Diff: main.cpp

Revision:

56:eaf75bcad361

Parent:

55:fee62d8fd8fb

Child:

57:c26b0093783b

--- a/main.cpp	Fri Jun 26 01:26:53 2020 +0000
+++ b/main.cpp	Fri Jun 26 02:20:22 2020 +0000
@@ -148,6 +148,14 @@
 }
 
 // CAN message received
+/* 
+FD REST_MODE
+FC MOTORMODE
+FE ZeroPosition
+FB SteoDir
+FA Serial
+F0 Calib
+*/
 void onMsgReceived() {
     //msgAvailable = true; //0A FF FF FF FF FF 
     //cond_printf("%df\n\r", rxMsg.id);
@@ -161,7 +169,12 @@
         else if(((rxMsg.data[0]==0xFF) & (rxMsg.data[1]==0xFF) & (rxMsg.data[2]==0xFF) & (rxMsg.data[3]==0xFF) * (rxMsg.data[4]==0xFF) & (rxMsg.data[5]==0xFF) & (rxMsg.data[6]==0xFF) & (rxMsg.data[7]==0xFD))){
             state = REST_MODE;
             state_change = 1;
-            gpio.led->write(0);; 
+            gpio.led->write(0);
+            }
+        else if(((rxMsg.data[0]==0xFF) & (rxMsg.data[1]==0xFF) & (rxMsg.data[2]==0xFF) & (rxMsg.data[3]==0xFF) * (rxMsg.data[4]==0xFF) & (rxMsg.data[5]==0xFF) & (rxMsg.data[6]==0xFF) & (rxMsg.data[7]==0xF0))){
+            state = CALIBRATION_MODE;
+            state_change = 1;
+            //gpio.led->write(0);
             }
         else if(((rxMsg.data[0]==0xFF) & (rxMsg.data[1]==0xFF) & (rxMsg.data[2]==0xFF) & (rxMsg.data[3]==0xFF) * (rxMsg.data[4]==0xFF) & (rxMsg.data[5]==0xFF) & (rxMsg.data[6]==0xFF) & (rxMsg.data[7]==0xFE))){
             spi.ZeroPosition();