From a51c55e4a9dc25c25b7be6dd35e952d3a93d1953 Mon Sep 17 00:00:00 2001
From: Ondra Vrzal <ondra.vrzal@gmail.com>
Date: Thu, 1 May 2008 01:26:21 +0200
Subject: [PATCH] include receive of CAN message that force board to turn off
 all motors etc and halt.

Ondra
---
 app/eb_carousel/carousel.c | 22 ++++++++++++++++++++++
 1 file changed, 22 insertions(+)

diff --git a/app/eb_carousel/carousel.c b/app/eb_carousel/carousel.c
index bd202d0..c643ea4 100644
--- a/app/eb_carousel/carousel.c
+++ b/app/eb_carousel/carousel.c
@@ -71,6 +71,7 @@ void init_carousel(void);
 unsigned int getCurrentPosition(void);
 void gotoPos(unsigned int position); // !!! depricated
 void generatePositions(void);
+void go_to_sleep();
 
 unsigned int getTime(void);
 void can_rx(can_msg_t *msg);
@@ -946,12 +947,33 @@ void can_rx(can_msg_t *msg) {
 			recieveCANmessage= 1; //flag to sent CAN data
 			recieveCANdata= rx_msg.data[3]; // data to send			
 			break;
+		
+		case CAN_PWR_ALERT:
+			if ( rx_msg.data[0] == 2 ) go_to_sleep();
+			break;
 			
 		default:
 			break;
 	}
 }
 
+void go_to_sleep()
+{
+	engine_A_en(ENGINE_EN_OFF);  // engines off
+	engine_A_pwm(0);
+	engine_B_en(ENGINE_EN_OFF);
+	engine_B_pwm(0);
+
+	can_off();
+	
+	deb_led_off(LEDY);
+	deb_led_off(LEDB);
+	deb_led_off(LEDG);
+	deb_led_on(LEDR);
+	PCON = 2;				// bye bye 
+}
+
+
 
 /**
  *	returns the number in T0TC
-- 
2.39.2