HydroBot/hydrobot-sharedlibs Changeset - 8b77baddb5ab

Changeset - 8b77baddb5ab

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matthewreed - 7 years ago 2017-05-13 18:13:04

Updates to leds and protocol bug fixes

4 files changed with 13 insertions and 12 deletions:

inc/led.h

inc/protocol.h

src/led.c

src/protocol.c

0 comments (0 inline, 0 general)

inc/led.h

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@@ @@ -16,10 +16,10 @@ void led_start(led_name_t led); @@
 void led_start_time(led_name_t led, uint16_t time);
 void led_update(led_name_t led);
 void led_update_all(void);
 void led_set(led_name_t led, bool value);
 void led_toggle(led_name_t led);
 __weak bool gpio_set_led(led_name_t led, bool value);
 __weak bool gpio_toggle_led(led_name_t led);
 bool gpio_set_led(led_name_t led, bool value);
 bool gpio_toggle_led(led_name_t led);
 #endif /* _LED_H_ */

inc/protocol.h

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@@ @@ -63,12 +63,12 @@ void protocol_init(protocol_device_t dev @@
 bool protocol_receive_message(CanRxMsgTypeDef* can_message);
 bool protocol_send_message(protocol_message_t* message);
 bool protocol_process_message(protocol_message_t* message);
 bool protocol_send_data(protocol_data_key_t key, uint8_t sensor, float data);
 bool protocol_send_test();
 __weak bool protocol_estop(bool value);
 __weak bool protocol_set_output(protocol_message_t* message);
 __weak bool protocol_get_data(protocol_message_t* message);
 __weak bool protocol_config(protocol_message_t* message);
 bool protocol_estop(bool value);
 bool protocol_set_output(protocol_message_t* message);
 bool protocol_get_data(protocol_message_t* message);
 bool protocol_config(protocol_message_t* message);
 #endif //_PROTOCOL_H_

src/led.c

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@@ @@ -43,13 +43,14 @@ void led_update(led_name_t led) @@
+    }
     else if (led_timers[led] > 0)
+    {
         led_set(led, 0);
         led_timers[led]--;
+    }
     else {
     else if (led_cycles[led] > 0)
+    {
         led_set(led, 0);
         led_timers[led] = led_cycles[led];
+    }
+}
 void led_update_all(void)

src/protocol.c

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@@ @@ -39,20 +39,20 @@ bool protocol_receive_message(CanRxMsgTy @@
 bool protocol_send_message(protocol_message_t* message)
+{
     bool result = true;
     uint8_t data[8];
-    data[0] = (message->command & 0x80) & (message->id & 0x7F);
+    data[0] = (message->command & 0x80) | (message->id & 0x7F);
     data[1] = (message->key >> 8) & 0xFF;
     data[2] = (message->key >> 0) & 0xFF;
     data[3] = message->sensor;
     data[4] = (message->data.byte_data[0] >> 24) & 0xFF;
     data[5] = (message->data.byte_data[1] >> 16) & 0xFF;
     data[6] = (message->data.byte_data[2] >> 8) & 0xFF;
     data[7] = (message->data.byte_data[3] >> 0) & 0xFF;
     data[4] = message->data.byte_data[0];
     data[5] = message->data.byte_data[1];
     data[6] = message->data.byte_data[2];
     data[7] = message->data.byte_data[3];
     can_send(protocol_settings.val.can_id | 0x00000001, CAN_ID_STD, 8, data);
     return result;
+}

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