Comms done

Author: Cantonplas

Core/Inc/PCU/Comms/Comms.hpp

@@ -13,6 +13,7 @@ class Comms{
     inline static float current_reference_received{0.0f};
     inline static float Vmax_control_received{0.0f};
     inline static float speed_reference_received{0.0f};
+    inline static bool reset_bypass_received{false};
 
     static void start();
     static void update();

Core/Src/PCU/Actuators/PWMActuators.cpp

@@ -25,6 +25,10 @@ void PWMActuators::init(ST_LIB::DualPWM<Pinout::tim_decl,Pinout::U_PWM_pin,Pinou
     U_Dual->set_duty_cycle(0.0f);
     V_Dual->set_duty_cycle(0.0f);
     W_Dual->set_duty_cycle(0.0f);
+
+    U_Dual->turn_on();
+    V_Dual->turn_on();
+    W_Dual->turn_on();
     PCU::control_data.pwm_active = PWM_ACTIVE::DISABLE;
 }
 

Core/Src/PCU/Comms/Comms.cpp

@@ -59,4 +59,35 @@ void Comms::start()
         Sensors::gd_ready_b
     );
     DataPackets::start();
+
+    OrderPackets::Reset_Bypass_init(reset_bypass_received);
+
+    OrderPackets::Send_Reference_Current_init(
+        frequency_space_vector_received,
+        frequency_received,
+        current_reference_received,
+        Vmax_control_received
+    );
+
+    OrderPackets::Send_Reference_Speed_init(
+        speed_reference_received,
+        frequency_received,
+        Vmax_control_received
+    );
+
+    OrderPackets::Start_SVPWM_init(
+        frequency_space_vector_received,
+        frequency_received,
+        Vmax_control_received,
+        Vmax_control_received
+    );
+
+    OrderPackets::Zeroing_init();
+    OrderPackets::Stop_Motor_init();
+
+}
+
+void Comms::update()
+{
+    DataPackets::update();
 }