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firmware: restore joystick decoding in non-J1939 mode #52

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Merged
CamilleTTT merged 1 commit into from
Apr 20, 2026
Merged

firmware: restore joystick decoding in non-J1939 mode #52

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1 change: 1 addition & 0 deletions firmware/RAMNV1/Core/Inc/ramn_can_database.h
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Original file line number Diff line number Diff line change
Expand Up @@ -29,6 +29,7 @@ uint8_t RAMN_Decode_Command_Shift(const uint8_t* payload, uint32_t dlc);

void RAMN_Encode_Control_Shift_Joystick(uint8_t shift_value, uint8_t joystick_value, uint8_t* payload);
uint8_t RAMN_Decode_Control_Shift(const uint8_t* payload, uint32_t dlc);
uint8_t RAMN_Decode_Joystick(const uint8_t* payload, uint32_t dlc);

void RAMN_Encode_JoystickButtons(uint8_t joystick_state, uint8_t* payload);
uint8_t RAMN_Decode_JoystickButtons(const uint8_t* payload, uint32_t dlc);
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9 changes: 8 additions & 1 deletion firmware/RAMNV1/Core/Src/ramn_dbc.c
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Expand Up @@ -202,8 +202,15 @@ void RAMN_DBC_ProcessCANMessage(uint32_t canid, uint32_t dlc, RAMN_CANFrameData_
break;
case CAN_SIM_CONTROL_SHIFT_CANID:
RAMN_DBC_Handle.control_shift = RAMN_Decode_Control_Shift(&dataframe->rawData[CAN_SIM_CONTROL_SHIFT_PAYLOAD_OFFSET / 8], dlc);
if (dlc >= 2U)
{
RAMN_DBC_Handle.joystick = RAMN_Decode_Joystick(&dataframe->rawData[CAN_SIM_CONTROL_SHIFT_PAYLOAD_OFFSET / 8], dlc);
#ifdef ENABLE_JOYSTICK_CONTROLS
RAMN_Joystick_Update(RAMN_DBC_Handle.joystick);
#endif
}
break;
#ifdef ENABLE_J1939_MODE
#ifdef CAN_SIM_JOYSTICK_BUTTONS_CANID
case CAN_SIM_JOYSTICK_BUTTONS_CANID:
RAMN_DBC_Handle.joystick = RAMN_Decode_JoystickButtons(&dataframe->rawData[CAN_SIM_JOYSTICK_BUTTONS_PAYLOAD_OFFSET / 8], dlc);
#ifdef ENABLE_JOYSTICK_CONTROLS
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29 changes: 24 additions & 5 deletions scripts/tests/mocks/main.h
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Expand Up @@ -123,9 +123,27 @@ uint8_t DLCtoUINT8(uint32_t dlc);
uint32_t UINT8toDLC(uint8_t size);

// External modules dependencies
typedef struct {
float status_rpm;
uint8_t control_lights;
typedef volatile struct
{
volatile uint16_t control_brake; //CANID_CONTROL_BRAKE
volatile uint16_t command_brake; //CANID_COMMAND_BRAKE
volatile uint16_t control_accel; //CANID_CONTROL_ACCEL
volatile uint16_t command_accel; //CANID_COMMAND_ACCEL
volatile uint16_t control_steer; //CANID_CONTROL_STEERING
volatile uint16_t command_steer; //CANID_COMMAND_STEERING
volatile uint8_t control_shift; //CANID_CONTROL_SHIFT
volatile uint16_t command_shift; //CANID_COMMAND_SHIFT
volatile uint16_t control_sidebrake; //CANID_CONTROL_SIDEBRAKE
volatile uint16_t command_sidebrake; //CANID_COMMAND_SIDEBRAKE
volatile uint16_t status_rpm; //CANID_STATUS_RPM
volatile uint8_t command_horn; //CANID_COMMAND_HORN
volatile uint8_t control_horn; //CANID_CONTROL_HORN
volatile uint16_t command_lights; //CANID_COMMAND_LIGHTS
volatile uint16_t command_turnindicator; //CANID_COMMAND_TURNINDICATOR
volatile uint16_t control_enginekey; //CANID_CONTROL_ENGINEKEY
volatile uint16_t control_lights; //CANID_CONTROL_LIGHTS
volatile uint8_t joystick; // Second byte of SHIFT, saved for convenience

} RAMN_DBC_Handle_t;
extern RAMN_DBC_Handle_t RAMN_DBC_Handle;
extern uint8_t RAMN_DBC_RequestSilence;
Expand Down Expand Up @@ -198,8 +216,9 @@ typedef struct { uint32_t Instance; } TIM_HandleTypeDef;
((uint32_t)(sa) & 0xFF))

// DBC Frame Data mock
typedef struct {
uint8_t dummy;
typedef union
{
uint8_t rawData[8];
} RAMN_CANFrameData_t;

// Missing prototypes for Diag
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