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Fixed cpplint

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This commit is contained in:
lulko 2025-03-03 11:43:03 +03:00
parent c44edc638d
commit aa1a78117b
2 changed files with 41 additions and 40 deletions
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12
controller/fw/embed/include/reg_cah.h
View file

@ -1,3 +1,5 @@
#ifndef REG_CAH_H_
#define REG_CAH_H_
#define ADDR_VAR 0x8040000
#define ADDR_VAR_ID ADDR_VAR
#define ADDR_VAR_P (ADDR_VAR + 1)
@ -8,6 +10,9 @@
#define REG_WRITE 0xA0
/* Startup ID device */
#define START_ID 0x00
/* CAN REGISTER ID */
#define REG_ID 0x01
#define REG_BAUDRATE 0x02
@ -25,3 +30,10 @@
#define REG_RESET 0x88
#define REG_LED_BLINK 0x8B
#define FOC_STATE 0x60
#define MOTOR_VELOCITY 0x70
#define MOTOR_ENABLED 0x71
#define MOTOR_ANGLE 0x72
#endif // REG_CAH_H_

59
controller/fw/embed/src/main.cpp
View file

@ -125,7 +125,7 @@ void send_motor_enabled() {
Can.write(CAN_TX_msg);
}
void send_foc_state(){
void send_foc_state() {
CAN_TX_msg.id = 1;
CAN_TX_msg.buf[0] = 'F';
memcpy(&CAN_TX_msg.buf[1], &motor_control_inputs.foc_state,
@ -133,35 +133,34 @@ void send_foc_state(){
Can.write(CAN_TX_msg);
}
void send_id(){
void send_id() {
/* data for reading of firmware */
FLASH->KEYR = 0x45670123; // Первый ключ
FLASH->KEYR = 0xCDEF89AB; // Второй ключ
FLASH->KEYR = 0x45670123; // Первый ключ
FLASH->KEYR = 0xCDEF89AB; // Второй ключ
uint8_t id = *(volatile uint32_t*)ADDR_VAR_ID;
FLASH->CR |= FLASH_CR_LOCK;
CAN_TX_msg.id = id;
CAN_TX_msg.buf[0] = 0x22;
memcpy(&CAN_TX_msg.buf[1], &id,sizeof(id));
memcpy(&CAN_TX_msg.buf[1], &id, sizeof(id));
Can.write(CAN_TX_msg);
}
void setup_id(uint8_t my_id){
void setup_id(uint8_t my_id) {
/* Чтобы разблокировать флэш память для записи*/
FLASH->KEYR = 0x45670123; // Первый ключ
FLASH->KEYR = 0xCDEF89AB; // Второй ключ
while (FLASH->SR & FLASH_SR_BSY);
FLASH->CR &= ~FLASH_CR_PSIZE_0 & ~FLASH_CR_PSIZE_1; //Data write = 8bit
FLASH->CR |= FLASH_CR_SNB_1 | FLASH_CR_SNB_2; //6 SECTOR FOR ERASE
FLASH->KEYR = 0x45670123; // Первый ключ
FLASH->KEYR = 0xCDEF89AB; // Второй ключ
while (FLASH->SR & FLASH_SR_BSY) { }
FLASH->CR &= ~FLASH_CR_PSIZE_0 & ~FLASH_CR_PSIZE_1; // Data write = 8bit
FLASH->CR |= FLASH_CR_SNB_1 | FLASH_CR_SNB_2; // 6 SECTOR FOR ERASE
FLASH->CR |= FLASH_CR_SER;
FLASH->CR |= FLASH_CR_STRT;
while((FLASH->SR & FLASH_SR_BSY) != 0)
while ((FLASH->SR & FLASH_SR_BSY) != 0)
__NOP();
FLASH->SR |= (FLASH_SR_EOP | FLASH_SR_WRPERR | FLASH_SR_PGAERR);
FLASH->CR |= FLASH_CR_PG;
*(volatile uint8_t*)ADDR_VAR_ID = my_id;
FLASH->CR |= FLASH_CR_LOCK;
}
@ -170,7 +169,6 @@ void send_data() {
send_velocity();
send_angle();
send_motor_enabled();
// read_temperature();
digitalWrite(PC11, !digitalRead(PC11));
}
@ -205,30 +203,27 @@ void send_data() {
void listen_can(){
void listen_can() {
uint8_t reg_id = CAN_inMsg.id;
if(CAN_inMsg.buf[0] == REG_WRITE){
switch (reg_id)
{
if (CAN_inMsg.buf[0] == REG_WRITE) {
switch (reg_id) {
case REG_ID:
/* setup new id */
setup_id(CAN_inMsg.buf[1]);
break;
case REG_LED_BLINK:
for(int i = 0;i < 10;i++){
case REG_LED_BLINK:
for (int i = 0; i < 10; i++) {
GPIOC->ODR ^= GPIO_ODR_OD10;
HAL_Delay(100);
}
break;
case MOTOR_ENABLED:
if(CAN_inMsg.buf[1] == 1){
if (CAN_inMsg.buf[1] == 1) {
motor.enable();
motor_control_inputs.motor_enabled = 1;
}
else{
} else {
motor.disable();
motor_control_inputs.motor_enabled = 0;
}
@ -237,21 +232,16 @@ void listen_can(){
default:
break;
}
}
else if(CAN_inMsg.buf[0] == REG_READ){
switch (reg_id)
{
} else if (CAN_inMsg.buf[0] == REG_READ) {
switch (reg_id) {
case REG_ID:
send_id();
break;
default:
break;
}
}
}
@ -284,7 +274,7 @@ void foc_step(BLDCMotor *motor, Commander *commander) {
void setup(){
void setup() {
Serial.setRx(HARDWARE_SERIAL_RX_PIN);
Serial.setTx(HARDWARE_SERIAL_TX_PIN);
Serial.begin(115200);
@ -308,14 +298,13 @@ void setup(){
pEraseInit.NbSectors = 1;
pEraseInit.VoltageRange = VOLTAGE_RANGE_3;*/
}
void loop(){
void loop() {
foc_step(&motor, &command);
GPIOC->ODR ^= GPIO_ODR_OD10;
HAL_Delay(1000);
while (Can.read(CAN_inMsg)) {
listen_can();
}
}
}