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CAN finishing work

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0xFEEDC0DE64
2021-05-20 21:28:48 +02:00
parent cd4c4b9ed1
commit c9b436e65f
2 changed files with 100 additions and 51 deletions
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2
bobbycar-protocol

Submodule bobbycar-protocol updated: 236d1a2d33...994d0c95a7

133
main.cpp
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@@ -146,6 +146,11 @@ volatile struct {
std::atomic<uint32_t> timeout; std::atomic<uint32_t> timeout;
#ifdef MOTOR_TEST
int pwm = 0;
int8_t dir = 1;
#endif
#ifdef FEATURE_SERIAL_CONTROL #ifdef FEATURE_SERIAL_CONTROL
int16_t timeoutCntSerial = 0; // Timeout counter for Rx Serial command int16_t timeoutCntSerial = 0; // Timeout counter for Rx Serial command
@@ -243,6 +248,8 @@ void parseCanCommand();
void sendCanFeedback(); void sendCanFeedback();
#endif #endif
void applyDefaultSettings();
} // anonymous namespace } // anonymous namespace
int main() int main()
@@ -293,12 +300,6 @@ int main()
left.rtP.r_fieldWeakHi = FIELD_WEAK_HI << 4; left.rtP.r_fieldWeakHi = FIELD_WEAK_HI << 4;
left.rtP.r_fieldWeakLo = FIELD_WEAK_LO << 4; left.rtP.r_fieldWeakLo = FIELD_WEAK_LO << 4;
left.rtP.z_ctrlTypSel = uint8_t(ControlType::FieldOrientedControl);
left.rtP.i_max = (15 * A2BIT_CONV) << 4;
left.rtP.n_max = 1000 << 4;
left.rtP.id_fieldWeakMax = (5 * A2BIT_CONV) << 4;
left.rtP.a_phaAdvMax = 40 << 4;
right.rtP = rtP_Left; right.rtP = rtP_Left;
right.rtP.b_angleMeasEna = 0; right.rtP.b_angleMeasEna = 0;
right.rtP.z_selPhaCurMeasABC = CurrentMeasBC; right.rtP.z_selPhaCurMeasABC = CurrentMeasBC;
@@ -307,12 +308,6 @@ int main()
right.rtP.r_fieldWeakHi = FIELD_WEAK_HI << 4; right.rtP.r_fieldWeakHi = FIELD_WEAK_HI << 4;
right.rtP.r_fieldWeakLo = FIELD_WEAK_LO << 4; right.rtP.r_fieldWeakLo = FIELD_WEAK_LO << 4;
right.rtP.z_ctrlTypSel = uint8_t(ControlType::FieldOrientedControl);
right.rtP.i_max = (15 * A2BIT_CONV) << 4;
right.rtP.n_max = 1000 << 4;
right.rtP.id_fieldWeakMax = (5 * A2BIT_CONV) << 4;
right.rtP.a_phaAdvMax = 40 << 4;
left.rtM.defaultParam = &left.rtP; left.rtM.defaultParam = &left.rtP;
left.rtM.dwork = &left.rtDW; left.rtM.dwork = &left.rtDW;
left.rtM.inputs = &left.rtU; left.rtM.inputs = &left.rtU;
@@ -323,6 +318,8 @@ int main()
right.rtM.inputs = &right.rtU; right.rtM.inputs = &right.rtU;
right.rtM.outputs = &right.rtY; right.rtM.outputs = &right.rtY;
applyDefaultSettings();
/* Initialize BLDC controllers */ /* Initialize BLDC controllers */
BLDC_controller_initialize(&left.rtM); BLDC_controller_initialize(&left.rtM);
BLDC_controller_initialize(&right.rtM); BLDC_controller_initialize(&right.rtM);
@@ -345,11 +342,6 @@ int main()
CAN_Init(); CAN_Init();
#endif #endif
#ifdef MOTOR_TEST
int pwm = 0;
int8_t dir = 1;
#endif
#ifdef FEATURE_SERIAL_CONTROL #ifdef FEATURE_SERIAL_CONTROL
#ifdef HUARN2 #ifdef HUARN2
HAL_UART_Receive_DMA(&huart2, (uint8_t *)&command, sizeof(command)); HAL_UART_Receive_DMA(&huart2, (uint8_t *)&command, sizeof(command));
@@ -835,10 +827,14 @@ void CAN_Init()
sFilterConfig.FilterBank = 0; sFilterConfig.FilterBank = 0;
sFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK; sFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK;
sFilterConfig.FilterScale = CAN_FILTERSCALE_32BIT; sFilterConfig.FilterScale = CAN_FILTERSCALE_32BIT;
sFilterConfig.FilterIdHigh = 0xFFFF; // TODO
sFilterConfig.FilterIdLow = 0xFFFF; // TODO //
sFilterConfig.FilterMaskIdHigh = 0xFFFF; // TODO // TTRR.....FL
sFilterConfig.FilterMaskIdLow = 0xFFFF; // TODO sFilterConfig.FilterIdHigh = 0b00000000000; // TODO
sFilterConfig.FilterIdLow = 0b00000000000; // TODO
sFilterConfig.FilterMaskIdHigh = 0b00000000000; // TODO
sFilterConfig.FilterMaskIdLow = 0b00000000000; // TODO
sFilterConfig.FilterFIFOAssignment = CAN_RX_FIFO0; sFilterConfig.FilterFIFOAssignment = CAN_RX_FIFO0;
sFilterConfig.FilterActivation = ENABLE; sFilterConfig.FilterActivation = ENABLE;
sFilterConfig.SlaveStartFilterBank = 14; sFilterConfig.SlaveStartFilterBank = 14;
@@ -986,8 +982,36 @@ void CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *CanHandle)
return; return;
} }
switch (header.StdId)
myPrintf("StdId=%x %u ExtId=%x %u IDE=%x %u RTR=%x %u DLC=%x %u Timestamp=%x %u FilterMatchIndex=%x %u", {
case MotorControllerFrontLeftEnable: /* myPrintf("MotorControllerFrontLeftEnable"); */ left.enable = *((bool *)buf); break;
case MotorControllerFrontRightEnable: /* myPrintf("MotorControllerFrontRightEnable"); */ right.enable = *((bool *)buf); break;
case MotorControllerFrontLeftInpTgt: /* myPrintf("MotorControllerFrontLeftInpTgt"); */ timeoutCntLeft = 0; left.rtU.r_inpTgt = *((int16_t*)buf); break;
case MotorControllerFrontRightInpTgt: /* myPrintf("MotorControllerFrontRightInpTgt"); */ timeoutCntRight = 0; right.rtU.r_inpTgt = *((int16_t*)buf); break;
case MotorControllerFrontLeftCtrlTyp: /* myPrintf("MotorControllerFrontLeftCtrlTyp"); */ left.rtP.z_ctrlTypSel = *((uint8_t*)buf); break;
case MotorControllerFrontRightCtrlTyp: /* myPrintf("MotorControllerFrontRightCtrlTyp"); */ right.rtP.z_ctrlTypSel = *((uint8_t*)buf); break;
case MotorControllerFrontLeftCtrlMod: /* myPrintf("MotorControllerFrontLeftCtrlMod"); */ left.rtU.z_ctrlModReq = *((uint8_t*)buf); break;
case MotorControllerFrontRightCtrlMod: /* myPrintf("MotorControllerFrontRightCtrlMod"); */ right.rtU.z_ctrlModReq = *((uint8_t*)buf); break;
case MotorControllerFrontLeftIMotMax: /* myPrintf("MotorControllerFrontLeftIMotMax"); */ left.rtP.i_max = (*((uint8_t*)buf) * A2BIT_CONV) << 4; break;
case MotorControllerFrontRightIMotMax: /* myPrintf("MotorControllerFrontRightIMotMax"); */ right.rtP.i_max = (*((uint8_t*)buf) * A2BIT_CONV) << 4; break;
case MotorControllerFrontLeftIDcMax: /* myPrintf("MotorControllerFrontLeftIDcMax"); */ left.iDcMax = *((uint8_t*)buf); break;
case MotorControllerFrontRightIDcMax: /* myPrintf("MotorControllerFrontRightIDcMax"); */ right.iDcMax = *((uint8_t*)buf); break;
case MotorControllerFrontLeftNMotMax: /* myPrintf("MotorControllerFrontLeftNMotMax"); */ left.rtP.n_max = *((uint16_t*)buf) << 4; break;
case MotorControllerFrontRightNMotMax: /* myPrintf("MotorControllerFrontRightNMotMax"); */ right.rtP.n_max = *((uint16_t*)buf) << 4; break;
case MotorControllerFrontLeftFieldWeakMax: /* myPrintf("MotorControllerFrontLeftFieldWeakMax"); */ left.rtP.id_fieldWeakMax = (*((uint8_t*)buf) * A2BIT_CONV) << 4; break;
case MotorControllerFrontRightFieldWeakMax: /* myPrintf("MotorControllerFrontRightFieldWeakMax"); */ right.rtP.id_fieldWeakMax = (*((uint8_t*)buf) * A2BIT_CONV) << 4; break;
case MotorControllerFrontLeftPhaseAdvMax: /* myPrintf("MotorControllerFrontLeftPhaseAdvMax"); */ left.rtP.a_phaAdvMax = *((uint16_t*)buf) << 4; break;
case MotorControllerFrontRightPhaseAdvMax: /* myPrintf("MotorControllerFrontRightPhaseAdvMax"); */ right.rtP.a_phaAdvMax = *((uint16_t*)buf) << 4; break;
case MotorControllerFrontLeftBuzzerFreq: /* myPrintf("MotorControllerFrontLeftBuzzerFreq"); */ buzzer.freq = *((uint8_t*)buf); break;
case MotorControllerFrontRightBuzzerFreq: /* myPrintf("MotorControllerFrontRightBuzzerFreq"); */ buzzer.freq = *((uint8_t*)buf); break;
case MotorControllerFrontLeftBuzzerPattern: /* myPrintf("MotorControllerFrontLeftBuzzerPattern"); */ buzzer.pattern = *((uint8_t*)buf); break;
case MotorControllerFrontRightBuzzerPattern: /* myPrintf("MotorControllerFrontRightBuzzerPattern"); */ buzzer.pattern = *((uint8_t*)buf); break;
case MotorControllerFrontLeftLed: /* myPrintf("MotorControllerFrontLeftLed"); */ break;
case MotorControllerFrontRightLed: /* myPrintf("MotorControllerFrontRightLed"); */ break;
case MotorControllerFrontLeftPoweroff: /* myPrintf("MotorControllerFrontLeftPoweroff"); */ break;
case MotorControllerFrontRightPoweroff: /* myPrintf("MotorControllerFrontRightPoweroff"); */ break;
default:
myPrintf("UNKNOWN StdId=%x %u ExtId=%x %u IDE=%x %u RTR=%x %u DLC=%x %u Timestamp=%x %u FilterMatchIndex=%x %u",
header.StdId, header.StdId, header.StdId, header.StdId,
header.ExtId, header.ExtId, header.ExtId, header.ExtId,
header.IDE, header.IDE, header.IDE, header.IDE,
@@ -996,11 +1020,7 @@ void CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *CanHandle)
header.Timestamp, header.Timestamp, header.Timestamp, header.Timestamp,
header.FilterMatchIndex, header.FilterMatchIndex header.FilterMatchIndex, header.FilterMatchIndex
); );
}
// TODO apply changes and reset timeout qualification
timeoutCntLeft = 0;
timeoutCntRight = 0;
} }
void CAN_TxMailboxCompleteCallback(CAN_HandleTypeDef *hcan) void CAN_TxMailboxCompleteCallback(CAN_HandleTypeDef *hcan)
@@ -1384,10 +1404,7 @@ void poweroff()
void communicationTimeout() void communicationTimeout()
{ {
left.enable = false; applyDefaultSettings();
right.enable = true;
// TODO all the other params
buzzer.freq = 24; buzzer.freq = 24;
buzzer.pattern = 1; buzzer.pattern = 1;
@@ -1400,17 +1417,26 @@ void doMotorTest()
{ {
timeout = 0; // proove, that the controlling code is still running timeout = 0; // proove, that the controlling code is still running
left.state.enable = true;
left.state.ctrlMod = ControlMode::Voltage;
left.state.ctrlTyp = ControlType::FieldOrientedControl;
left.state.pwm = pwm;
left.state.iMotMax = 2;
right.state.enable = true; left.enable = true;
right.state.ctrlMod = ControlMode::Voltage; left.rtU.r_inpTgt = pwm;
right.state.ctrlTyp = ControlType::FieldOrientedControl; left.rtP.z_ctrlTypSel = uint8_t(ControlType::FieldOrientedControl);
right.state.pwm = pwm; left.rtU.z_ctrlModReq = uint8_t(ControlMode::Speed);
right.state.iMotMax = 2; left.rtP.i_max = (2 * A2BIT_CONV) << 4;
left.iDcMax = 4;
left.rtP.n_max = 1000 << 4;
left.rtP.id_fieldWeakMax = (0 * A2BIT_CONV) << 4;
left.rtP.a_phaAdvMax = 40 << 4;
right.enable = true;
right.rtU.r_inpTgt = pwm;
right.rtP.z_ctrlTypSel = uint8_t(ControlType::FieldOrientedControl);
right.rtU.z_ctrlModReq = uint8_t(ControlMode::Speed);
right.rtP.i_max = (2 * A2BIT_CONV) << 4;
right.iDcMax = 4;
right.rtP.n_max = 1000 << 4;
right.rtP.id_fieldWeakMax = (0 * A2BIT_CONV) << 4;
right.rtP.a_phaAdvMax = 40 << 4;
constexpr auto pwmMax = 250; constexpr auto pwmMax = 250;
@@ -1660,6 +1686,29 @@ void sendCanFeedback()
} }
#endif #endif
void applyDefaultSettings()
{
left.enable = true;
left.rtU.r_inpTgt = 0;
left.rtP.z_ctrlTypSel = uint8_t(ControlType::FieldOrientedControl);
left.rtU.z_ctrlModReq = uint8_t(ControlMode::OpenMode);
left.rtP.i_max = (15 * A2BIT_CONV) << 4;
left.iDcMax = 17;
left.rtP.n_max = 1000 << 4;
left.rtP.id_fieldWeakMax = (5 * A2BIT_CONV) << 4;
left.rtP.a_phaAdvMax = 40 << 4;
right.enable = true;
right.rtU.r_inpTgt = 0;
right.rtP.z_ctrlTypSel = uint8_t(ControlType::FieldOrientedControl);
right.rtU.z_ctrlModReq = uint8_t(ControlMode::OpenMode);
right.rtP.i_max = (15 * A2BIT_CONV) << 4;
right.iDcMax = 17;
right.rtP.n_max = 1000 << 4;
right.rtP.id_fieldWeakMax = (5 * A2BIT_CONV) << 4;
right.rtP.a_phaAdvMax = 40 << 4;
}
} // anonymous namespace } // anonymous namespace
/******************************************************************************/ /******************************************************************************/