First CAN implementation

Makefile

@@ -113,6 +113,7 @@ CSRC = $(PORTSRC) \
        eeprom.c \
        commands.c \
        timeout.c \
+       comm_can.c \
        $(HWSRC) \
        $(APPSRC)
        

comm_can.c

@@ -0,0 +1,164 @@
+/*
+	Copyright 2012-2014 Benjamin Vedder	benjamin@vedder.se
+
+	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/>.
+ */
+
+/*
+ * comm_can.c
+ *
+ *  Created on: 7 dec 2014
+ *      Author: benjamin
+ */
+
+#include "comm_can.h"
+#include "ch.h"
+#include "hal.h"
+#include "datatypes.h"
+#include "buffer.h"
+#include "mcpwm.h"
+#include "timeout.h"
+#include "commands.h"
+
+// Settings
+#define CANDx		CAND1
+
+// Threads
+static WORKING_AREA(cancom_thread_wa, 2048);
+static msg_t cancom_thread(void *arg);
+
+/*
+ * 500KBaud, automatic wakeup, automatic recover
+ * from abort mode.
+ * See section 22.7.7 on the STM32 reference manual.
+ */
+static const CANConfig cancfg = {
+		CAN_MCR_ABOM | CAN_MCR_AWUM | CAN_MCR_TXFP | CAN_MCR_NART,
+		CAN_BTR_SJW(0) | CAN_BTR_TS2(1) |
+		CAN_BTR_TS1(8) | CAN_BTR_BRP(6)
+};
+
+void comm_can_init(void) {
+	palSetPadMode(GPIOB, 8,
+			PAL_MODE_ALTERNATE(GPIO_AF_CAN1) |
+			PAL_STM32_OTYPE_PUSHPULL |
+			PAL_STM32_OSPEED_MID1);
+	palSetPadMode(GPIOB, 9,
+			PAL_MODE_ALTERNATE(GPIO_AF_CAN1) |
+			PAL_STM32_OTYPE_PUSHPULL |
+			PAL_STM32_OSPEED_MID1);
+
+	canStart(&CANDx, &cancfg);
+
+	chThdCreateStatic(cancom_thread_wa, sizeof(cancom_thread_wa), NORMALPRIO,
+			cancom_thread, NULL);
+}
+
+static msg_t cancom_thread(void *arg) {
+	(void)arg;
+	chRegSetThreadName("CAN");
+
+	EventListener el;
+	CANRxFrame rxmsg;
+	int32_t ind = 0;
+
+	chEvtRegister(&CANDx.rxfull_event, &el, 0);
+
+	while(!chThdShouldTerminate()) {
+		if (chEvtWaitAnyTimeout(ALL_EVENTS, MS2ST(100)) == 0) {
+			continue;
+		}
+
+		while (canReceive(&CANDx, CAN_ANY_MAILBOX, &rxmsg, TIME_IMMEDIATE) == RDY_OK) {
+			if (rxmsg.IDE == CAN_IDE_EXT) {
+				CAN_PACKET_ID cmd = rxmsg.EID >> 8;
+
+				switch (cmd) {
+				case CAN_PACKET_SET_DUTY:
+					ind = 0;
+					mcpwm_set_duty((float)buffer_get_int32(rxmsg.data8, &ind) / 100000.0);
+					timeout_reset();
+					break;
+
+				case CAN_PACKET_SET_CURRENT:
+					ind = 0;
+					mcpwm_set_current((float)buffer_get_int32(rxmsg.data8, &ind) / 1000.0);
+					timeout_reset();
+					break;
+
+				case CAN_PACKET_SET_CURRENT_BRAKE:
+					ind = 0;
+					mcpwm_set_brake_current((float)buffer_get_int32(rxmsg.data8, &ind) / 1000.0);
+					timeout_reset();
+					break;
+
+				case CAN_PACKET_SET_RPM:
+					ind = 0;
+					mcpwm_set_pid_speed((float)buffer_get_int32(rxmsg.data8, &ind));
+					timeout_reset();
+					break;
+
+				default:
+					break;
+				}
+			}
+		}
+	}
+
+	chEvtUnregister(&CAND1.rxfull_event, &el);
+	return 0;
+}
+
+void comm_can_transmit(uint32_t id, uint8_t *data, uint8_t len) {
+	CANTxFrame txmsg;
+
+	txmsg.IDE = CAN_IDE_EXT;
+	txmsg.EID = id;
+	txmsg.RTR = CAN_RTR_DATA;
+	txmsg.DLC = len;
+
+	for (int i = 0;i < len;i++) {
+		txmsg.data8[i] = data[i];
+	}
+
+	msg_t res = canTransmit(&CAND1, CAN_ANY_MAILBOX, &txmsg, TIME_IMMEDIATE);
+}
+
+void comm_can_set_duty(uint8_t controller_id, float duty) {
+	int32_t send_index = 0;
+	uint8_t buffer[4];
+	buffer_append_int32(buffer, (int32_t)(duty * 100000.0), &send_index);
+	comm_can_transmit(controller_id | ((uint32_t)CAN_PACKET_SET_DUTY << 8), buffer, send_index);
+}
+
+void comm_can_set_current(uint8_t controller_id, float current) {
+	int32_t send_index = 0;
+	uint8_t buffer[4];
+	buffer_append_int32(buffer, (int32_t)(current * 1000.0), &send_index);
+	comm_can_transmit(controller_id | ((uint32_t)CAN_PACKET_SET_CURRENT << 8), buffer, send_index);
+}
+
+void comm_can_set_current_brake(uint8_t controller_id, float current) {
+	int32_t send_index = 0;
+	uint8_t buffer[4];
+	buffer_append_int32(buffer, (int32_t)(current * 1000.0), &send_index);
+	comm_can_transmit(controller_id | ((uint32_t)CAN_PACKET_SET_CURRENT_BRAKE << 8), buffer, send_index);
+}
+
+void comm_can_set_rpm(uint8_t controller_id, float rpm) {
+	int32_t send_index = 0;
+	uint8_t buffer[4];
+	buffer_append_int32(buffer, (int32_t)rpm, &send_index);
+	comm_can_transmit(controller_id | ((uint32_t)CAN_PACKET_SET_RPM << 8), buffer, send_index);
+}

comm_can.h

@@ -0,0 +1,38 @@
+/*
+	Copyright 2012-2014 Benjamin Vedder	benjamin@vedder.se
+
+	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/>.
+    */
+
+/*
+ * comm_can.h
+ *
+ *  Created on: 7 dec 2014
+ *      Author: benjamin
+ */
+
+#ifndef COMM_CAN_H_
+#define COMM_CAN_H_
+
+#include "conf_general.h"
+
+// Functions
+void comm_can_init(void);
+void comm_can_transmit(uint32_t id, uint8_t *data, uint8_t len);
+void comm_can_set_duty(uint8_t controller_id, float duty);
+void comm_can_set_current(uint8_t controller_id, float current);
+void comm_can_set_current_brake(uint8_t controller_id, float current);
+void comm_can_set_rpm(uint8_t controller_id, float rpm);
+
+#endif /* COMM_CAN_H_ */

datatypes.h

@@ -205,6 +205,14 @@ typedef enum {
 	COMM_GET_DECODED_CHUK
 } COMM_PACKET_ID;
 
+// CAN commands
+typedef enum {
+	CAN_PACKET_SET_DUTY = 0,
+	CAN_PACKET_SET_CURRENT,
+	CAN_PACKET_SET_CURRENT_BRAKE,
+	CAN_PACKET_SET_RPM
+} CAN_PACKET_ID;
+
 // Logged fault data
 typedef struct {
 	mc_fault_code fault;

halconf.h

@@ -66,7 +66,7 @@
  * @brief   Enables the CAN subsystem.
  */
 #if !defined(HAL_USE_CAN) || defined(__DOXYGEN__)
-#define HAL_USE_CAN                 FALSE
+#define HAL_USE_CAN                 TRUE
 #endif
 
 /**

main.c

@@ -35,6 +35,7 @@
 #include "packet.h"
 #include "commands.h"
 #include "timeout.h"
+#include "comm_can.h"
 
 /*
  * Timers used:
@@ -44,6 +45,16 @@
  * TIM4: mcpwm
  * TIM8: mcpwm
  * TIM3: servo_dec
+ *
+ * DMA/stream	Device		Function
+ * 1, 2			I2C1		Nunchuk, temp on rev 4.5
+ * 1, 7			I2C1		Nunchuk, temp on rev 4.5
+ * 1, 1			UART3		HW_R2
+ * 1, 3			UART3		HW_R2
+ * 2, 2			UART6		Other HW
+ * 2, 7			UART6		Other HW
+ * 2, 4			ADC			mcpwm
+ *
  */
 
 /*
@@ -282,6 +293,7 @@ int main(void) {
 
 	commands_init();
 	comm_usb_init();
+	comm_can_init();
 
 	app_configuration appconf;
 	conf_general_read_app_configuration(&appconf);

mcuconf.h

@@ -86,7 +86,7 @@
 /*
  * CAN driver system settings.
  */
-#define STM32_CAN_USE_CAN1                  FALSE
+#define STM32_CAN_USE_CAN1                  TRUE
 #define STM32_CAN_USE_CAN2                  FALSE
 #define STM32_CAN_CAN1_IRQ_PRIORITY         11
 #define STM32_CAN_CAN2_IRQ_PRIORITY         11

stm32f4xx_conf.h

@@ -32,7 +32,7 @@
 /* Includes ------------------------------------------------------------------*/
 /* Uncomment the line below to enable peripheral header file inclusion */
 #include "stm32f4xx_adc.h"
-#include "stm32f4xx_can.h"
+//#include "stm32f4xx_can.h"
 #include "stm32f4xx_crc.h"
 #include "stm32f4xx_cryp.h"
 #include "stm32f4xx_dac.h"