[Krobot-commits] [SCM] krobot branch, master, updated. bc94b6c746f8ff33a7d448ed453ed0619713d639

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

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- Log -----------------------------------------------------------------
commit bc94b6c746f8ff33a7d448ed453ed0619713d639
Author: Xavier Lagorce <Xav...@cr...>
Date:   Tue May 15 15:26:35 2012 +0200

    [Controller_Motor_STM32] Added can message to specify speed of a motor

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

Changes:
diff --git a/elec/boards/Controller_Motor_STM32/Firmwares/Propulsion_Drive/controller_motor_stm32/can_messages.h b/elec/boards/Controller_Motor_STM32/Firmwares/Propulsion_Drive/controller_motor_stm32/can_messages.h
index 1226a2b..aa5c8b1 100644
--- a/elec/boards/Controller_Motor_STM32/Firmwares/Propulsion_Drive/controller_motor_stm32/can_messages.h
+++ b/elec/boards/Controller_Motor_STM32/Firmwares/Propulsion_Drive/controller_motor_stm32/can_messages.h
@@ -32,6 +32,7 @@
 #define CAN_MSG_CONTROLLER_MODE 205 // controller_mode_can_msg_t
 #define CAN_MSG_BEZIER_ADD 206 // bezier_can_msg_t
 #define CAN_MSG_BEZIER_LIMITS 207 // bezier_limits_can_msg_t
+#define CAN_MSG_MOTOR_COMMAND 208 // motor_command_can_msg_t
 
 /* +-----------------------------------------------------------------+
    | CAN messages data structures                                    |
@@ -115,6 +116,11 @@ typedef struct {
   uint8_t mode;
 } controller_mode_msg_t;
 
+// Command the speed of a particular motor
+typedef struct {
+  uint8_t motor_id;
+  int32_t speed;
+} motor_command_msg_t;
 
 /* +-----------------------------------------------------------------+
    | CAN messages unions for data representation                     |
@@ -175,5 +181,9 @@ typedef union {
   uint32_t data32[2];
 } controller_mode_can_msg_t;
 
+typedef union {
+  motor_command_msg_t data;
+  uint32_t data32[2];
+} motor_command_can_msg_t;
 
 #endif /* __CAN_MESSAGES_H */
diff --git a/elec/boards/Controller_Motor_STM32/Firmwares/Propulsion_Drive/controller_motor_stm32/can_monitor.c b/elec/boards/Controller_Motor_STM32/Firmwares/Propulsion_Drive/controller_motor_stm32/can_monitor.c
index f41d686..bae2706 100644
--- a/elec/boards/Controller_Motor_STM32/Firmwares/Propulsion_Drive/controller_motor_stm32/can_monitor.c
+++ b/elec/boards/Controller_Motor_STM32/Firmwares/Propulsion_Drive/controller_motor_stm32/can_monitor.c
@@ -155,6 +155,7 @@ static void NORETURN canMonitorListen_process(void) {
     controller_mode_can_msg_t controller_mode_msg;
     bezier_can_msg_t bezier_msg;
     bezier_limits_can_msg_t bezier_limits_msg;
+    motor_command_can_msg_t motor_command_msg;
 
     // Initialize constant parameters of TX frame
     txm.dlc = 8;
@@ -239,6 +240,12 @@ static void NORETURN canMonitorListen_process(void) {
               mode = ROBOT_MODE_NORMAL;
             }
             break;
+          case CAN_MSG_MOTOR_COMMAND:
+            motor_command_msg.data32[0] = frame.data32[0];
+            motor_command_msg.data32[1] = frame.data32[1];
+            motorSetSpeed(motor_command_msg.data.motor_id,
+                          motor_command_msg.data.speed);
+            break;
           }
         }
       }
diff --git a/elec/boards/Controller_Motor_STM32/Firmwares/Propulsion_Drive/controller_motor_stm32/main.c b/elec/boards/Controller_Motor_STM32/Firmwares/Propulsion_Drive/controller_motor_stm32/main.c
index 0f69fc0..48846a3 100644
--- a/elec/boards/Controller_Motor_STM32/Firmwares/Propulsion_Drive/controller_motor_stm32/main.c
+++ b/elec/boards/Controller_Motor_STM32/Firmwares/Propulsion_Drive/controller_motor_stm32/main.c
@@ -96,9 +96,6 @@ static void init(void)
           LED4_OFF();
           timer_delay(100);
           }
-
-        // Start Beacon motor
-        //motorSetSpeed(MOTOR2, 1100);
 }
 
 static void NORETURN ind_process(void)


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