NORETURN motorController_HIL_process(void) {
       params->last_output = params->last_estimate[0];
     }
     timer_waitEvent(&timer); // Wait for the remaining of the sample period
+    last_t += params->T;
   }
 }
 


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