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comm_can.c
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comm_can.c
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/*
Copyright 2016 - 2020 Benjamin Vedder benjamin@vedder.se
This file is part of the VESC firmware.
The VESC firmware is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
The VESC firmware is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include <string.h>
#include <math.h>
#include "comm_can.h"
#include "ch.h"
#include "hal.h"
#include "stm32f4xx_conf.h"
#include "datatypes.h"
#include "buffer.h"
#include "mc_interface.h"
#include "timeout.h"
#include "commands.h"
#include "app.h"
#include "crc.h"
#include "packet.h"
#include "hw.h"
#include "canard_driver.h"
#include "encoder.h"
#include "utils.h"
#include "mempools.h"
#include "shutdown.h"
#include "bms.h"
// Settings
#define RX_FRAMES_SIZE 100
#define RX_BUFFER_SIZE PACKET_MAX_PL_LEN
#if CAN_ENABLE
// Threads
static THD_WORKING_AREA(cancom_read_thread_wa, 512);
static THD_WORKING_AREA(cancom_process_thread_wa, 4096);
static THD_WORKING_AREA(cancom_status_thread_wa, 512);
static THD_FUNCTION(cancom_read_thread, arg);
static THD_FUNCTION(cancom_status_thread, arg);
static THD_FUNCTION(cancom_process_thread, arg);
#ifdef HW_HAS_DUAL_MOTORS
static THD_FUNCTION(cancom_status_internal_thread, arg);
static THD_WORKING_AREA(cancom_status_internal_thread_wa, 512);
#endif
static mutex_t can_mtx;
static mutex_t can_rx_mtx;
static uint8_t rx_buffer[RX_BUFFER_SIZE];
static unsigned int rx_buffer_last_id;
static CANRxFrame rx_frames[RX_FRAMES_SIZE];
static int rx_frame_read;
static int rx_frame_write;
static thread_t *process_tp = 0;
static thread_t *ping_tp = 0;
static volatile HW_TYPE ping_hw_last = HW_TYPE_VESC;
static volatile int ping_hw_last_id = -1;
#endif
// Variables
static can_status_msg stat_msgs[CAN_STATUS_MSGS_TO_STORE];
static can_status_msg_2 stat_msgs_2[CAN_STATUS_MSGS_TO_STORE];
static can_status_msg_3 stat_msgs_3[CAN_STATUS_MSGS_TO_STORE];
static can_status_msg_4 stat_msgs_4[CAN_STATUS_MSGS_TO_STORE];
static can_status_msg_5 stat_msgs_5[CAN_STATUS_MSGS_TO_STORE];
static io_board_adc_values io_board_adc_1_4[CAN_STATUS_MSGS_TO_STORE];
static io_board_adc_values io_board_adc_5_8[CAN_STATUS_MSGS_TO_STORE];
static io_board_digial_inputs io_board_digital_in[CAN_STATUS_MSGS_TO_STORE];
static unsigned int detect_all_foc_res_index = 0;
static int8_t detect_all_foc_res[50];
/*
* 500KBaud, automatic wakeup, automatic recover
* from abort mode.
* See section 22.7.7 on the STM32 reference manual.
*/
static CANConfig cancfg = {
CAN_MCR_ABOM | CAN_MCR_AWUM | CAN_MCR_TXFP,
CAN_BTR_SJW(3) | CAN_BTR_TS2(2) |
CAN_BTR_TS1(9) | CAN_BTR_BRP(5)
};
// Private functions
static void set_timing(int brp, int ts1, int ts2);
#if CAN_ENABLE
static void send_packet_wrapper(unsigned char *data, unsigned int len);
static void decode_msg(uint32_t eid, uint8_t *data8, int len, bool is_replaced);
static void send_status1(uint8_t id, bool replace);
static void send_status2(uint8_t id, bool replace);
static void send_status3(uint8_t id, bool replace);
static void send_status4(uint8_t id, bool replace);
static void send_status5(uint8_t id, bool replace);
#endif
// Function pointers
static bool(*sid_callback)(uint32_t id, uint8_t *data, uint8_t len) = 0;
static bool(*eid_callback)(uint32_t id, uint8_t *data, uint8_t len) = 0;
void comm_can_init(void) {
for (int i = 0;i < CAN_STATUS_MSGS_TO_STORE;i++) {
stat_msgs[i].id = -1;
stat_msgs_2[i].id = -1;
stat_msgs_3[i].id = -1;
stat_msgs_4[i].id = -1;
stat_msgs_5[i].id = -1;
io_board_adc_1_4[i].id = -1;
io_board_adc_5_8[i].id = -1;
io_board_digital_in[i].id = -1;
}
#if CAN_ENABLE
rx_frame_read = 0;
rx_frame_write = 0;
chMtxObjectInit(&can_mtx);
chMtxObjectInit(&can_rx_mtx);
palSetPadMode(HW_CANRX_PORT, HW_CANRX_PIN,
PAL_MODE_ALTERNATE(HW_CAN_GPIO_AF) |
PAL_STM32_OTYPE_PUSHPULL |
PAL_STM32_OSPEED_MID1);
palSetPadMode(HW_CANTX_PORT, HW_CANTX_PIN,
PAL_MODE_ALTERNATE(HW_CAN_GPIO_AF) |
PAL_STM32_OTYPE_PUSHPULL |
PAL_STM32_OSPEED_MID1);
canStart(&HW_CAN_DEV, &cancfg);
canard_driver_init();
chThdCreateStatic(cancom_read_thread_wa, sizeof(cancom_read_thread_wa), NORMALPRIO + 1,
cancom_read_thread, NULL);
chThdCreateStatic(cancom_status_thread_wa, sizeof(cancom_status_thread_wa), NORMALPRIO,
cancom_status_thread, NULL);
chThdCreateStatic(cancom_process_thread_wa, sizeof(cancom_process_thread_wa), NORMALPRIO,
cancom_process_thread, NULL);
#ifdef HW_HAS_DUAL_MOTORS
chThdCreateStatic(cancom_status_internal_thread_wa, sizeof(cancom_status_internal_thread_wa),
NORMALPRIO, cancom_status_internal_thread, NULL);
#endif
#endif
}
void comm_can_set_baud(CAN_BAUD baud) {
switch (baud) {
case CAN_BAUD_125K: set_timing(15, 14, 4); break;
case CAN_BAUD_250K: set_timing(7, 14, 4); break;
case CAN_BAUD_500K: set_timing(5, 9, 2); break;
case CAN_BAUD_1M: set_timing(2, 9, 2); break;
case CAN_BAUD_10K: set_timing(299, 10, 1); break;
case CAN_BAUD_20K: set_timing(149, 10, 1); break;
case CAN_BAUD_50K: set_timing(59, 10, 1); break;
case CAN_BAUD_75K: set_timing(39, 10, 1); break;
case CAN_BAUD_100K: set_timing(29, 10, 1); break;
default: break;
}
}
/**
* Transmit CAN packet with extended ID.
*
* @param id
* EID
*
* @param data
* Data
*
* @param len
* Length of data, max 8 bytes.
*
* @param replace
* Process packets for motor2 directly instead of sending them. Unused
* on single motor hardware.
*/
void comm_can_transmit_eid_replace(uint32_t id, const uint8_t *data, uint8_t len, bool replace) {
if (len > 8) {
len = 8;
}
#if CAN_ENABLE
#ifdef HW_HAS_DUAL_MOTORS
if (app_get_configuration()->can_mode == CAN_MODE_VESC) {
if (replace && ((id & 0xFF) == utils_second_motor_id() ||
(id & 0xFF) == app_get_configuration()->controller_id)) {
uint8_t data_tmp[10];
memcpy(data_tmp, data, len);
decode_msg(id, data_tmp, len, true);
return;
}
}
#else
(void)replace;
#endif
CANTxFrame txmsg;
txmsg.IDE = CAN_IDE_EXT;
txmsg.EID = id;
txmsg.RTR = CAN_RTR_DATA;
txmsg.DLC = len;
memcpy(txmsg.data8, data, len);
chMtxLock(&can_mtx);
canTransmit(&HW_CAN_DEV, CAN_ANY_MAILBOX, &txmsg, MS2ST(5));
chMtxUnlock(&can_mtx);
#else
(void)id;
(void)data;
(void)len;
(void)replace;
#endif
}
void comm_can_transmit_eid(uint32_t id, const uint8_t *data, uint8_t len) {
comm_can_transmit_eid_replace(id, data, len, false);
}
void comm_can_transmit_sid(uint32_t id, uint8_t *data, uint8_t len) {
if (len > 8) {
len = 8;
}
#if CAN_ENABLE
CANTxFrame txmsg;
txmsg.IDE = CAN_IDE_STD;
txmsg.SID = id;
txmsg.RTR = CAN_RTR_DATA;
txmsg.DLC = len;
memcpy(txmsg.data8, data, len);
chMtxLock(&can_mtx);
canTransmit(&HW_CAN_DEV, CAN_ANY_MAILBOX, &txmsg, MS2ST(5));
chMtxUnlock(&can_mtx);
#else
(void)id;
(void)data;
(void)len;
#endif
}
/**
* Set function to be called when standard CAN frames are received.
*
* The callback should return true if the frame was used by the application, false otherwise. if
* the frame was used, no further processing will be done here.
*
* @param p_func
* Pointer to the function.
*/
void comm_can_set_sid_rx_callback(bool (*p_func)(uint32_t id, uint8_t *data, uint8_t len)) {
sid_callback = p_func;
}
/**
* Set function to be called when extended CAN frames are received.
*
* The callback should return true if the frame was used by the application, false otherwise. if
* the frame was used, no further processing will be done here.
*
* @param p_func
* Pointer to the function.
*/
void comm_can_set_eid_rx_callback(bool (*p_func)(uint32_t id, uint8_t *data, uint8_t len)) {
eid_callback = p_func;
}
/**
* Send a buffer up to RX_BUFFER_SIZE bytes as fragments. If the buffer is 6 bytes or less
* it will be sent in a single CAN frame, otherwise it will be split into
* several frames.
*
* @param controller_id
* The controller id to send to.
*
* @param data
* The payload.
*
* @param len
* The payload length.
*
* @param send
* 0: Packet goes to commands_process_packet of receiver
* 1: Packet goes to commands_send_packet of receiver
* 2: Packet goes to commands_process and send function is set to null
* so that no reply is sent back.
*/
void comm_can_send_buffer(uint8_t controller_id, uint8_t *data, unsigned int len, uint8_t send) {
uint8_t send_buffer[8];
if (len <= 6) {
uint32_t ind = 0;
send_buffer[ind++] = app_get_configuration()->controller_id;
send_buffer[ind++] = send;
memcpy(send_buffer + ind, data, len);
ind += len;
comm_can_transmit_eid_replace(controller_id |
((uint32_t)CAN_PACKET_PROCESS_SHORT_BUFFER << 8), send_buffer, ind, true);
} else {
unsigned int end_a = 0;
for (unsigned int i = 0;i < len;i += 7) {
if (i > 255) {
break;
}
end_a = i + 7;
uint8_t send_len = 7;
send_buffer[0] = i;
if ((i + 7) <= len) {
memcpy(send_buffer + 1, data + i, send_len);
} else {
send_len = len - i;
memcpy(send_buffer + 1, data + i, send_len);
}
comm_can_transmit_eid_replace(controller_id |
((uint32_t)CAN_PACKET_FILL_RX_BUFFER << 8), send_buffer, send_len + 1, true);
}
for (unsigned int i = end_a;i < len;i += 6) {
uint8_t send_len = 6;
send_buffer[0] = i >> 8;
send_buffer[1] = i & 0xFF;
if ((i + 6) <= len) {
memcpy(send_buffer + 2, data + i, send_len);
} else {
send_len = len - i;
memcpy(send_buffer + 2, data + i, send_len);
}
comm_can_transmit_eid_replace(controller_id |
((uint32_t)CAN_PACKET_FILL_RX_BUFFER_LONG << 8), send_buffer, send_len + 2, true);
}
uint32_t ind = 0;
send_buffer[ind++] = app_get_configuration()->controller_id;
send_buffer[ind++] = send;
send_buffer[ind++] = len >> 8;
send_buffer[ind++] = len & 0xFF;
unsigned short crc = crc16(data, len);
send_buffer[ind++] = (uint8_t)(crc >> 8);
send_buffer[ind++] = (uint8_t)(crc & 0xFF);
comm_can_transmit_eid_replace(controller_id |
((uint32_t)CAN_PACKET_PROCESS_RX_BUFFER << 8), send_buffer, ind++, true);
}
}
void comm_can_set_duty(uint8_t controller_id, float duty) {
int32_t send_index = 0;
uint8_t buffer[4];
buffer_append_int32(buffer, (int32_t)(duty * 100000.0), &send_index);
comm_can_transmit_eid_replace(controller_id |
((uint32_t)CAN_PACKET_SET_DUTY << 8), buffer, send_index, true);
}
void comm_can_set_current(uint8_t controller_id, float current) {
int32_t send_index = 0;
uint8_t buffer[4];
buffer_append_int32(buffer, (int32_t)(current * 1000.0), &send_index);
comm_can_transmit_eid_replace(controller_id |
((uint32_t)CAN_PACKET_SET_CURRENT << 8), buffer, send_index, true);
}
void comm_can_set_current_brake(uint8_t controller_id, float current) {
int32_t send_index = 0;
uint8_t buffer[4];
buffer_append_int32(buffer, (int32_t)(current * 1000.0), &send_index);
comm_can_transmit_eid_replace(controller_id |
((uint32_t)CAN_PACKET_SET_CURRENT_BRAKE << 8), buffer, send_index, true);
}
void comm_can_set_rpm(uint8_t controller_id, float rpm) {
int32_t send_index = 0;
uint8_t buffer[4];
buffer_append_int32(buffer, (int32_t)rpm, &send_index);
comm_can_transmit_eid_replace(controller_id |
((uint32_t)CAN_PACKET_SET_RPM << 8), buffer, send_index, true);
}
void comm_can_set_pos(uint8_t controller_id, float pos) {
int32_t send_index = 0;
uint8_t buffer[4];
buffer_append_int32(buffer, (int32_t)(pos * 1000000.0), &send_index);
comm_can_transmit_eid_replace(controller_id |
((uint32_t)CAN_PACKET_SET_POS << 8), buffer, send_index, true);
}
/**
* Set current relative to the minimum and maximum current limits.
*
* @param controller_id
* The ID of the VESC to set the current on.
*
* @param current_rel
* The relative current value, range [-1.0 1.0]
*/
void comm_can_set_current_rel(uint8_t controller_id, float current_rel) {
int32_t send_index = 0;
uint8_t buffer[4];
buffer_append_float32(buffer, current_rel, 1e5, &send_index);
comm_can_transmit_eid_replace(controller_id |
((uint32_t)CAN_PACKET_SET_CURRENT_REL << 8), buffer, send_index, true);
}
/**
* Set brake current relative to the minimum current limit.
*
* @param controller_id
* The ID of the VESC to set the current on.
*
* @param current_rel
* The relative current value, range [0.0 1.0]
*/
void comm_can_set_current_brake_rel(uint8_t controller_id, float current_rel) {
int32_t send_index = 0;
uint8_t buffer[4];
buffer_append_float32(buffer, current_rel, 1e5, &send_index);
comm_can_transmit_eid_replace(controller_id |
((uint32_t)CAN_PACKET_SET_CURRENT_BRAKE_REL << 8), buffer, send_index, true);
}
/**
* Set handbrake current.
*
* @param controller_id
* The ID of the VESC to set the handbrake current on.
*
* @param current_rel
* The handbrake current value
*/
void comm_can_set_handbrake(uint8_t controller_id, float current) {
int32_t send_index = 0;
uint8_t buffer[4];
buffer_append_float32(buffer, current, 1e3, &send_index);
comm_can_transmit_eid_replace(controller_id |
((uint32_t)CAN_PACKET_SET_CURRENT_HANDBRAKE << 8), buffer, send_index, true);
}
/**
* Set handbrake current relative to the minimum current limit.
*
* @param controller_id
* The ID of the VESC to set the handbrake current on.
*
* @param current_rel
* The relative handbrake current value, range [0.0 1.0]
*/
void comm_can_set_handbrake_rel(uint8_t controller_id, float current_rel) {
int32_t send_index = 0;
uint8_t buffer[4];
buffer_append_float32(buffer, current_rel, 1e5, &send_index);
comm_can_transmit_eid_replace(controller_id |
((uint32_t)CAN_PACKET_SET_CURRENT_HANDBRAKE_REL << 8), buffer, send_index, true);
}
/**
* Check if a VESC on the CAN-bus responds.
*
* @param controller_id
* The ID of the VESC.
*
* @param hw_type
* The hardware type of the CAN device.
*
* @return
* True for success, false otherwise.
*/
bool comm_can_ping(uint8_t controller_id, HW_TYPE *hw_type) {
#if CAN_ENABLE
if (app_get_configuration()->can_mode != CAN_MODE_VESC) {
return false;
}
#ifdef HW_HAS_DUAL_MOTORS
if (controller_id == app_get_configuration()->controller_id) {
return false;
}
#endif
ping_tp = chThdGetSelfX();
chEvtGetAndClearEvents(ALL_EVENTS);
ping_hw_last_id = controller_id;
uint8_t buffer[1];
buffer[0] = app_get_configuration()->controller_id;
comm_can_transmit_eid_replace(controller_id |
((uint32_t)CAN_PACKET_PING << 8), buffer, 1, true);
int ret = chEvtWaitAnyTimeout(1 << 29, MS2ST(10));
ping_tp = 0;
if (ret != 0) {
if (hw_type) {
*hw_type = ping_hw_last;
}
}
return ret != 0;
#else
(void)controller_id;
return 0;
#endif
}
/**
* Detect and apply FOC settings.
*
* @param controller_id
* The ID of the VESC.
*
* @param activate_status_msgs
* Activate CAN status messages on the target VESC on success.
*
* @param max_power_loss
* Maximum accepted power losses.
*/
void comm_can_detect_apply_all_foc(uint8_t controller_id, bool activate_status_msgs, float max_power_loss) {
int32_t send_index = 0;
uint8_t buffer[6];
buffer[send_index++] = app_get_configuration()->controller_id;
buffer[send_index++] = activate_status_msgs;
buffer_append_float32(buffer, max_power_loss, 1e3, &send_index);
comm_can_transmit_eid_replace(controller_id |
((uint32_t)CAN_PACKET_DETECT_APPLY_ALL_FOC << 8), buffer, send_index, true);
}
/**
* Update current limits on VESC on CAN-bus.
*
* @param controller_id
* ID of the VESC.
*
* @param store
* Store parameters in emulated EEPROM (FLASH).
*
* @param min
* Minimum current (negative value).
*
* @param max
* Maximum current.
*/
void comm_can_conf_current_limits(uint8_t controller_id,
bool store, float min, float max) {
int32_t send_index = 0;
uint8_t buffer[8];
buffer_append_float32(buffer, min, 1e3, &send_index);
buffer_append_float32(buffer, max, 1e3, &send_index);
comm_can_transmit_eid_replace(controller_id |
((uint32_t)(store ? CAN_PACKET_CONF_STORE_CURRENT_LIMITS :
CAN_PACKET_CONF_CURRENT_LIMITS) << 8), buffer, send_index, true);
}
/**
* Update input current limits on VESC on CAN-bus.
*
* @param controller_id
* ID of the VESC.
*
* @param store
* Store parameters in emulated EEPROM (FLASH).
*
* @param min
* Minimum current (negative value).
*
* @param max
* Maximum current.
*/
void comm_can_conf_current_limits_in(uint8_t controller_id,
bool store, float min, float max) {
int32_t send_index = 0;
uint8_t buffer[8];
buffer_append_float32(buffer, min, 1e3, &send_index);
buffer_append_float32(buffer, max, 1e3, &send_index);
comm_can_transmit_eid_replace(controller_id |
((uint32_t)(store ? CAN_PACKET_CONF_STORE_CURRENT_LIMITS_IN :
CAN_PACKET_CONF_CURRENT_LIMITS_IN) << 8), buffer, send_index, true);
}
/**
* Update FOC ERPM settings on VESC on CAN-bus.
*
* @param controller_id
* ID of the VESC.
*
* @param store
* Store parameters in emulated EEPROM (FLASH).
*
* @param foc_openloop_rpm
* Run in openloop below this ERPM in sensorless mode.
*
* @param foc_sl_erpm
* Use sensors below this ERPM in sensored mode.
*/
void comm_can_conf_foc_erpms(uint8_t controller_id,
bool store, float foc_openloop_rpm, float foc_sl_erpm) {
int32_t send_index = 0;
uint8_t buffer[8];
buffer_append_float32(buffer, foc_openloop_rpm, 1e3, &send_index);
buffer_append_float32(buffer, foc_sl_erpm, 1e3, &send_index);
comm_can_transmit_eid_replace(controller_id |
((uint32_t)(store ? CAN_PACKET_CONF_STORE_FOC_ERPMS :
CAN_PACKET_CONF_FOC_ERPMS) << 8), buffer, send_index, true);
}
int comm_can_detect_all_foc_res(unsigned int index) {
if (index < detect_all_foc_res_index) {
return detect_all_foc_res[detect_all_foc_res_index];
} else {
return -999;
}
}
int comm_can_detect_all_foc_res_size(void) {
return detect_all_foc_res_index;
}
void comm_can_detect_all_foc_res_clear(void) {
detect_all_foc_res_index = 0;
}
void comm_can_conf_battery_cut(uint8_t controller_id,
bool store, float start, float end) {
int32_t send_index = 0;
uint8_t buffer[8];
buffer_append_float32(buffer, start, 1e3, &send_index);
buffer_append_float32(buffer, end, 1e3, &send_index);
comm_can_transmit_eid_replace(controller_id |
((uint32_t)(store ? CAN_PACKET_CONF_STORE_BATTERY_CUT :
CAN_PACKET_CONF_BATTERY_CUT) << 8), buffer, send_index, true);
}
void comm_can_shutdown(uint8_t controller_id) {
int32_t send_index = 0;
uint8_t buffer[8];
comm_can_transmit_eid_replace(controller_id |
((uint32_t)(CAN_PACKET_SHUTDOWN) << 8), buffer, send_index, true);
}
/**
* Get status message by index.
*
* @param index
* Index in the array
*
* @return
* The message or 0 for an invalid index.
*/
can_status_msg *comm_can_get_status_msg_index(int index) {
if (index < CAN_STATUS_MSGS_TO_STORE) {
return &stat_msgs[index];
} else {
return 0;
}
}
/**
* Get status message by id.
*
* @param id
* Id of the controller that sent the status message.
*
* @return
* The message or 0 for an invalid id.
*/
can_status_msg *comm_can_get_status_msg_id(int id) {
for (int i = 0;i < CAN_STATUS_MSGS_TO_STORE;i++) {
if (stat_msgs[i].id == id) {
return &stat_msgs[i];
}
}
return 0;
}
/**
* Get status message 2 by index.
*
* @param index
* Index in the array
*
* @return
* The message or 0 for an invalid index.
*/
can_status_msg_2 *comm_can_get_status_msg_2_index(int index) {
if (index < CAN_STATUS_MSGS_TO_STORE) {
return &stat_msgs_2[index];
} else {
return 0;
}
}
/**
* Get status message 2 by id.
*
* @param id
* Id of the controller that sent the status message.
*
* @return
* The message or 0 for an invalid id.
*/
can_status_msg_2 *comm_can_get_status_msg_2_id(int id) {
for (int i = 0;i < CAN_STATUS_MSGS_TO_STORE;i++) {
if (stat_msgs_2[i].id == id) {
return &stat_msgs_2[i];
}
}
return 0;
}
/**
* Get status message 3 by index.
*
* @param index
* Index in the array
*
* @return
* The message or 0 for an invalid index.
*/
can_status_msg_3 *comm_can_get_status_msg_3_index(int index) {
if (index < CAN_STATUS_MSGS_TO_STORE) {
return &stat_msgs_3[index];
} else {
return 0;
}
}
/**
* Get status message 3 by id.
*
* @param id
* Id of the controller that sent the status message.
*
* @return
* The message or 0 for an invalid id.
*/
can_status_msg_3 *comm_can_get_status_msg_3_id(int id) {
for (int i = 0;i < CAN_STATUS_MSGS_TO_STORE;i++) {
if (stat_msgs_3[i].id == id) {
return &stat_msgs_3[i];
}
}
return 0;
}
/**
* Get status message 4 by index.
*
* @param index
* Index in the array
*
* @return
* The message or 0 for an invalid index.
*/
can_status_msg_4 *comm_can_get_status_msg_4_index(int index) {
if (index < CAN_STATUS_MSGS_TO_STORE) {
return &stat_msgs_4[index];
} else {
return 0;
}
}
/**
* Get status message 4 by id.
*
* @param id
* Id of the controller that sent the status message.
*
* @return
* The message or 0 for an invalid id.
*/
can_status_msg_4 *comm_can_get_status_msg_4_id(int id) {
for (int i = 0;i < CAN_STATUS_MSGS_TO_STORE;i++) {
if (stat_msgs_4[i].id == id) {
return &stat_msgs_4[i];
}
}
return 0;
}
/**
* Get status message 5 by index.
*
* @param index
* Index in the array
*
* @return
* The message or 0 for an invalid index.
*/
can_status_msg_5 *comm_can_get_status_msg_5_index(int index) {
if (index < CAN_STATUS_MSGS_TO_STORE) {
return &stat_msgs_5[index];
} else {
return 0;
}
}
/**
* Get status message 5 by id.
*
* @param id
* Id of the controller that sent the status message.
*
* @return
* The message or 0 for an invalid id.
*/
can_status_msg_5 *comm_can_get_status_msg_5_id(int id) {
for (int i = 0;i < CAN_STATUS_MSGS_TO_STORE;i++) {
if (stat_msgs_5[i].id == id) {
return &stat_msgs_5[i];
}
}
return 0;
}
io_board_adc_values *comm_can_get_io_board_adc_1_4_index(int index) {
if (index < CAN_STATUS_MSGS_TO_STORE) {
return &io_board_adc_1_4[index];
} else {
return 0;
}
}
io_board_adc_values *comm_can_get_io_board_adc_1_4_id(int id) {
for (int i = 0;i < CAN_STATUS_MSGS_TO_STORE;i++) {
if (io_board_adc_1_4[i].id == id) {
return &io_board_adc_1_4[i];
}
}
return 0;
}
io_board_adc_values *comm_can_get_io_board_adc_5_8_index(int index) {
if (index < CAN_STATUS_MSGS_TO_STORE) {
return &io_board_adc_5_8[index];
} else {
return 0;
}
}
io_board_adc_values *comm_can_get_io_board_adc_5_8_id(int id) {
for (int i = 0;i < CAN_STATUS_MSGS_TO_STORE;i++) {
if (io_board_adc_5_8[i].id == id) {
return &io_board_adc_1_4[i];
}
}
return 0;
}
io_board_digial_inputs *comm_can_get_io_board_digital_in_index(int index) {
if (index < CAN_STATUS_MSGS_TO_STORE) {
return &io_board_digital_in[index];
} else {
return 0;
}
}
io_board_digial_inputs *comm_can_get_io_board_digital_in_id(int id) {
for (int i = 0;i < CAN_STATUS_MSGS_TO_STORE;i++) {
if (io_board_digital_in[i].id == id) {
return &io_board_digital_in[i];
}
}
return 0;
}
void comm_can_io_board_set_output_digital(int id, int channel, bool on) {
int32_t send_index = 0;
uint8_t buffer[8];
buffer[send_index++] = channel;
buffer[send_index++] = 1;
buffer[send_index++] = on ? 1 : 0;
comm_can_transmit_eid_replace(id | ((uint32_t)CAN_PACKET_IO_BOARD_SET_OUTPUT_DIGITAL << 8),
buffer, send_index, true);
}
void comm_can_io_board_set_output_pwm(int id, int channel, float duty) {
int32_t send_index = 0;
uint8_t buffer[8];
buffer[send_index++] = channel;
buffer_append_float16(buffer, duty, 1e3, &send_index);
comm_can_transmit_eid_replace(id | ((uint32_t)CAN_PACKET_IO_BOARD_SET_OUTPUT_PWM << 8),
buffer, send_index, true);
}
CANRxFrame *comm_can_get_rx_frame(void) {
#if CAN_ENABLE
chMtxLock(&can_rx_mtx);
if (rx_frame_read != rx_frame_write) {
CANRxFrame *res = &rx_frames[rx_frame_read++];
if (rx_frame_read == RX_FRAMES_SIZE) {
rx_frame_read = 0;
}
chMtxUnlock(&can_rx_mtx);
return res;
} else {
chMtxUnlock(&can_rx_mtx);
return 0;
}
#else
return 0;
#endif
}
#if CAN_ENABLE
static THD_FUNCTION(cancom_read_thread, arg) {
(void)arg;
chRegSetThreadName("CAN read");
event_listener_t el;
CANRxFrame rxmsg;
chEvtRegister(&HW_CAN_DEV.rxfull_event, &el, 0);
while(!chThdShouldTerminateX()) {
// Feed watchdog
timeout_feed_WDT(THREAD_CANBUS);
if (chEvtWaitAnyTimeout(ALL_EVENTS, MS2ST(10)) == 0) {
continue;
}
msg_t result = canReceive(&HW_CAN_DEV, CAN_ANY_MAILBOX, &rxmsg, TIME_IMMEDIATE);
while (result == MSG_OK) {
chMtxLock(&can_rx_mtx);
rx_frames[rx_frame_write++] = rxmsg;
if (rx_frame_write == RX_FRAMES_SIZE) {
rx_frame_write = 0;
}
chMtxUnlock(&can_rx_mtx);
chEvtSignal(process_tp, (eventmask_t) 1);
result = canReceive(&HW_CAN_DEV, CAN_ANY_MAILBOX, &rxmsg, TIME_IMMEDIATE);
}
}
chEvtUnregister(&HW_CAN_DEV.rxfull_event, &el);
}
static THD_FUNCTION(cancom_process_thread, arg) {
(void)arg;
chRegSetThreadName("CAN process");
process_tp = chThdGetSelfX();
for(;;) {
chEvtWaitAny((eventmask_t)1);
if (app_get_configuration()->can_mode == CAN_MODE_UAVCAN) {
continue;
} else if (app_get_configuration()->can_mode == CAN_MODE_COMM_BRIDGE) {
CANRxFrame *rxmsg_tmp;
while ((rxmsg_tmp = comm_can_get_rx_frame()) != 0) {
CANRxFrame rxmsg = *rxmsg_tmp;
commands_fwd_can_frame(rxmsg.DLC, rxmsg.data8,
rxmsg.IDE == CAN_IDE_EXT ? rxmsg.EID : rxmsg.SID,
rxmsg.IDE == CAN_IDE_EXT);
if (rxmsg.IDE == CAN_IDE_STD) {
if (sid_callback) {
sid_callback(rxmsg.SID, rxmsg.data8, rxmsg.DLC);
}
} else {
if (eid_callback) {
eid_callback(rxmsg.EID, rxmsg.data8, rxmsg.DLC);
}
}
}