mirror of https://github.com/rusefi/bldc.git
132 lines
3.1 KiB
C
132 lines
3.1 KiB
C
/*
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Copyright 2022 Benjamin Vedder benjamin@vedder.se
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This file is part of the VESC firmware.
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The VESC firmware is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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The VESC firmware is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <string.h>
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#include "log.h"
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#include "comm_can.h"
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#include "commands.h"
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#include "buffer.h"
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#include "datatypes.h"
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#include "mempools.h"
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void log_start(
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int can_id,
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int field_num,
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float rate_hz,
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bool append_time,
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bool append_gnss,
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bool append_gnss_time) {
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int32_t ind = 0;
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uint8_t buffer[20];
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buffer[ind++] = COMM_LOG_START;
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buffer_append_int16(buffer, field_num, &ind);
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buffer_append_float32_auto(buffer, rate_hz, &ind);
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buffer[ind++] = append_time;
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buffer[ind++] = append_gnss;
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buffer[ind++] = append_gnss_time;
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if (can_id >= 0 && can_id < 255) {
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comm_can_send_buffer(can_id, buffer, ind, 0);
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} else {
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commands_send_packet(buffer, ind);
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}
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}
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void log_stop(int can_id) {
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int32_t ind = 0;
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uint8_t buffer[10];
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buffer[ind++] = COMM_LOG_STOP;
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if (can_id >= 0 && can_id < 255) {
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comm_can_send_buffer(can_id, buffer, ind, 0);
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} else {
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commands_send_packet(buffer, ind);
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}
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}
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void log_config_field(
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int can_id,
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int field_ind,
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char *key,
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char *name,
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char *unit,
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int precision,
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bool is_relative,
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bool is_timestamp) {
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size_t key_len = strlen(key);
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size_t name_len = strlen(name);
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size_t unit_len = strlen(unit);
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if ((key_len + name_len + unit_len) > 400) {
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return;
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}
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int32_t ind = 0;
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uint8_t *buffer = mempools_get_packet_buffer();
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buffer[ind++] = COMM_LOG_CONFIG_FIELD;
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buffer_append_int16(buffer, field_ind, &ind);
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strcpy((char*)(buffer + ind), key); ind += key_len + 1;
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strcpy((char*)(buffer + ind), name); ind += name_len + 1;
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strcpy((char*)(buffer + ind), unit); ind += unit_len + 1;
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buffer[ind++] = precision;
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buffer[ind++] = is_relative;
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buffer[ind++] = is_timestamp;
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if (can_id >= 0 && can_id < 255) {
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comm_can_send_buffer(can_id, buffer, ind, 0);
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} else {
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commands_send_packet(buffer, ind);
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}
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mempools_free_packet_buffer(buffer);
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}
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void log_send_samples_f32(
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int can_id,
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int field_start,
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float *samples,
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int sample_num) {
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if (sample_num > 100) {
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return;
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}
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int32_t ind = 0;
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uint8_t *buffer = mempools_get_packet_buffer();
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buffer[ind++] = COMM_LOG_DATA_F32;
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buffer_append_int16(buffer, field_start, &ind);
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for (int i = 0;i < sample_num;i++) {
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buffer_append_float32_auto(buffer, samples[i], &ind);
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}
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if (can_id >= 0 && can_id < 255) {
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comm_can_send_buffer(can_id, buffer, ind, 0);
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} else {
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commands_send_packet(buffer, ind);
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}
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mempools_free_packet_buffer(buffer);
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}
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