Added handbrake function to the simple CAN interface

CHANGELOG

@@ -1,3 +1,6 @@
+=== FW 3.36 ===
+* Added handbrake current commands to the simple CAN interface.
+
 === FW 3.35 ===
 * Added option to disable nRF transmission (option in Transmit Power parameter).
 * Fixed servo output driver for all hardwares and removed software servo driver.

comm_can.c

@@ -171,31 +171,31 @@ static THD_FUNCTION(cancom_process_thread, arg) {
 					switch (cmd) {
 					case CAN_PACKET_SET_DUTY:
 						ind = 0;
-						mc_interface_set_duty((float)buffer_get_int32(rxmsg.data8, &ind) / 100000.0);
+						mc_interface_set_duty(buffer_get_float32(rxmsg.data8, 1e5, &ind));
 						timeout_reset();
 						break;
 
 					case CAN_PACKET_SET_CURRENT:
 						ind = 0;
-						mc_interface_set_current((float)buffer_get_int32(rxmsg.data8, &ind) / 1000.0);
+						mc_interface_set_current(buffer_get_float32(rxmsg.data8, 1e3, &ind));
 						timeout_reset();
 						break;
 
 					case CAN_PACKET_SET_CURRENT_BRAKE:
 						ind = 0;
-						mc_interface_set_brake_current((float)buffer_get_int32(rxmsg.data8, &ind) / 1000.0);
+						mc_interface_set_brake_current(buffer_get_float32(rxmsg.data8, 1e3, &ind));
 						timeout_reset();
 						break;
 
 					case CAN_PACKET_SET_RPM:
 						ind = 0;
-						mc_interface_set_pid_speed((float)buffer_get_int32(rxmsg.data8, &ind));
+						mc_interface_set_pid_speed(buffer_get_float32(rxmsg.data8, 1e0, &ind));
 						timeout_reset();
 						break;
 
 					case CAN_PACKET_SET_POS:
 						ind = 0;
-						mc_interface_set_pid_pos((float)buffer_get_int32(rxmsg.data8, &ind) / 1000000.0);
+						mc_interface_set_pid_pos(buffer_get_float32(rxmsg.data8, 1e6, &ind));
 						timeout_reset();
 						break;
 
@@ -263,6 +263,18 @@ static THD_FUNCTION(cancom_process_thread, arg) {
 						timeout_reset();
 						break;
 
+					case CAN_PACKET_SET_CURRENT_HANDBRAKE:
+						ind = 0;
+						mc_interface_set_handbrake(buffer_get_float32(rxmsg.data8, 1e3, &ind));
+						timeout_reset();
+						break;
+
+					case CAN_PACKET_SET_CURRENT_HANDBRAKE_REL:
+						ind = 0;
+						mc_interface_set_handbrake_rel(buffer_get_float32(rxmsg.data8, 1e5, &ind));
+						timeout_reset();
+						break;
+
 					default:
 						break;
 					}
@@ -539,6 +551,40 @@ void comm_can_set_current_brake_rel(uint8_t controller_id, float current_rel) {
 			((uint32_t)CAN_PACKET_SET_CURRENT_BRAKE_REL << 8), buffer, send_index);
 }
 
+/**
+ * Set handbrake current.
+ *
+ * @param controller_id
+ * The ID of the VESC to set the handbrake current on.
+ *
+ * @param current_rel
+ * The handbrake current value
+ */
+void comm_can_set_handbrake(uint8_t controller_id, float current) {
+	int32_t send_index = 0;
+	uint8_t buffer[4];
+	buffer_append_float32(buffer, current, 1e3, &send_index);
+	comm_can_transmit_eid(controller_id |
+			((uint32_t)CAN_PACKET_SET_CURRENT_HANDBRAKE << 8), buffer, send_index);
+}
+
+/**
+ * Set handbrake current relative to the minimum current limit.
+ *
+ * @param controller_id
+ * The ID of the VESC to set the handbrake current on.
+ *
+ * @param current_rel
+ * The relative handbrake current value, range [0.0 1.0]
+ */
+void comm_can_set_handbrake_rel(uint8_t controller_id, float current_rel) {
+	int32_t send_index = 0;
+	uint8_t buffer[4];
+	buffer_append_float32(buffer, current_rel, 1e5, &send_index);
+	comm_can_transmit_eid(controller_id |
+			((uint32_t)CAN_PACKET_SET_CURRENT_HANDBRAKE_REL << 8), buffer, send_index);
+}
+
 /**
  * Get status message by index.
  *

datatypes.h

@@ -498,7 +498,9 @@ typedef enum {
 	CAN_PACKET_PROCESS_SHORT_BUFFER,
 	CAN_PACKET_STATUS,
 	CAN_PACKET_SET_CURRENT_REL,
-	CAN_PACKET_SET_CURRENT_BRAKE_REL
+	CAN_PACKET_SET_CURRENT_BRAKE_REL,
+	CAN_PACKET_SET_CURRENT_HANDBRAKE,
+	CAN_PACKET_SET_CURRENT_HANDBRAKE_REL
 } CAN_PACKET_ID;
 
 // Logged fault data

mc_interface.c

@@ -466,6 +466,12 @@ void mc_interface_set_brake_current_rel(float val) {
 	mc_interface_set_brake_current(val * m_conf.lo_current_motor_max_now);
 }
 
+/**
+ * Set open loop current vector to brake motor.
+ *
+ * @param current
+ * The current value.
+ */
 void mc_interface_set_handbrake(float current) {
 	if (mc_interface_try_input()) {
 		return;
@@ -487,6 +493,16 @@ void mc_interface_set_handbrake(float current) {
 	}
 }
 
+/**
+ * Set handbrake brake current relative to the minimum current limit.
+ *
+ * @param current
+ * The relative current value, range [0.0 1.0]
+ */
+void mc_interface_set_handbrake_rel(float val) {
+	mc_interface_set_handbrake(val * fabsf(m_conf.lo_current_motor_min_now));
+}
+
 void mc_interface_brake_now(void) {
 	mc_interface_set_duty(0.0);
 }

mc_interface.h

@@ -43,6 +43,7 @@ void mc_interface_set_brake_current(float current);
 void mc_interface_set_current_rel(float val);
 void mc_interface_set_brake_current_rel(float val);
 void mc_interface_set_handbrake(float current);
+void mc_interface_set_handbrake_rel(float val);
 void mc_interface_brake_now(void);
 void mc_interface_release_motor(void);
 float mc_interface_get_duty_cycle_set(void);