void RudderSendCustomLimit(void)
{
tCanMessage msg;
CanMessagePackageRudderDetails(&msg, rudderSensorData.PotValue,
rudderCalData.PortLimitValue,
rudderCalData.StarLimitValue,
rudderSensorData.PortLimit,
rudderSensorData.StarLimit,
true,
rudderCalData.Calibrated,
rudderCalData.Calibrating
);
ecan1_buffered_transmit(&msg);
}
void HilNodeTimer100Hz(void)
{
// Track the messages to be transmit for this timestep.
// Here we emulate the same transmission frequency of the messages actually transmit
// by the onboard sensors.
static uint8_t msgs[ECAN_MSGS_SIZE];
// Check the status of the rudder, setting it if it's changed.
if (++rudderTimeoutCounter >= RUDDER_TIMEOUT_PERIOD) {
nodeStatus &= ~NODE_STATUS_FLAG_RUDDER_ACTIVE;
}
// We don't do any transmission of CAN messages if we're inactive.
if (!HIL_IS_ACTIVE()) {
return;
}
uint8_t messagesToSend = GetMessagesForTimestep(&sched, msgs);
int i;
CanMessage msg;
for (i = 0; i < messagesToSend; ++i) {
switch (msgs[i]) {
// Emulate the RC node
case SCHED_ID_RC_STATUS:
CanMessagePackageStatus(&msg, CAN_NODE_RC, 0, 0, 0);
Ecan1Transmit(&msg);
break;
// Emulate the rudder node
case SCHED_ID_RUDDER_ANGLE:
if (!(nodeStatus & NODE_STATUS_FLAG_RUDDER_ACTIVE)) {
PackagePgn127245(&msg, nodeId, 0xFF, 0xF, NAN, hilReceivedData.data.rAngle);
Ecan1Transmit(&msg);
}
break;
case SCHED_ID_RUDDER_LIMITS:
if (!(nodeStatus & NODE_STATUS_FLAG_RUDDER_ACTIVE)) {
CanMessagePackageRudderDetails(&msg, 0, 0, 0, false, false, true, true, false);
Ecan1Transmit(&msg);
}
break;
// Emulate the ACS300
case SCHED_ID_THROTTLE_STATUS:
Acs300PackageHeartbeat(&msg, (uint16_t)hilReceivedData.data.tSpeed, 0, 0, 0);
Ecan1Transmit(&msg);
break;
// Emulate the GPS200
case SCHED_ID_LAT_LON:
PackagePgn129025(&msg, nodeId, hilReceivedData.data.gpsLatitude, hilReceivedData.data.gpsLongitude);
Ecan1Transmit(&msg);
break;
case SCHED_ID_COG_SOG:
PackagePgn129026(&msg, nodeId, 0xFF, 0x7, hilReceivedData.data.gpsCog, hilReceivedData.data.gpsSog);
Ecan1Transmit(&msg);
break;
case SCHED_ID_GPS_FIX:
PackagePgn129539(&msg, nodeId, 0xFF, PGN_129539_MODE_3D, PGN_129539_MODE_3D, 100, 100, 100);
Ecan1Transmit(&msg);
break;
}
}
}
