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Add interrupt

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This commit is contained in:
Valentin Dabstep 2025-06-16 00:31:26 +03:00
parent 207b889fef
commit 4d6a5f8700
123 changed files with 1181239 additions and 1181234 deletions
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4
controller/fw/embed/include/process_can.h
View file

@ -4,8 +4,8 @@
#include "flash.h"
#include "reg_cah.h"
#define CAN_TIMEOUT 50
#define CAN_SILENCE_TIMEOUT 500
#define CAN_TIMEOUT 5
#define CAN_SILENCE_TIMEOUT 5
#define MAX_CAN_READS 2
extern FLASH_RECORD *flash_rec;
extern volatile uint16_t msg_id;

45
controller/fw/embed/src/main.cpp
View file

@ -12,7 +12,7 @@
#include "wiring_analog.h"
#include "wiring_constants.h"
// clang-format on
#include "hal_conf_extra.h"
#include "reg_cah.h"
#include "flash.h"
#include "config.h"
@ -61,9 +61,11 @@ MotorControlInputs motor_control_inputs;
volatile uint8_t crc_h;
volatile uint8_t crc_l;
volatile bool rx_can = false;
CAN_message_t msg;
void setup(){
SCB->VTOR = (volatile uint32_t)0x08008004;
Serial.setRx(HARDWARE_SERIAL_RX_PIN);
Serial.setTx(HARDWARE_SERIAL_TX_PIN);
Serial.begin(115200);
@ -74,19 +76,13 @@ MotorControlInputs motor_control_inputs;
// Can.enableMBInterrupts();
Can.begin();
Can.setBaudRate(1000000);
// Настройка прерываний CAN
CAN2->IER |= CAN_IER_FMPIE0;
flash_rec = load_params(); //for update write_ptr
if(flash_rec[firmw].value == FIRMWARE_FLAG) NVIC_SystemReset(); //if in flash go to the bootloader
// Initialize FOC system
setup_foc(&encoder, &motor, &driver, &current_sense,flash_rec);
CAN2->IER |= CAN_IER_FMPIE0 | // Сообщение в FIFO0
CAN_IER_FFIE0 | // FIFO0 full
CAN_IER_FOVIE0; // FIFO0 overflow
// Default motor configuration
GPIOC->ODR |= GPIO_ODR_OD11; //set LED
motor.torque_controller = TorqueControlType::foc_current;
@ -96,21 +92,28 @@ MotorControlInputs motor_control_inputs;
}
bool is_can_busy() {
return (CAN2->TSR & (CAN_TSR_TME0 | CAN_TSR_TME1 | CAN_TSR_TME2)) != 0x07;
return (CAN2->TSR & (CAN_TSR_TME0 | CAN_TSR_TME1 | CAN_TSR_TME2)) == 0;
}
void wait_for_can_tx_complete() {
uint32_t start_time = HAL_GetTick();
while (!(CAN2->TSR & (CAN_TSR_TME0 | CAN_TSR_TME1 | CAN_TSR_TME2))) {
if (HAL_GetTick() - start_time > 500) break;
}
CAN2->TSR |= CAN_TSR_ABRQ0 | CAN_TSR_ABRQ1 | CAN_TSR_ABRQ2;
}
void loop() {
process_can_messages();
static uint32_t last_send = 0;
if(!send_blocked && !is_can_busy() && (HAL_GetTick() - last_send >= 50)) {
send_angle();
send_velocity();
last_send = HAL_GetTick();
}
foc_step(&motor);
HAL_Delay(1);
send_angle();
HAL_Delay(1);
if(rx_can){
Can.read(msg);
listen_can(msg);
rx_can = false;
HAL_Delay(1);
}
foc_step(&motor);
}

8
controller/fw/embed/src/process_can.cpp
View file

@ -166,7 +166,6 @@ void process_can_messages() {
// block send while data cant
send_blocked = true;
// Чтение сообщений с ограничением
while(count < MAX_CAN_READS && Can.read(msg)) {
listen_can(msg);
last_received = HAL_GetTick();
@ -215,7 +214,9 @@ void listen_can(const CAN_message_t &msg) {
/* Message Structure: 0x691
69 - Device address
1 - Action code */
if(id_x == flash_rec[addr_id].value){
if(id_x != flash_rec[addr_id].value){
return;
}
if(msg_ch == REG_WRITE){
switch(msg.buf[0]) {
case REG_ID:
@ -327,5 +328,6 @@ void listen_can(const CAN_message_t &msg) {
}
}
HAL_Delay(10);
}
}