can implementations

src/can.h

@@ -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;
+    }
+}
+}

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