can implementations
This commit is contained in:
185
src/can.h
Normal file
185
src/can.h
Normal file
@ -0,0 +1,185 @@
|
||||
#pragma once
|
||||
|
||||
#include <esp_log.h>
|
||||
#include <driver/gpio.h>
|
||||
#include <driver/can.h>
|
||||
|
||||
#include <Arduino.h>
|
||||
|
||||
#include "types.h"
|
||||
#include "globals.h"
|
||||
|
||||
namespace {
|
||||
millis_t m_lastCanFeedback{};
|
||||
|
||||
void initCan()
|
||||
{
|
||||
ESP_LOGI("CAN", "hello world");
|
||||
|
||||
can_general_config_t g_config = CAN_GENERAL_CONFIG_DEFAULT(GPIO_NUM_21, GPIO_NUM_22, CAN_MODE_NORMAL);
|
||||
can_timing_config_t t_config CAN_TIMING_CONFIG_250KBITS();
|
||||
can_filter_config_t f_config = CAN_FILTER_CONFIG_ACCEPT_ALL();
|
||||
|
||||
if (const auto result = can_driver_install(&g_config, &t_config, &f_config); result == ESP_OK)
|
||||
{
|
||||
ESP_LOGI("CAN", "can_driver_install() succeeded");
|
||||
}
|
||||
else
|
||||
{
|
||||
ESP_LOGE("CAN", "can_driver_install() failed with %s", esp_err_to_name(result));
|
||||
return;
|
||||
}
|
||||
|
||||
if (const auto result = can_start(); result == ESP_OK)
|
||||
{
|
||||
ESP_LOGI("CAN", "can_start() succeeded");
|
||||
}
|
||||
else
|
||||
{
|
||||
ESP_LOGE("CAN", "can_start() failed with %s", esp_err_to_name(result));
|
||||
|
||||
if (const auto result = can_driver_uninstall(); result == ESP_OK)
|
||||
{
|
||||
ESP_LOGI("CAN", "can_driver_uninstall() succeeded");
|
||||
}
|
||||
else
|
||||
{
|
||||
ESP_LOGE("CAN", "can_driver_uninstall() failed with %s", esp_err_to_name(result));
|
||||
}
|
||||
|
||||
return;
|
||||
}
|
||||
}
|
||||
|
||||
void parseCanInput()
|
||||
{
|
||||
can_message_t message;
|
||||
if (const auto result = can_receive(&message, pdMS_TO_TICKS(200)); result != ESP_OK)
|
||||
{
|
||||
controllers.front.feedbackValid = millis() - m_lastCanFeedback <= 100;
|
||||
|
||||
if (result != ESP_ERR_TIMEOUT)
|
||||
ESP_LOGE("CAN", "can_receive() failed with %s", esp_err_to_name(result));
|
||||
return;
|
||||
}
|
||||
|
||||
enum { // vv
|
||||
DeviceTypeMotorController = 0b00000000000
|
||||
};
|
||||
|
||||
enum { // ..vv
|
||||
MotorControllerRec = 0b00000000000,
|
||||
MotorControllerSend = 0b00010000000,
|
||||
};
|
||||
|
||||
enum { // ....vvvvv
|
||||
MotorControllerDcLink = 0b00000000000,
|
||||
MotorControllerSpeed = 0b00000000100,
|
||||
MotorControllerError = 0b00000001000,
|
||||
MotorControllerAngle = 0b00000001100,
|
||||
MotorControllerDcPhaA = 0b00000010000,
|
||||
MotorControllerDcPhaB = 0b00000010100,
|
||||
MotorControllerDcPhaC = 0b00000011000,
|
||||
MotorControllerChops = 0b00000011100,
|
||||
MotorControllerHall = 0b00000100000,
|
||||
MotorControllerVoltage = 0b00000100100,
|
||||
MotorControllerTemp = 0b00000101000
|
||||
};
|
||||
|
||||
enum { // .........v
|
||||
MotorControllerFront = 0b00000000000,
|
||||
MotorControllerBack = 0b00000000010,
|
||||
};
|
||||
|
||||
enum { // ..........v
|
||||
MotorControllerLeft = 0b00000000000,
|
||||
MotorControllerRight = 0b00000000001,
|
||||
};
|
||||
|
||||
enum {
|
||||
MotorControllerFrontLeftDcLink = DeviceTypeMotorController | MotorControllerSend | MotorControllerDcLink | MotorControllerFront | MotorControllerLeft,
|
||||
MotorControllerFrontRightDcLink = DeviceTypeMotorController | MotorControllerSend | MotorControllerDcLink | MotorControllerFront | MotorControllerRight,
|
||||
MotorControllerBackLeftDcLink = DeviceTypeMotorController | MotorControllerSend | MotorControllerDcLink | MotorControllerBack | MotorControllerLeft,
|
||||
MotorControllerBackRightDcLink = DeviceTypeMotorController | MotorControllerSend | MotorControllerDcLink | MotorControllerBack | MotorControllerRight,
|
||||
|
||||
MotorControllerFrontLeftSpeed = DeviceTypeMotorController | MotorControllerSend | MotorControllerSpeed | MotorControllerFront | MotorControllerLeft,
|
||||
MotorControllerFrontRightSpeed = DeviceTypeMotorController | MotorControllerSend | MotorControllerSpeed | MotorControllerFront | MotorControllerRight,
|
||||
MotorControllerBackLeftSpeed = DeviceTypeMotorController | MotorControllerSend | MotorControllerSpeed | MotorControllerBack | MotorControllerLeft,
|
||||
MotorControllerBackRightSpeed = DeviceTypeMotorController | MotorControllerSend | MotorControllerSpeed | MotorControllerBack | MotorControllerRight,
|
||||
|
||||
MotorControllerFrontLeftError = DeviceTypeMotorController | MotorControllerSend | MotorControllerError | MotorControllerFront | MotorControllerLeft,
|
||||
MotorControllerFrontRightError = DeviceTypeMotorController | MotorControllerSend | MotorControllerError | MotorControllerFront | MotorControllerRight,
|
||||
MotorControllerBackLeftError = DeviceTypeMotorController | MotorControllerSend | MotorControllerError | MotorControllerBack | MotorControllerLeft,
|
||||
MotorControllerBackRightError = DeviceTypeMotorController | MotorControllerSend | MotorControllerError | MotorControllerBack | MotorControllerRight,
|
||||
|
||||
MotorControllerFrontLeftAngle = DeviceTypeMotorController | MotorControllerSend | MotorControllerAngle | MotorControllerFront | MotorControllerLeft,
|
||||
MotorControllerFrontRightAngle = DeviceTypeMotorController | MotorControllerSend | MotorControllerAngle | MotorControllerFront | MotorControllerRight,
|
||||
MotorControllerBackLeftAngle = DeviceTypeMotorController | MotorControllerSend | MotorControllerAngle | MotorControllerBack | MotorControllerLeft,
|
||||
MotorControllerBackRightAngle = DeviceTypeMotorController | MotorControllerSend | MotorControllerAngle | MotorControllerBack | MotorControllerRight,
|
||||
|
||||
MotorControllerFrontLeftDcPhaA = DeviceTypeMotorController | MotorControllerSend | MotorControllerDcPhaA | MotorControllerFront | MotorControllerLeft,
|
||||
MotorControllerFrontRightDcPhaA = DeviceTypeMotorController | MotorControllerSend | MotorControllerDcPhaA | MotorControllerFront | MotorControllerRight,
|
||||
MotorControllerBackLeftDcPhaA = DeviceTypeMotorController | MotorControllerSend | MotorControllerDcPhaA | MotorControllerBack | MotorControllerLeft,
|
||||
MotorControllerBackRightDcPhaA = DeviceTypeMotorController | MotorControllerSend | MotorControllerDcPhaA | MotorControllerBack | MotorControllerRight,
|
||||
|
||||
MotorControllerFrontLeftDcPhaB = DeviceTypeMotorController | MotorControllerSend | MotorControllerDcPhaB | MotorControllerFront | MotorControllerLeft,
|
||||
MotorControllerFrontRightDcPhaB = DeviceTypeMotorController | MotorControllerSend | MotorControllerDcPhaB | MotorControllerFront | MotorControllerRight,
|
||||
MotorControllerBackLeftDcPhaB = DeviceTypeMotorController | MotorControllerSend | MotorControllerDcPhaB | MotorControllerBack | MotorControllerLeft,
|
||||
MotorControllerBackRightDcPhaB = DeviceTypeMotorController | MotorControllerSend | MotorControllerDcPhaB | MotorControllerBack | MotorControllerRight,
|
||||
|
||||
MotorControllerFrontLeftDcPhaC = DeviceTypeMotorController | MotorControllerSend | MotorControllerDcPhaC | MotorControllerFront | MotorControllerLeft,
|
||||
MotorControllerFrontRightDcPhaC = DeviceTypeMotorController | MotorControllerSend | MotorControllerDcPhaC | MotorControllerFront | MotorControllerRight,
|
||||
MotorControllerBackLeftDcPhaC = DeviceTypeMotorController | MotorControllerSend | MotorControllerDcPhaC | MotorControllerBack | MotorControllerLeft,
|
||||
MotorControllerBackRightDcPhaC = DeviceTypeMotorController | MotorControllerSend | MotorControllerDcPhaC | MotorControllerBack | MotorControllerRight,
|
||||
|
||||
MotorControllerFrontLeftChops = DeviceTypeMotorController | MotorControllerSend | MotorControllerChops | MotorControllerFront | MotorControllerLeft,
|
||||
MotorControllerFrontRightChops = DeviceTypeMotorController | MotorControllerSend | MotorControllerChops | MotorControllerFront | MotorControllerRight,
|
||||
MotorControllerBackLeftChops = DeviceTypeMotorController | MotorControllerSend | MotorControllerChops | MotorControllerBack | MotorControllerLeft,
|
||||
MotorControllerBackRightChops = DeviceTypeMotorController | MotorControllerSend | MotorControllerChops | MotorControllerBack | MotorControllerRight,
|
||||
|
||||
MotorControllerFrontLeftHall = DeviceTypeMotorController | MotorControllerSend | MotorControllerHall | MotorControllerFront | MotorControllerLeft,
|
||||
MotorControllerFrontRightHall = DeviceTypeMotorController | MotorControllerSend | MotorControllerHall | MotorControllerFront | MotorControllerRight,
|
||||
MotorControllerBackLeftHall = DeviceTypeMotorController | MotorControllerSend | MotorControllerHall | MotorControllerBack | MotorControllerLeft,
|
||||
MotorControllerBackRightHall = DeviceTypeMotorController | MotorControllerSend | MotorControllerHall | MotorControllerBack | MotorControllerRight,
|
||||
|
||||
MotorControllerFrontLeftVoltage = DeviceTypeMotorController | MotorControllerSend | MotorControllerVoltage | MotorControllerFront | MotorControllerLeft,
|
||||
MotorControllerFrontRightVoltage = DeviceTypeMotorController | MotorControllerSend | MotorControllerVoltage | MotorControllerFront | MotorControllerRight,
|
||||
MotorControllerBackLeftVoltage = DeviceTypeMotorController | MotorControllerSend | MotorControllerVoltage | MotorControllerBack | MotorControllerLeft,
|
||||
MotorControllerBackRightVoltage = DeviceTypeMotorController | MotorControllerSend | MotorControllerVoltage | MotorControllerBack | MotorControllerRight,
|
||||
|
||||
MotorControllerFrontLeftTemp = DeviceTypeMotorController | MotorControllerSend | MotorControllerTemp | MotorControllerFront | MotorControllerLeft,
|
||||
MotorControllerFrontRightTemp = DeviceTypeMotorController | MotorControllerSend | MotorControllerTemp | MotorControllerFront | MotorControllerRight,
|
||||
MotorControllerBackLeftTemp = DeviceTypeMotorController | MotorControllerSend | MotorControllerTemp | MotorControllerBack | MotorControllerLeft,
|
||||
MotorControllerBackRightTemp = DeviceTypeMotorController | MotorControllerSend | MotorControllerTemp | MotorControllerBack | MotorControllerRight,
|
||||
};
|
||||
|
||||
ESP_LOGI("CAN", "CAN MESSAGE RECEIVED OMG!!!!eins");
|
||||
ESP_LOGI("CAN", ".identifier = %u", message.identifier);
|
||||
ESP_LOGI("CAN", ".flags = %u", message.flags);
|
||||
ESP_LOGI("CAN", ".length = %hhu", message.data_length_code);
|
||||
|
||||
switch (message.identifier)
|
||||
{
|
||||
case MotorControllerFrontLeftDcLink:
|
||||
m_lastCanFeedback = millis();
|
||||
controllers.front.feedbackValid = true;
|
||||
controllers.front.feedback.left.current = *((int16_t*)message.data);
|
||||
break;
|
||||
case MotorControllerFrontRightDcLink:
|
||||
m_lastCanFeedback = millis();
|
||||
controllers.front.feedbackValid = true;
|
||||
controllers.front.feedback.right.current = *((int16_t*)message.data);
|
||||
break;
|
||||
case MotorControllerFrontLeftVoltage:
|
||||
m_lastCanFeedback = millis();
|
||||
controllers.front.feedbackValid = true;
|
||||
controllers.front.feedback.batVoltage = *((int16_t*)message.data);
|
||||
break;
|
||||
case MotorControllerFrontLeftTemp:
|
||||
m_lastCanFeedback = millis();
|
||||
controllers.front.feedbackValid = true;
|
||||
controllers.front.feedback.boardTemp = *((int16_t*)message.data);
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
11
src/main.cpp
11
src/main.cpp
@ -83,6 +83,9 @@
|
||||
#endif
|
||||
#include "bobby_webserver.h"
|
||||
#include "types.h"
|
||||
#ifdef FEATURE_CAN
|
||||
#include "can.h"
|
||||
#endif
|
||||
|
||||
namespace {
|
||||
ModeInterface *lastMode{};
|
||||
@ -297,7 +300,9 @@ void setup()
|
||||
}
|
||||
#endif
|
||||
|
||||
#ifndef FEATURE_CAN
|
||||
#ifdef FEATURE_CAN
|
||||
initCan();
|
||||
#else
|
||||
bootLabel.redraw("front Serial begin");
|
||||
controllers.front.serial.get().begin(38400, SERIAL_8N1, PINS_RX1, PINS_TX1);
|
||||
|
||||
@ -422,7 +427,9 @@ void loop()
|
||||
performance.lastTime = now;
|
||||
}
|
||||
|
||||
#ifndef FEATURE_CAN
|
||||
#ifdef FEATURE_CAN
|
||||
parseCanInput();
|
||||
#else
|
||||
for (Controller &controller : controllers)
|
||||
controller.parser.update();
|
||||
#endif
|
||||
|
||||
Reference in New Issue
Block a user