void CANdiag(void){
CAN_data data = {0};
data.halfword0 = (uint16_t) (millis / 1000);
data.halfword1 = pcb_temp;
data.halfword2 = junc_temp;
CAN_send_message(SGH_ID + 0, 6, data);
}
/****************************************************************************
* \brief Send game mode through CAN
*
* \param in game mode
* \return result of the CAN send operation
****************************************************************************/
uint8_t send_game_mode(GameModes mode)
{
CANMessage message;
message.ID = 0x02;
message.length = 1;
message.data_array[0]= (uint8_t) (mode);
return CAN_send_message(message);
}
void CANAnalogChannels(void){
CAN_data data = {0};
int i;
for(i = 0;i<1;i++){
data.halfword0 = (uint16_t) (analog_channels[i]/ANALOG_SGH_RAW_SCL);
data.halfword1 = (uint16_t) (strain[i]/STRAIN_CALC_SCL);
CAN_send_message(SGH_ID + i + 1, 4, data);
}
}
/****************************************************************************
* \brief Send joystick position to Node2 trough CAN
*
* \param in joystick position
* \param in touchpad data
* \return result of the CAN send operation
****************************************************************************/
uint8_t send_joystick_possition(JoystickPosition joystick_position, TouchpadData touchpad_data)
{
CANMessage message;
message.ID = 0x01;
message.length = 6;
message.data_array[0] = (uint8_t) (joystick_position.xaxis);
message.data_array[1] = (uint8_t) (joystick_position.yaxis);
message.data_array[2] = (uint8_t) (touchpad_data.rightTouchPad);
message.data_array[3] = (uint8_t) (touchpad_data.leftTouchPad);
message.data_array[4] = (uint8_t) (touchpad_data.rightButton);
message.data_array[5] = (uint8_t) (touchpad_data.leftButton);
return CAN_send_message(message);
}
