Feature/vesc interface

Node/.gitignore

@@ -1,4 +1,5 @@
 build/
+Build/
 Drivers
 Makefile
 .mxproject

Node/CMakeLists.txt

@@ -43,8 +43,20 @@ set(STM32CUBEMX_GENERATED_FILES
     startup_stm32f334x8.s
 )
 
+set(STM32_USER_CREATED_FILES
+    Core/Src/vesc_packet.c
+)
+
+set(EXTERNAL_FILES
+    External/Src/bldc_interface_uart.c
+    External/Src/bldc_interface.c
+    External/Src/buffer.c
+    External/Src/crc.c
+    External/Src/packet.c
+)
+
 set(EXECUTABLE ${PROJECT_NAME}.out)
-add_executable(${EXECUTABLE} ${STM32CUBEMX_GENERATED_FILES})
+add_executable(${EXECUTABLE} ${STM32CUBEMX_GENERATED_FILES} ${EXTERNAL_FILES})
 
 target_compile_definitions(${EXECUTABLE} PRIVATE
     -DUSE_HAL_DRIVER
@@ -53,6 +65,7 @@ target_compile_definitions(${EXECUTABLE} PRIVATE
 
 target_include_directories(${EXECUTABLE} PRIVATE
     Core/Inc
+    External/Inc
     Drivers/STM32F3xx_HAL_Driver/Inc
     Drivers/CMSIS/Device/ST/STM32F3xx/Include
     Drivers/CMSIS/Include

Node/Core/Src/main.c

@@ -18,9 +18,12 @@
 /* USER CODE END Header */
 /* Includes ------------------------------------------------------------------*/
 #include "main.h"
+#include "bldc_interface.h"
+#include "bldc_interface_uart.h"
 #include "can.h"
 #include "i2c.h"
 #include "spi.h"
+#include "stm32f3xx_hal_usart.h"
 #include "tim.h"
 #include "usart.h"
 #include "gpio.h"
@@ -58,7 +61,20 @@ void SystemClock_Config(void);
 
 /* Private user code ---------------------------------------------------------*/
 /* USER CODE BEGIN 0 */
+static void send_packet_motor_1(unsigned char* data, unsigned int len)
+{
+  HAL_UART_Transmit(&huart1, data, len, 0);
+}
+
+static void send_packet_motor_2(unsigned char* data, unsigned int len)
+{
+  HAL_UART_Transmit(&huart2, data, len, 0);
+}
 
+static void send_packet_motor_3(unsigned char* data, unsigned int len)
+{
+  HAL_UART_Transmit(&huart3, data, len, 0);
+}
 /* USER CODE END 0 */
 
 /**
@@ -68,7 +84,9 @@ void SystemClock_Config(void);
 int main(void)
 {
   /* USER CODE BEGIN 1 */
-
+  BldcInterface motor1;
+  BldcInterface motor2;
+  BldcInterface motor3;
   /* USER CODE END 1 */
 
   /* MCU Configuration--------------------------------------------------------*/
@@ -98,16 +116,31 @@ int main(void)
   MX_TIM17_Init();
   MX_I2C1_Init();
   MX_SPI1_Init();
+
   /* USER CODE BEGIN 2 */
+  bldc_interface_uart_init(&motor1, send_packet_motor_1);
+  bldc_interface_uart_init(&motor2, send_packet_motor_2);
+  bldc_interface_uart_init(&motor3, send_packet_motor_3);
 
+  uint8_t motor1_data;
+  uint8_t motor2_data;
+  uint8_t motor3_data;
   /* USER CODE END 2 */
 
   /* Infinite loop */
   /* USER CODE BEGIN WHILE */
   while (1)
   {
     /* USER CODE END WHILE */
-
+    // TODO receive more than one byte at a time
+    // TODO Error handling before processing bytes
+    HAL_UART_Receive(&huart1, &motor1_data, 1, 0);
+    HAL_UART_Receive(&huart2, &motor2_data, 1, 0);
+    HAL_UART_Receive(&huart3, &motor3_data, 1, 0);
+
+    bldc_interface_uart_process_byte(&motor1, motor1_data);
+    bldc_interface_uart_process_byte(&motor2, motor2_data);
+    bldc_interface_uart_process_byte(&motor3, motor3_data);
     /* USER CODE BEGIN 3 */
   }
   /* USER CODE END 3 */

Node/External/Inc/bldc_interface.h

@@ -0,0 +1,121 @@
+/*
+	Copyright 2016-2017 Benjamin Vedder	[email protected]
+
+	This program is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    This program is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with this program.  If not, see <http://www.gnu.org/licenses/>.
+    */
+
+#ifndef BLDC_INTERFACE_H_
+#define BLDC_INTERFACE_H_
+
+#include "datatypes.h"
+
+typedef struct BldcInterface
+{
+    // Private variables
+    unsigned char send_buffer[1024];
+
+    // Private variables for received data
+    mc_values values;
+    int fw_major;
+    int fw_minor;
+    float rotor_pos;
+    mc_configuration mcconf;
+    app_configuration appconf;
+    float detect_cycle_int_limit;
+    float detect_coupling_k;
+    signed char detect_hall_table[8];
+    signed char detect_hall_res;
+    float dec_ppm;
+    float dec_ppm_len;
+    float dec_adc;
+    float dec_adc_voltage;
+    float dec_chuk;
+
+    // Function pointers
+    void(*send_func)(unsigned char *data, unsigned int len);
+    void(*forward_func)(unsigned char *data, unsigned int len);
+
+    // Function pointers for received data
+    void(*rx_value_func)(mc_values *values);
+    void(*rx_printf_func)(char *str);
+    void(*rx_fw_func)(int major, int minor);
+    void(*rx_rotor_pos_func)(float pos);
+    void(*rx_mcconf_func)(mc_configuration *conf);
+    void(*rx_appconf_func)(app_configuration *conf);
+    void(*rx_detect_func)(float cycle_int_limit, float coupling_k,
+            const signed char *hall_table, signed char hall_res);
+    void(*rx_dec_ppm_func)(float val, float ms);
+    void(*rx_dec_adc_func)(float val, float voltage);
+    void(*rx_dec_chuk_func)(float val);
+    void(*rx_mcconf_received_func)(void);
+    void(*rx_appconf_received_func)(void);
+    void(*motor_control_set_func)(motor_control_mode mode, float value);
+    void(*values_requested_func)(void);
+} BldcInterface;
+
+// interface functions
+void bldc_interface_init(BldcInterface* interface, void(*func)(unsigned char *data, unsigned int len));
+void bldc_interface_set_forward_func(BldcInterface* interface, void(*func)(unsigned char *data, unsigned int len));
+void bldc_interface_send_packet(BldcInterface* interface, unsigned char *data, unsigned int len);
+void bldc_interface_process_packet(BldcInterface* interface, unsigned char *data, unsigned int len);
+
+// Function pointer setters
+void bldc_interface_set_rx_value_func(BldcInterface* interface, void(*func)(mc_values *values));
+void bldc_interface_set_rx_printf_func(BldcInterface* interface, void(*func)(char *str));
+void bldc_interface_set_rx_fw_func(BldcInterface* interface, void(*func)(int major, int minor));
+void bldc_interface_set_rx_rotor_pos_func(BldcInterface* interface, void(*func)(float pos));
+void bldc_interface_set_rx_mcconf_func(BldcInterface* interface, void(*func)(mc_configuration *conf));
+void bldc_interface_set_rx_appconf_func(BldcInterface* interface, void(*func)(app_configuration *conf));
+void bldc_interface_set_rx_detect_func(BldcInterface* interface, void(*func)(float cycle_int_limit, float coupling_k,
+		const signed char *hall_table, signed char hall_res));
+void bldc_interface_set_rx_dec_ppm_func(BldcInterface* interface, void(*func)(float val, float ms));
+void bldc_interface_set_rx_dec_adc_func(BldcInterface* interface, void(*func)(float val, float voltage));
+void bldc_interface_set_rx_dec_chuk_func(BldcInterface* interface, void(*func)(float val));
+void bldc_interface_set_rx_mcconf_received_func(BldcInterface* interface, void(*func)(void));
+void bldc_interface_set_rx_appconf_received_func(BldcInterface* interface, void(*func)(void));
+
+void bldc_interface_set_sim_control_function(BldcInterface* interface, void(*func)(motor_control_mode mode, float value));
+void bldc_interface_set_sim_values_func(BldcInterface* interface, void(*func)(void));
+
+// Setters
+void bldc_interface_terminal_cmd(BldcInterface* interface, char* cmd);
+void bldc_interface_set_duty_cycle(BldcInterface* interface, float dutyCycle);
+void bldc_interface_set_current(BldcInterface* interface, float current);
+void bldc_interface_set_current_brake(BldcInterface* interface, float current);
+void bldc_interface_set_rpm(BldcInterface* interface, int rpm);
+void bldc_interface_set_pos(BldcInterface* interface, float pos);
+void bldc_interface_set_handbrake(BldcInterface* interface, float current);
+void bldc_interface_set_servo_pos(BldcInterface* interface, float pos);
+void bldc_interface_set_mcconf(BldcInterface* interface, const mc_configuration *mcconf);
+void bldc_interface_set_appconf(BldcInterface* interface, const app_configuration *appconf);
+
+// Getters
+void bldc_interface_get_fw_version(BldcInterface* interface);
+void bldc_interface_get_values(BldcInterface* interface);
+void bldc_interface_get_mcconf(BldcInterface* interface);
+void bldc_interface_get_appconf(BldcInterface* interface);
+void bldc_interface_get_decoded_ppm(BldcInterface* interface);
+void bldc_interface_get_decoded_adc(BldcInterface* interface);
+void bldc_interface_get_decoded_chuk(BldcInterface* interface);
+
+// Other functions
+void bldc_interface_detect_motor_param(BldcInterface*, float current, float min_rpm, float low_duty);
+void bldc_interface_reboot(BldcInterface*);
+void bldc_interface_send_alive(BldcInterface*);
+void send_values_to_receiver(BldcInterface*, mc_values *values);
+
+// Helpers
+const char* bldc_interface_fault_to_string(mc_fault_code fault);
+
+#endif /* BLDC_INTERFACE_H_ */

Node/External/Inc/bldc_interface_uart.h

@@ -0,0 +1,37 @@
+/*
+	Copyright 2015 Benjamin Vedder	[email protected]
+
+	This program is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    This program is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with this program.  If not, see <http://www.gnu.org/licenses/>.
+    */
+
+/*
+ * bldc_interface_uart.h
+ *
+ *  Created on: 9 okt 2015
+ *      Author: benjamin
+ */
+
+#ifndef BLDC_INTERFACE_UART_H_
+#define BLDC_INTERFACE_UART_H_
+
+// Includes
+#include "packet.h" // For the MAX_PACKET_LEN define
+#include "bldc_interface.h"
+
+// Functions
+void bldc_interface_uart_init(BldcInterface* interface, void(*func)(unsigned char *data, unsigned int len));
+void bldc_interface_uart_process_byte(BldcInterface* interface, unsigned char b);
+void bldc_interface_uart_run_timer(BldcInterface* interface);
+
+#endif /* BLDC_INTERFACE_UART_H_ */

Node/External/Inc/buffer.h

@@ -0,0 +1,44 @@
+/*
+	Copyright 2012-2018 Benjamin Vedder	[email protected]
+
+	This program is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    This program is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with this program.  If not, see <http://www.gnu.org/licenses/>.
+    */
+
+#ifndef BUFFER_H_
+#define BUFFER_H_
+
+#include <stdint.h>
+
+void buffer_append_int16(uint8_t* buffer, int16_t number, int32_t *index);
+void buffer_append_uint16(uint8_t* buffer, uint16_t number, int32_t *index);
+void buffer_append_int32(uint8_t* buffer, int32_t number, int32_t *index);
+void buffer_append_uint32(uint8_t* buffer, uint32_t number, int32_t *index);
+void buffer_append_int64(uint8_t* buffer, int64_t number, int32_t *index);
+void buffer_append_uint64(uint8_t* buffer, uint64_t number, int32_t *index);
+void buffer_append_float16(uint8_t* buffer, float number, float scale, int32_t *index);
+void buffer_append_float32(uint8_t* buffer, float number, float scale, int32_t *index);
+void buffer_append_double64(uint8_t* buffer, double number, double scale, int32_t *index);
+void buffer_append_float32_auto(uint8_t* buffer, float number, int32_t *index);
+int16_t buffer_get_int16(const uint8_t *buffer, int32_t *index);
+uint16_t buffer_get_uint16(const uint8_t *buffer, int32_t *index);
+int32_t buffer_get_int32(const uint8_t *buffer, int32_t *index);
+uint32_t buffer_get_uint32(const uint8_t *buffer, int32_t *index);
+int64_t buffer_get_int64(const uint8_t *buffer, int32_t *index);
+uint64_t buffer_get_uint64(const uint8_t *buffer, int32_t *index);
+float buffer_get_float16(const uint8_t *buffer, float scale, int32_t *index);
+float buffer_get_float32(const uint8_t *buffer, float scale, int32_t *index);
+double buffer_get_double64(const uint8_t *buffer, double scale, int32_t *index);
+float buffer_get_float32_auto(const uint8_t *buffer, int32_t *index);
+
+#endif /* BUFFER_H_ */

Node/External/Inc/crc.h

@@ -0,0 +1,33 @@
+/*
+	Copyright 2012-2014 Benjamin Vedder	[email protected]
+
+	This program is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    This program is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with this program.  If not, see <http://www.gnu.org/licenses/>.
+    */
+
+/*
+ * crc.h
+ *
+ *  Created on: 26 feb 2012
+ *      Author: benjamin
+ */
+
+#ifndef CRC_H_
+#define CRC_H_
+
+/*
+ * Functions
+ */
+unsigned short crc16(unsigned char *buf, unsigned int len);
+
+#endif /* CRC_H_ */