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small improvement of DTC-Handling for CAN

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This commit is contained in:
Marcel Peterkau 2023-02-20 09:18:14 +01:00
parent 46f98b1244
commit 1f8b085598
1 changed files with 7 additions and 5 deletions
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12
Software/src/can.cpp
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@ -23,6 +23,7 @@ uint32_t Process_CAN_WheelSpeed()
can_frame canMsg; can_frame canMsg;
static uint32_t lastRecTimestamp = 0; static uint32_t lastRecTimestamp = 0;
uint16_t RearWheelSpeed_raw; uint16_t RearWheelSpeed_raw;
uint32_t milimeters_to_add = 0;
if (CAN0.readMsgBuf(&canMsg.can_id, &canMsg.can_dlc, canMsg.data) == CAN_OK) if (CAN0.readMsgBuf(&canMsg.can_id, &canMsg.can_dlc, canMsg.data) == CAN_OK)
{ {
@ -34,13 +35,14 @@ uint32_t Process_CAN_WheelSpeed()
uint32_t timesincelast = millis() - lastRecTimestamp; uint32_t timesincelast = millis() - lastRecTimestamp;
lastRecTimestamp = millis(); lastRecTimestamp = millis();
uint32_t milimeters_to_add = (RWP_millimeter_per_second * timesincelast) / 1000; milimeters_to_add = (RWP_millimeter_per_second * timesincelast) / 1000;
return milimeters_to_add;
} }
MaintainDTC(DTC_NO_CAN_SIGNAL, DTC_CRITICAL, (millis() > lastRecTimestamp + 10000 ? true : false)); if (lastRecTimestamp != 0)
{
MaintainDTC(DTC_NO_CAN_SIGNAL, DTC_CRITICAL, (millis() > lastRecTimestamp + 10000 ? true : false));
}
return 0; return milimeters_to_add;
} }
#endif #endif