Prepared the MBD motor control holder for board amc2c (robotology#368)

valegagge · May 5, 2023 · 66a2d02 · 66a2d02
1 parent 29b031d
commit 66a2d02
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Showing 10 changed files with 1,054 additions and 929 deletions.
diff --git a/emBODY/eBcode/arch-arm/board/amc2c/application/proj/amc2c-appl-can.uvoptx b/emBODY/eBcode/arch-arm/board/amc2c/application/proj/amc2c-appl-can.uvoptx
diff --git a/emBODY/eBcode/arch-arm/board/amc2c/application/proj/amc2c-appl-can.uvprojx b/emBODY/eBcode/arch-arm/board/amc2c/application/proj/amc2c-appl-can.uvprojx
diff --git a/...e/arch-arm/board/amc2c/application/src/app-board-amc2c/embot_app_board_amc2c_mbd.demo.cpp b/...e/arch-arm/board/amc2c/application/src/app-board-amc2c/embot_app_board_amc2c_mbd.demo.cpp
@@ -11,6 +11,7 @@
 // --------------------------------------------------------------------------------------------------------------------
 
 #include "embot_app_board_amc2c_mbd.h"
+#include "embot_app_board_amc2c_theMBD.h"
 
 
 // --------------------------------------------------------------------------------------------------------------------
@@ -23,31 +24,33 @@ namespace embot::app::board::amc2c::mbd {
     void Startup(embot::prot::can::Address adr)
     {
         embot::core::print("MBD is starting up on an amc2c");
+        embot::app::board::amc2c::theMBD::getInstance().initialise({adr});
     }
 
     void OnTick(const std::vector<embot::prot::can::Frame> &input, std::vector<embot::prot::can::Frame> &output)
     {
-        static uint32_t cnt {0};
-        if(0 == (cnt++ % 1))
-        {
-//            embot::core::print("MBD is ticking on an amc2c");
-
-            uint8_t b0 = cnt&0xff;
-            uint8_t b1 = (cnt>>8)&0xff;
-            uint8_t b2 = (cnt>>16)&0xff;
-            uint8_t b3 = (cnt>>24)&0xff;
-            embot::prot::can::Frame fr1 {0x202, 4, {b0, b1, b2, b3, 0, 0, 0, 0}};
-            output.push_back(fr1);            
-        }
-
-        size_t numRXframes = input.size();
-
-        if(numRXframes > 0)
-        {
-            // just for test: i get the first only and i send it back 
-            embot::prot::can::Frame f = input[0];
-            output.push_back(f);    
-        }        
+        embot::app::board::amc2c::theMBD::getInstance().tick(input, output);
+//        static uint32_t cnt {0};
+//        if(0 == (cnt++ % 1))
+//        {
+////            embot::core::print("MBD is ticking on an amc2c");
+//        
+//            uint8_t b0 = cnt&0xff;
+//            uint8_t b1 = (cnt>>8)&0xff;
+//            uint8_t b2 = (cnt>>16)&0xff;
+//            uint8_t b3 = (cnt>>24)&0xff;
+//            embot::prot::can::Frame fr1 {0x202, 4, {b0, b1, b2, b3, 0, 0, 0, 0}};
+//            output.push_back(fr1);            
+//        }
+//        
+//        size_t numRXframes = input.size();
+//        
+//        if(numRXframes > 0)
+//        {
+//            // just for test: i get the first only and i send it back 
+//            embot::prot::can::Frame f = input[0];
+//            output.push_back(f);    
+//        }        
     }
 
 } // end of namespace