[Krobot-commits] [SCM] krobot branch, master, updated. 1958da2ab5fcb90d724dbe3f44b5c5a0e6843998

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

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- Log -----------------------------------------------------------------
commit 1958da2ab5fcb90d724dbe3f44b5c5a0e6843998
Author: Xavier Lagorce <Xav...@cr...>
Date:   Fri Apr 19 21:35:01 2013 +0200

    [ControllerMotorSTM32] Bugfixes and removed specificities for beacon motor

commit 69bced4234e5d3993c500e7c7a8e64a485db542a
Author: Xavier Lagorce <Xav...@cr...>
Date:   Fri Apr 19 21:30:12 2013 +0200

    [SensorActuator] Corrected bugs in firmware

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

Changes:
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 ee2d2b1..f9c90c2 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
@@ -192,7 +192,7 @@ static void NORETURN canMonitorListen_process(void) {
     turn_can_msg_t turn_msg;
     odometry_can_msg_t odometry_msg;
     stop_can_msg_t stop_msg;
-    controller_mode_can_msg_t controller_mode_msg;
+    simulation_mode_can_msg_t simulation_mode_msg;
     bezier_can_msg_t bezier_msg;
     bezier_limits_can_msg_t bezier_limits_msg;
     motor_command_can_msg_t motor_command_msg;
@@ -312,10 +312,10 @@ static void NORETURN canMonitorListen_process(void) {
               odo_setState(CONTROL_ODOMETRY, &odometry);
             }
             break;
-          case CAN_MSG_CONTROLLER_MODE:
-            controller_mode_msg.data32[0] = frame.data32[0];
-            controller_mode_msg.data32[1] = frame.data32[0];
-            switch (controller_mode_msg.data.mode) {
+          case CAN_MSG_SIMULATION_MODE:
+            simulation_mode_msg.data32[0] = frame.data32[0];
+            simulation_mode_msg.data32[1] = frame.data32[0];
+            switch (simulation_mode_msg.data.mode) {
             case SIMULATION_MODE_NORMAL:
               mc_change_mode(MOTOR3, CONTROLLER_MODE_HIL);
               mc_change_mode(MOTOR4, CONTROLLER_MODE_HIL);
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 66e9f8c..ce2ad8c 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
@@ -95,9 +95,6 @@ static void init(void)
                      ENCODER1, ENCODER2,
                      2.0*M_PI/1024.0, -2.0*M_PI/1024.0);
 
-        // Init beacon motor
-        enableMotor(MOTOR2);
-
         // Blink to say we are ready
         for (uint8_t i=0; i < 5; i++) {
           LED1_ON();
diff --git a/elec/boards/Sensor_Actuator/Firmware/sensor_actuator/sensor_actuator/can/can_monitor.c b/elec/boards/Sensor_Actuator/Firmware/sensor_actuator/sensor_actuator/can/can_monitor.c
index 3f3e670..f867ecb 100644
--- a/elec/boards/Sensor_Actuator/Firmware/sensor_actuator/sensor_actuator/can/can_monitor.c
+++ b/elec/boards/Sensor_Actuator/Firmware/sensor_actuator/sensor_actuator/can/can_monitor.c
@@ -29,6 +29,8 @@ PROC_DEFINE_STACK(stack_recv, KERN_MINSTACKSIZE * 4)
 static void NORETURN can_sender_process(void);
 static void NORETURN can_receiver_process(void);
 
+volatile uint8_t sim_mode = SIMULATION_MODE_NO;
+
 void can_processes_init(void) {
     can_config cfg;
 
@@ -73,9 +75,6 @@ static void NORETURN can_sender_process(void) {
 
     ax12_state ax12_st;
 
-    simulation_mode sim_mode_msg;
-    uint8_t sim_mode = SIMULATION_MODE_NO;
-
     int i = 0;
 
     /* Initialize can frame */
@@ -209,10 +208,10 @@ static void NORETURN can_receiver_process(void) {
         }
         // General messages
         switch (f.eid) {
-        case CAN_MSG_SIMULATIOn_MODE:
+        case CAN_MSG_SIMULATION_MODE:
           do {
-            GET_PACKET(simulation_mode, sim_mode_msg, f);
-            sim_mode = sim_mode_msg.mode;
+            GET_PACKET(simulation_mode, mode_req, f);
+            sim_mode = mode_req.p.mode;
           } while (0);
           break;
         }


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