servo/controller/fw/embed/src/process_can.cpp
2025-05-30 15:53:15 +03:00

244 lines
No EOL
6.6 KiB
C++

#include "process_can.h"
static CAN_message_t CAN_TX_msg;
static CAN_message_t CAN_inMsg;
template <typename T>
void send_can_with_id_crc(uint8_t id, uint8_t message_type, T* data) {
// Create CAN message
CAN_message_t msg_l;
msg_l.id = id;
// msg_l.len = 8; // Protocol-defined message length
memcpy(&msg_l.buf[0], &message_type, sizeof(uint8_t));
memcpy(&msg_l.buf[1], data, sizeof(T));
// Prepare CRC calculation buffer (ID + data)
uint8_t crc_data[CAN_MSG_MAX_LEN];
// Copy message ID
memcpy(crc_data, (uint8_t*)&msg_l.id, sizeof(T));
// Copy all data bytes
memcpy(crc_data + 1, msg_l.buf, 6);
// Calculate CRC
uint16_t crc_value = validate_crc16(crc_data, CAN_MSG_MAX_LEN);
// Insert CRC into buffer
// memcpy(&msg_l.buf[6], &crc_value, sizeof(uint16_t));
msg_l.buf[6] = crc_value & 0xFF;
msg_l.buf[7] = (crc_value >> 8) & 0xFF;
// Send message
Can.write(msg_l);
}
void send_velocity() {
float current_velocity = motor.shaftVelocity();
if (flash_rec == nullptr) { // Null check
// Error handling: logging, alerts, etc.
return;
}
float value = flash_rec[vel].value;
uint8_t id = flash_rec[addr_id].value;
send_can_with_id_crc(id,'V',&value);
}
void send_angle() {
float current_angle = motor.shaftAngle();
if (flash_rec == nullptr) { // Null check
// Error handling: logging, alerts, etc.
return;
}
uint8_t id = flash_rec[addr_id].value;
send_can_with_id_crc(id,'A',&current_angle);
}
void send_motor_enabled() {
/* Firmware data reading */
if (flash_rec == nullptr) { // Null check
// Error handling: logging, alerts, etc.
return;
}
uint8_t value = motor_control_inputs.motor_enabled; //copy current motor state
uint8_t id = flash_rec[addr_id].value;
send_can_with_id_crc(id,'M',&value);
}
void send_id() {
/* Firmware data reading */
if (flash_rec == nullptr) { // Null check
// Error handling: logging, alerts, etc.
return;
}
uint8_t id = flash_rec[addr_id].value;
send_can_with_id_crc(id,'I',&id);
}
// void send_motor_torque() {
// float i_q = motor.current.q; // Q-axis current (A)
// float torque = kt * i_q; // Torque calculation
// torque *= 100;
// CAN_TX_msg.id = flash_rec->value;
// CAN_TX_msg.buf[0] = 'T';
// CAN_TX_msg.len = 5;
// memcpy(&CAN_TX_msg.buf[1], &torque, sizeof(torque));
// Can.write(CAN_TX_msg);
// }
void send_pid_angle(uint8_t param_pid){
if (flash_rec == nullptr) { // Null check
return;
}
uint8_t id = flash_rec[addr_id].value;
conv_float_to_int.i = flash_rec[param_pid].value;
uint32_t data = conv_float_to_int.i;
switch(param_pid){
case pid_p:
param_pid = REG_MOTOR_POSPID_Kp;
break;
case pid_i:
param_pid = REG_MOTOR_POSPID_Ki;
break;
case pid_d:
param_pid = REG_MOTOR_POSPID_Kd;
break;
}
send_can_with_id_crc(id,param_pid,&data);
}
void setup_id(uint8_t my_id) {
write_param(addr_id,my_id);
}
void firmware_update(){
write_param(firmw,FIRMWARE_FLAG);
NVIC_SystemReset();
}
void setup_angle(float target_angle) {
motor.enable(); // Enable motor if disabled
motor.controller = MotionControlType::angle;
motor.move(target_angle);
}
// void setup_pid_angle(uint8_t param_pid, uint32_t data){
// conv_float_to_int.f = data;
// switch (param_pid) {
// case pid_p:
// motor.P_angle.P = conv_float_to_int.f;
// break;
// case pid_i:
// motor.P_angle.I = conv_float_to_int.f;
// break;
// case pid_d:
// motor.P_angle.D = conv_float_to_int.f;
// break;
// default:
// break;
// }
// write_param(param_pid,data);
// }
void listen_can(const CAN_message_t &msg) {
msg_id = msg.id;
msg_ch = msg_id & 0xF; // Extract message channel
uint16_t id_x = (msg_id >> 4) & 0x7FF; // Extract device address
/* CRC Calculation */
uint16_t received_crc = (msg.buf[msg.len - 2]) | (msg.buf[msg.len - 1] << 8);
uint8_t data[10] = {0}; // Message buffer for CRC verification
// Copy message ID (2 bytes)
memcpy(data, (uint8_t*)&msg_id, sizeof(msg_id));
// Copy message data (excluding CRC bytes)
memcpy(data + sizeof(msg_id), msg.buf, msg.len - 2);
// Calculate CRC
uint16_t calculated_crc = validate_crc16(data, sizeof(msg_id) + msg.len - 2);
// Verify CRC match
if (calculated_crc != received_crc) {
return; // Ignore message on CRC mismatch
}
flash_rec = load_params();
/* Message Structure: 0x691
69 - Device address
1 - Action code */
if(id_x == flash_rec[addr_id].value){
if(msg_ch == REG_WRITE){
switch(msg.buf[0]) {
case REG_ID:
setup_id(msg.buf[1]);
break;
case REG_LED_BLINK:
for (int i = 0; i < 10; i++) {
GPIOC->ODR ^= GPIO_ODR_OD10;
delay(100);
}
break;
case MOTOR_ANGLE:
memcpy(&motor_control_inputs.target_angle, &msg.buf[1],
sizeof(motor_control_inputs.target_angle));
setup_angle(motor_control_inputs.target_angle);
break;
case REG_MOTOR_POSPID_Kp:
memcpy(&motor.P_angle.P, &msg.buf[1], sizeof(float));
conv_float_to_int.f = motor.P_angle.P;
write_param(pid_p,conv_float_to_int.i);
break;
case REG_MOTOR_POSPID_Ki:
memcpy(&motor.P_angle.I, &msg.buf[1], sizeof(float));
conv_float_to_int.f = motor.P_angle.I;
write_param(pid_i,conv_float_to_int.i);
break;
case REG_MOTOR_POSPID_Kd:
memcpy(&motor.P_angle.D, &msg.buf[1], sizeof(float));
conv_float_to_int.f = motor.P_angle.D;
write_param(pid_d,conv_float_to_int.i);
break;
case FIRMWARE_UPDATE:
firmware_update();
break;
case MOTOR_ENABLED:
if (msg.buf[1] == 1) {
motor.enable();
motor_control_inputs.motor_enabled = 1;
} else {
motor.disable();
motor_control_inputs.motor_enabled = 0;
}
default:
break;
}
}
else if (msg_ch == REG_READ) {
switch (msg.buf[0]) {
case REG_ID: send_id(); break;
case MOTOR_VELOCITY: send_velocity(); break;
case MOTOR_ANGLE: send_angle(); break;
case MOTOR_ENABLED: send_motor_enabled(); break;
// case MOTOR_TORQUE: send_motor_torque(); break;
// case FOC_STATE: send_foc_state(); break;
case REG_MOTOR_POSPID_Kp: send_pid_angle(pid_p); break;
case REG_MOTOR_POSPID_Ki: send_pid_angle(pid_i); break;
case REG_MOTOR_POSPID_Kd: send_pid_angle(pid_d); break;
default: break;
}
}
}
}