hongwei liu / HKC_MiniCheetah

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Dependencies:   mbed-dev-f303 FastPWM3

Diff: DRV8323/DRV.cpp

Revision:
58:4f8f58ecb52a
Parent:
57:f3336e9eb1f2
Child:
59:b41cbfa3b30e
--- a/DRV8323/DRV.cpp	Wed Sep 22 08:36:54 2021 +0000
+++ b/DRV8323/DRV.cpp	Wed Sep 22 09:30:48 2021 +0000
@@ -1,6 +1,15 @@
 #include "mbed.h"
 #include "DRV.h"
 
+#include "structs.h"
+#include "foc.h" 
+#include "hw_setup.h"
+#include "hw_config.h"
+#include "motor_config.h"
+#include "stm32f4xx_flash.h"
+#include "CAN_com.h"
+
+
 DRV832x::DRV832x(SPI *spi, DigitalOut *cs){
     _spi = spi;
     _cs = cs;
@@ -67,7 +76,8 @@
         }
 
 
-void DRV832x::print_faults(void)
+CANMessage   txMsg_liu;
+void DRV832x::print_faults(CAN *_can)
 {
     uint16_t val1 = read_FSR1();
     wait_us(10);
@@ -99,11 +109,20 @@
     if(val2 & (1<<1)){printf("VGS_HC\n\r");}
     if(val2 & (1)){printf("VGS_LC\n\r");}
     
-    
+    if(val1 >0 || val2>0)
+    {
+        txMsg_liu.id = 10;
+        txMsg_liu.data[0] = (val1>>8)&0xff;
+        txMsg_liu.data[1] = (val1)&0xff;
+        txMsg_liu.data[2] = (val2>>8)&0xff;
+        txMsg_liu.data[3] = (val2)&0xff;
+        txMsg_liu.len = 4;
+        _can->write(txMsg_liu);
+        
     
     
     }
-    
+}    
 void DRV832x::enable_gd(void)
 {
     uint16_t val = (read_register(DCR)) & (~(0x1<<2));