sl-firmware
8bc2f9eeac
- can_driver: add filter bank 15 (all ext IDs → FIFO1) and widen bank 14 to accept all standard IDs; add can_driver_send_ext/std and ext/std frame callbacks (can_driver_set_ext_cb / can_driver_set_std_cb) - vesc_can: VESC 29-bit extended CAN protocol driver — send RPM to IDs 56 and 68 (FSESC 6.7 Pro Mini Dual), parse STATUS/STATUS_4/STATUS_5 big-endian payloads, alive timeout, JLINK_TLM_VESC_STATE at 1 Hz - orin_can: Orin↔FC standard CAN protocol — HEARTBEAT/DRIVE/MODE/ESTOP commands in, FC_STATUS + FC_VESC broadcast at 10 Hz - jlink: add JLINK_TLM_VESC_STATE (0x8E), jlink_tlm_vesc_state_t (22 bytes), jlink_send_vesc_state_tlm() - main: wire vesc_can_init/orin_can_init; replace can_driver_send_cmd with vesc_can_send_rpm; inject Orin CAN speed/steer into balance PID; add Orin CAN estop/clear handling; add orin_can_broadcast at 10 Hz - test: 56-test host-side suite for vesc_can; test/stubs/stm32f7xx_hal.h minimal HAL stub for all future host-side tests Safety: balance PID runs independently on Mamba — if Orin CAN link drops (orin_can_is_alive() == false) the robot continues balancing in-place. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
102 lines
3.6 KiB
C
102 lines
3.6 KiB
C
#ifndef CAN_DRIVER_H
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#define CAN_DRIVER_H
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#include <stdint.h>
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#include <stdbool.h>
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/* CAN bus driver for BLDC motor controllers (Issue #597)
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* CAN2 on PB12 (RX, AF9) / PB13 (TX, AF9) at 500 kbps
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* APB1 = 54 MHz: PSC=6, BS1=13tq, BS2=4tq, SJW=1tq → 18 tq/bit = 500 kbps
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*/
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/* Node IDs */
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#define CAN_NUM_MOTORS 2u
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#define CAN_NODE_LEFT 0u
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#define CAN_NODE_RIGHT 1u
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/* CAN frame IDs */
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#define CAN_ID_VEL_CMD_BASE 0x100u /* TX: 0x100 + node_id — velocity/torque command */
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#define CAN_ID_ENABLE_CMD_BASE 0x110u /* TX: 0x110 + node_id — enable/disable */
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#define CAN_ID_FEEDBACK_BASE 0x200u /* RX: 0x200 + node_id — position/velocity/current */
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/* Filter: accept standard IDs 0x200–0x21F */
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#define CAN_FILTER_STDID 0x200u
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#define CAN_FILTER_MASK 0x7E0u
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/* Bit timing (500 kbps @ 54 MHz APB1) */
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#define CAN_PRESCALER 6u
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/* TX rate */
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#define CAN_TX_RATE_HZ 100u
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/* Node alive timeout */
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#define CAN_NODE_TIMEOUT_MS 100u
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/* TX command frame (8 bytes payload, DLC=4 for vel cmd) */
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typedef struct {
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int16_t velocity_rpm; /* target RPM (+/- = fwd/rev) */
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int16_t torque_x100; /* torque limit × 100 (0 = unlimited) */
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} can_cmd_t;
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/* RX feedback frame (DLC=8) */
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typedef struct {
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int16_t velocity_rpm; /* actual RPM */
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int16_t current_ma; /* phase current in mA */
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int16_t position_x100; /* position × 100 (degrees or encoder counts) */
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int8_t temperature_c; /* controller temperature °C */
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uint8_t fault; /* fault flags (0 = healthy) */
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uint32_t last_rx_ms; /* HAL_GetTick() at last valid frame */
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} can_feedback_t;
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/* Bus statistics */
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typedef struct {
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uint32_t tx_count; /* frames transmitted */
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uint32_t rx_count; /* frames received */
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uint16_t err_count; /* HAL-level errors */
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uint8_t bus_off; /* 1 = bus-off state */
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uint8_t _pad;
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} can_stats_t;
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/* Initialise CAN2 peripheral, GPIO, and filter bank 14 */
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void can_driver_init(void);
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/* Send velocity+torque command to one node */
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void can_driver_send_cmd(uint8_t node_id, const can_cmd_t *cmd);
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/* Send enable/disable command to one node */
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void can_driver_send_enable(uint8_t node_id, bool enable);
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/* Copy latest feedback snapshot (returns false if node never heard from) */
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bool can_driver_get_feedback(uint8_t node_id, can_feedback_t *out);
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/* Returns true if node has been heard within CAN_NODE_TIMEOUT_MS */
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bool can_driver_is_alive(uint8_t node_id, uint32_t now_ms);
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/* Copy bus statistics snapshot */
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void can_driver_get_stats(can_stats_t *out);
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/* Drain RX FIFO0; call every main-loop tick */
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void can_driver_process(void);
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/* ---- Extended / standard frame support (Issue #674) ---- */
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/* Callback for extended-ID (29-bit) frames arriving in FIFO1 (VESC STATUS) */
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typedef void (*can_ext_frame_cb_t)(uint32_t ext_id, const uint8_t *data, uint8_t len);
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/* Callback for standard-ID (11-bit) frames arriving in FIFO0 (Orin commands) */
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typedef void (*can_std_frame_cb_t)(uint16_t std_id, const uint8_t *data, uint8_t len);
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/* Register callback for 29-bit extended frames (register before can_driver_init) */
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void can_driver_set_ext_cb(can_ext_frame_cb_t cb);
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/* Register callback for 11-bit standard frames (register before can_driver_init) */
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void can_driver_set_std_cb(can_std_frame_cb_t cb);
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/* Transmit a 29-bit extended-ID data frame (VESC RPM/current commands) */
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void can_driver_send_ext(uint32_t ext_id, const uint8_t *data, uint8_t len);
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/* Transmit an 11-bit standard-ID data frame (Orin telemetry broadcast) */
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void can_driver_send_std(uint16_t std_id, const uint8_t *data, uint8_t len);
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#endif /* CAN_DRIVER_H */
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