mirror of https://github.com/rusefi/bldc.git
Dual motor can-fix 2, indentation fix
This commit is contained in:
Benjamin Vedder
parent
15d26d95bc
commit
57c675f868
382
comm/comm_can.c
382
comm/comm_can.c
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@ -1571,7 +1571,7 @@ static void decode_msg(uint32_t eid, uint8_t *data8, int len, bool is_replaced)
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}
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break;
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case CAN_PACKET_PROCESS_RX_BUFFER:
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case CAN_PACKET_PROCESS_RX_BUFFER: {
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ind = 0;
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unsigned int last_id = data8[ind++];
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commands_send = data8[ind++];
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@ -1618,13 +1618,17 @@ static void decode_msg(uint32_t eid, uint8_t *data8, int len, bool is_replaced)
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break;
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}
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}
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break;
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} break;
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case CAN_PACKET_PROCESS_SHORT_BUFFER:
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case CAN_PACKET_PROCESS_SHORT_BUFFER: {
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ind = 0;
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rx_buffer_last_id = data8[ind++];
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unsigned int last_id = data8[ind++];
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commands_send = data8[ind++];
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if (commands_send == 0) {
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rx_buffer_last_id = last_id;
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}
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if (is_replaced) {
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if (data8[ind] == COMM_JUMP_TO_BOOTLOADER ||
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data8[ind] == COMM_ERASE_NEW_APP ||
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@ -1648,227 +1652,227 @@ static void decode_msg(uint32_t eid, uint8_t *data8, int len, bool is_replaced)
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default:
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break;
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}
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} break;
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case CAN_PACKET_SET_CURRENT_REL:
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ind = 0;
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mc_interface_set_current_rel(buffer_get_float32(data8, 1e5, &ind));
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if (len >= 6) {
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mc_interface_set_current_off_delay(buffer_get_float16(data8, 1e3, &ind));
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}
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timeout_reset();
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break;
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case CAN_PACKET_SET_CURRENT_REL:
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ind = 0;
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mc_interface_set_current_rel(buffer_get_float32(data8, 1e5, &ind));
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case CAN_PACKET_SET_CURRENT_BRAKE_REL:
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ind = 0;
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mc_interface_set_brake_current_rel(buffer_get_float32(data8, 1e5, &ind));
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timeout_reset();
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break;
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if (len >= 6) {
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mc_interface_set_current_off_delay(buffer_get_float16(data8, 1e3, &ind));
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case CAN_PACKET_SET_CURRENT_HANDBRAKE:
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ind = 0;
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mc_interface_set_handbrake(buffer_get_float32(data8, 1e3, &ind));
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timeout_reset();
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break;
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case CAN_PACKET_SET_CURRENT_HANDBRAKE_REL:
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ind = 0;
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mc_interface_set_handbrake_rel(buffer_get_float32(data8, 1e5, &ind));
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timeout_reset();
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break;
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case CAN_PACKET_PING: {
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uint8_t buffer[2];
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buffer[0] = is_replaced ? utils_second_motor_id() : id;
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buffer[1] = HW_TYPE_VESC;
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comm_can_transmit_eid_replace(data8[0] |
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((uint32_t)CAN_PACKET_PONG << 8), buffer, 2, true, 0);
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} break;
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case CAN_PACKET_PONG:
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if (ping_tp && ping_hw_last_id == data8[0]) {
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if (len >= 2) {
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ping_hw_last = data8[1];
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} else {
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ping_hw_last = HW_TYPE_VESC;
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}
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chEvtSignal(ping_tp, 1 << 29);
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}
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break;
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timeout_reset();
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case CAN_PACKET_DETECT_APPLY_ALL_FOC: {
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if (is_replaced) {
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break;
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}
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case CAN_PACKET_SET_CURRENT_BRAKE_REL:
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ind = 0;
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mc_interface_set_brake_current_rel(buffer_get_float32(data8, 1e5, &ind));
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timeout_reset();
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ind = 1;
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bool activate_status = data8[ind++];
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float max_power_loss = buffer_get_float32(data8, 1e3, &ind);
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int res = conf_general_detect_apply_all_foc(max_power_loss, true, false);
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if (res >= 0 && activate_status) {
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app_configuration *appconf = mempools_alloc_appconf();
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*appconf = *app_get_configuration();
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if (appconf->can_status_msgs_r1 != 0b00001111) {
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appconf->can_status_msgs_r1 = 0b00001111;
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conf_general_store_app_configuration(appconf);
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app_set_configuration(appconf);
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}
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mempools_free_appconf(appconf);
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}
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int8_t buffer[1];
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buffer[0] = res;
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comm_can_transmit_eid_replace(data8[0] |
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((uint32_t)CAN_PACKET_DETECT_APPLY_ALL_FOC_RES << 8), (uint8_t*)buffer, 1, true, 0);
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} break;
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case CAN_PACKET_DETECT_APPLY_ALL_FOC_RES: {
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if (is_replaced) {
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break;
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}
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case CAN_PACKET_SET_CURRENT_HANDBRAKE:
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ind = 0;
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mc_interface_set_handbrake(buffer_get_float32(data8, 1e3, &ind));
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timeout_reset();
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break;
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detect_all_foc_res[detect_all_foc_res_index++] = (int8_t)data8[0];
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detect_all_foc_res_index %= sizeof(detect_all_foc_res);
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} break;
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case CAN_PACKET_SET_CURRENT_HANDBRAKE_REL:
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ind = 0;
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mc_interface_set_handbrake_rel(buffer_get_float32(data8, 1e5, &ind));
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timeout_reset();
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break;
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case CAN_PACKET_CONF_CURRENT_LIMITS:
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case CAN_PACKET_CONF_STORE_CURRENT_LIMITS: {
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ind = 0;
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float min = buffer_get_float32(data8, 1e3, &ind);
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float max = buffer_get_float32(data8, 1e3, &ind);
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case CAN_PACKET_PING: {
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uint8_t buffer[2];
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buffer[0] = is_replaced ? utils_second_motor_id() : id;
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buffer[1] = HW_TYPE_VESC;
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comm_can_transmit_eid_replace(data8[0] |
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((uint32_t)CAN_PACKET_PONG << 8), buffer, 2, true, 0);
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} break;
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mc_configuration *mcconf = mempools_alloc_mcconf();
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*mcconf = *mc_interface_get_configuration();
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case CAN_PACKET_PONG:
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if (ping_tp && ping_hw_last_id == data8[0]) {
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if (len >= 2) {
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ping_hw_last = data8[1];
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} else {
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ping_hw_last = HW_TYPE_VESC;
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}
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chEvtSignal(ping_tp, 1 << 29);
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}
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break;
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if (mcconf->l_current_min != min || mcconf->l_current_max != max) {
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mcconf->l_current_min = min;
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mcconf->l_current_max = max;
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case CAN_PACKET_DETECT_APPLY_ALL_FOC: {
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if (is_replaced) {
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break;
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if (cmd == CAN_PACKET_CONF_STORE_CURRENT_LIMITS) {
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conf_general_store_mc_configuration(mcconf,
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mc_interface_get_motor_thread() == 2);
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}
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ind = 1;
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bool activate_status = data8[ind++];
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float max_power_loss = buffer_get_float32(data8, 1e3, &ind);
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int res = conf_general_detect_apply_all_foc(max_power_loss, true, false);
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if (res >= 0 && activate_status) {
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app_configuration *appconf = mempools_alloc_appconf();
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*appconf = *app_get_configuration();
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mc_interface_set_configuration(mcconf);
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}
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if (appconf->can_status_msgs_r1 != 0b00001111) {
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appconf->can_status_msgs_r1 = 0b00001111;
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conf_general_store_app_configuration(appconf);
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app_set_configuration(appconf);
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}
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mempools_free_mcconf(mcconf);
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} break;
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mempools_free_appconf(appconf);
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case CAN_PACKET_CONF_CURRENT_LIMITS_IN:
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case CAN_PACKET_CONF_STORE_CURRENT_LIMITS_IN: {
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ind = 0;
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float min = buffer_get_float32(data8, 1e3, &ind);
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float max = buffer_get_float32(data8, 1e3, &ind);
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mc_configuration *mcconf = mempools_alloc_mcconf();
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*mcconf = *mc_interface_get_configuration();
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if (mcconf->l_in_current_min != min || mcconf->l_in_current_max != max) {
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mcconf->l_in_current_min = min;
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mcconf->l_in_current_max = max;
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if (cmd == CAN_PACKET_CONF_STORE_CURRENT_LIMITS_IN) {
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conf_general_store_mc_configuration(mcconf,
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mc_interface_get_motor_thread() == 2);
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}
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int8_t buffer[1];
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buffer[0] = res;
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comm_can_transmit_eid_replace(data8[0] |
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((uint32_t)CAN_PACKET_DETECT_APPLY_ALL_FOC_RES << 8), (uint8_t*)buffer, 1, true, 0);
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} break;
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mc_interface_set_configuration(mcconf);
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}
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case CAN_PACKET_DETECT_APPLY_ALL_FOC_RES: {
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if (is_replaced) {
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break;
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mempools_free_mcconf(mcconf);
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} break;
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case CAN_PACKET_CONF_FOC_ERPMS:
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case CAN_PACKET_CONF_STORE_FOC_ERPMS: {
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ind = 0;
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float foc_openloop_rpm = buffer_get_float32(data8, 1e3, &ind);
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float foc_sl_erpm = buffer_get_float32(data8, 1e3, &ind);
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mc_configuration *mcconf = mempools_alloc_mcconf();
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*mcconf = *mc_interface_get_configuration();
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if (mcconf->foc_openloop_rpm != foc_openloop_rpm ||
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mcconf->foc_sl_erpm != foc_sl_erpm) {
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mcconf->foc_openloop_rpm = foc_openloop_rpm;
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mcconf->foc_sl_erpm = foc_sl_erpm;
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if (cmd == CAN_PACKET_CONF_STORE_FOC_ERPMS) {
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conf_general_store_mc_configuration(mcconf,
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mc_interface_get_motor_thread() == 2);
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}
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detect_all_foc_res[detect_all_foc_res_index++] = (int8_t)data8[0];
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detect_all_foc_res_index %= sizeof(detect_all_foc_res);
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} break;
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mc_interface_set_configuration(mcconf);
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}
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case CAN_PACKET_CONF_CURRENT_LIMITS:
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case CAN_PACKET_CONF_STORE_CURRENT_LIMITS: {
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ind = 0;
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float min = buffer_get_float32(data8, 1e3, &ind);
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float max = buffer_get_float32(data8, 1e3, &ind);
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mempools_free_mcconf(mcconf);
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} break;
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mc_configuration *mcconf = mempools_alloc_mcconf();
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*mcconf = *mc_interface_get_configuration();
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case CAN_PACKET_POLL_TS5700N8501_STATUS: {
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comm_can_transmit_eid_replace(app_get_configuration()->controller_id |
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((uint32_t)CAN_PACKET_POLL_TS5700N8501_STATUS << 8),
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enc_ts5700n8501_get_raw_status(&encoder_cfg_TS5700N8501), 8, true, 0);
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} break;
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if (mcconf->l_current_min != min || mcconf->l_current_max != max) {
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mcconf->l_current_min = min;
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mcconf->l_current_max = max;
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case CAN_PACKET_CONF_BATTERY_CUT:
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case CAN_PACKET_CONF_STORE_BATTERY_CUT: {
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ind = 0;
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float start = buffer_get_float32(data8, 1e3, &ind);
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float end = buffer_get_float32(data8, 1e3, &ind);
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if (cmd == CAN_PACKET_CONF_STORE_CURRENT_LIMITS) {
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conf_general_store_mc_configuration(mcconf,
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mc_interface_get_motor_thread() == 2);
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}
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mc_configuration *mcconf = mempools_alloc_mcconf();
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*mcconf = *mc_interface_get_configuration();
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mc_interface_set_configuration(mcconf);
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if (mcconf->l_battery_cut_start != start || mcconf->l_battery_cut_end != end) {
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mcconf->l_battery_cut_start = start;
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mcconf->l_battery_cut_end = end;
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if (cmd == CAN_PACKET_CONF_STORE_BATTERY_CUT) {
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conf_general_store_mc_configuration(mcconf,
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mc_interface_get_motor_thread() == 2);
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}
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mempools_free_mcconf(mcconf);
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} break;
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mc_interface_set_configuration(mcconf);
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}
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case CAN_PACKET_CONF_CURRENT_LIMITS_IN:
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case CAN_PACKET_CONF_STORE_CURRENT_LIMITS_IN: {
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ind = 0;
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float min = buffer_get_float32(data8, 1e3, &ind);
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float max = buffer_get_float32(data8, 1e3, &ind);
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mempools_free_mcconf(mcconf);
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} break;
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mc_configuration *mcconf = mempools_alloc_mcconf();
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*mcconf = *mc_interface_get_configuration();
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if (mcconf->l_in_current_min != min || mcconf->l_in_current_max != max) {
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mcconf->l_in_current_min = min;
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mcconf->l_in_current_max = max;
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if (cmd == CAN_PACKET_CONF_STORE_CURRENT_LIMITS_IN) {
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conf_general_store_mc_configuration(mcconf,
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mc_interface_get_motor_thread() == 2);
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}
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mc_interface_set_configuration(mcconf);
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}
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mempools_free_mcconf(mcconf);
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} break;
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case CAN_PACKET_CONF_FOC_ERPMS:
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case CAN_PACKET_CONF_STORE_FOC_ERPMS: {
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ind = 0;
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float foc_openloop_rpm = buffer_get_float32(data8, 1e3, &ind);
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float foc_sl_erpm = buffer_get_float32(data8, 1e3, &ind);
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mc_configuration *mcconf = mempools_alloc_mcconf();
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*mcconf = *mc_interface_get_configuration();
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if (mcconf->foc_openloop_rpm != foc_openloop_rpm ||
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mcconf->foc_sl_erpm != foc_sl_erpm) {
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mcconf->foc_openloop_rpm = foc_openloop_rpm;
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mcconf->foc_sl_erpm = foc_sl_erpm;
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if (cmd == CAN_PACKET_CONF_STORE_FOC_ERPMS) {
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conf_general_store_mc_configuration(mcconf,
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mc_interface_get_motor_thread() == 2);
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}
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mc_interface_set_configuration(mcconf);
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}
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mempools_free_mcconf(mcconf);
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} break;
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case CAN_PACKET_POLL_TS5700N8501_STATUS: {
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comm_can_transmit_eid_replace(app_get_configuration()->controller_id |
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((uint32_t)CAN_PACKET_POLL_TS5700N8501_STATUS << 8),
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enc_ts5700n8501_get_raw_status(&encoder_cfg_TS5700N8501), 8, true, 0);
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} break;
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case CAN_PACKET_CONF_BATTERY_CUT:
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case CAN_PACKET_CONF_STORE_BATTERY_CUT: {
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ind = 0;
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float start = buffer_get_float32(data8, 1e3, &ind);
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float end = buffer_get_float32(data8, 1e3, &ind);
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mc_configuration *mcconf = mempools_alloc_mcconf();
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*mcconf = *mc_interface_get_configuration();
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if (mcconf->l_battery_cut_start != start || mcconf->l_battery_cut_end != end) {
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mcconf->l_battery_cut_start = start;
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mcconf->l_battery_cut_end = end;
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if (cmd == CAN_PACKET_CONF_STORE_BATTERY_CUT) {
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conf_general_store_mc_configuration(mcconf,
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mc_interface_get_motor_thread() == 2);
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}
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mc_interface_set_configuration(mcconf);
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}
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mempools_free_mcconf(mcconf);
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} break;
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case CAN_PACKET_SHUTDOWN: {
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case CAN_PACKET_SHUTDOWN: {
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#ifdef HW_SHUTDOWN_HOLD_ON
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SHUTDOWN_SET_SAMPLING_DISABLED(true);
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mc_interface_lock();
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DISABLE_GATE();
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HW_SHUTDOWN_HOLD_OFF();
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chThdSleepMilliseconds(5000);
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HW_SHUTDOWN_HOLD_ON();
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ENABLE_GATE();
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mc_interface_unlock();
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SHUTDOWN_SET_SAMPLING_DISABLED(false);
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SHUTDOWN_SET_SAMPLING_DISABLED(true);
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mc_interface_lock();
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DISABLE_GATE();
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HW_SHUTDOWN_HOLD_OFF();
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chThdSleepMilliseconds(5000);
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HW_SHUTDOWN_HOLD_ON();
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ENABLE_GATE();
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mc_interface_unlock();
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SHUTDOWN_SET_SAMPLING_DISABLED(false);
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#endif
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} break;
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} break;
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case CAN_PACKET_UPDATE_PID_POS_OFFSET: {
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ind = 0;
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float angle_now = buffer_get_float32(data8, 1e4, &ind);
|
||||
bool store = data8[ind++];
|
||||
mc_interface_update_pid_pos_offset(angle_now, store);
|
||||
} break;
|
||||
case CAN_PACKET_UPDATE_PID_POS_OFFSET: {
|
||||
ind = 0;
|
||||
float angle_now = buffer_get_float32(data8, 1e4, &ind);
|
||||
bool store = data8[ind++];
|
||||
mc_interface_update_pid_pos_offset(angle_now, store);
|
||||
} break;
|
||||
|
||||
case CAN_PACKET_POLL_ROTOR_POS: {
|
||||
uint8_t buffer[4];
|
||||
int32_t index = 0;
|
||||
buffer_append_int32(buffer, (int32_t)(encoder_read_deg() * 100000.0), &index);
|
||||
comm_can_transmit_eid_replace(app_get_configuration()->controller_id |
|
||||
((uint32_t)CAN_PACKET_POLL_ROTOR_POS << 8), (uint8_t*)buffer, 4, true, 0);
|
||||
} break;
|
||||
case CAN_PACKET_POLL_ROTOR_POS: {
|
||||
uint8_t buffer[4];
|
||||
int32_t index = 0;
|
||||
buffer_append_int32(buffer, (int32_t)(encoder_read_deg() * 100000.0), &index);
|
||||
comm_can_transmit_eid_replace(app_get_configuration()->controller_id |
|
||||
((uint32_t)CAN_PACKET_POLL_ROTOR_POS << 8), (uint8_t*)buffer, 4, true, 0);
|
||||
} break;
|
||||
|
||||
default:
|
||||
break;
|
||||
default:
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
|
|
|
|||
Loading…
Reference in New Issue