Diff: CAN/function_CAN.cpp

Revision:

169:645207e160ca

Parent:

162:9dd4f35e9de8

Child:

170:42c938a40313

--- a/CAN/function_CAN.cpp	Fri Oct 16 00:25:32 2020 +0000
+++ b/CAN/function_CAN.cpp	Mon Nov 16 02:23:23 2020 +0000
@@ -708,6 +708,23 @@
             CONTROL_UTILITY_MODE = 1;
             break;
         }
+        case CRX_SET_FREQ_TEST: {
+            cnt_freq_test = 0;
+            CONTROL_UTILITY_MODE = 34;
+            break;
+        }
+        
+        case CRX_ASK_BUFFER: {
+            cnt_buffer = (int16_t) (msg.data[1] | msg.data[2] << 8);
+            CAN_TX_BUFFER(cnt_buffer);
+            break;
+        }
+        
+        case CRX_SET_STEP_TEST: {
+            cnt_step_test = 0;
+            CONTROL_UTILITY_MODE = 37;
+            break;
+        }
 
     default:
         break;
@@ -1379,6 +1396,25 @@
     can.write(temp_msg);
 }
 
+
+void CAN_TX_BUFFER(int16_t t_cnt_buffer) {
+    CANMessage temp_msg;
+    int16_t send_pos_array, send_ref_array;
+    send_pos_array = (int16_t) (pos_array[t_cnt_buffer]);
+    send_ref_array = (int16_t) (ref_array[t_cnt_buffer]);
+    
+    temp_msg.id = CID_TX_INFO;
+    temp_msg.len = 5;
+    temp_msg.data[0] = (uint8_t) CTX_SEND_BUFFER;
+    temp_msg.data[1] = (uint8_t) send_pos_array;
+    temp_msg.data[2] = (uint8_t) (send_pos_array >> 8);
+    temp_msg.data[3] = (uint8_t) (send_ref_array);
+    temp_msg.data[4] = (uint8_t) ((send_ref_array) >> 8);
+
+    can.write(temp_msg);
+}
+
+
 /******************************************************************************
  Sensor & State Transmission Functions
 *******************************************************************************/