sl-firmware
f59bc9931e
- CAN1_SCE_IRQHandler: detects bus-off/error-passive/error-warning from ESR - can_driver_watchdog_tick(): polls ESR each cycle, auto-restarts after CAN_WDOG_RESTART_MS (200ms) - can_wdog_t: tracks restart_count, busoff_count, errpassive_count, errwarn_count, tec, rec - JLink TLM code 0x8F (JLINK_TLM_CAN_WDOG) with jlink_send_can_wdog_tlm() - main.c: calls watchdog_tick() each loop, sends CAN wdog TLM at 1 Hz - TEST_HOST: inject_esr() stub + busoff_pending flag fixes t=0 sentinel ambiguity - test/test_can_watchdog.c: 23 unit tests, all pass Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
55 lines
2.2 KiB
C
55 lines
2.2 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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#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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#define CAN_ID_VEL_CMD_BASE 0x100u
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#define CAN_ID_ENABLE_CMD_BASE 0x110u
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#define CAN_ID_FEEDBACK_BASE 0x200u
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#define CAN_FILTER_STDID 0x200u
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#define CAN_FILTER_MASK 0x7E0u
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#define CAN_PRESCALER 6u
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#define CAN_TX_RATE_HZ 100u
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#define CAN_NODE_TIMEOUT_MS 100u
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#define CAN_WDOG_RESTART_MS 200u
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typedef struct { int16_t velocity_rpm; int16_t torque_x100; } can_cmd_t;
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typedef struct {
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int16_t velocity_rpm; int16_t current_ma; int16_t position_x100;
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int8_t temperature_c; uint8_t fault; uint32_t last_rx_ms;
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} can_feedback_t;
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typedef struct {
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uint32_t tx_count; uint32_t rx_count; uint16_t err_count;
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uint8_t bus_off; uint8_t _pad;
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} can_stats_t;
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typedef enum {
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CAN_ERR_NOMINAL = 0u, CAN_ERR_WARNING = 1u,
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CAN_ERR_ERROR_PASSIVE = 2u, CAN_ERR_BUS_OFF = 3u,
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} can_error_state_t;
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typedef struct {
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uint32_t restart_count; uint32_t busoff_count;
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uint16_t errpassive_count; uint16_t errwarn_count;
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can_error_state_t error_state; uint8_t tec; uint8_t rec; uint8_t busoff_pending;
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uint32_t busoff_ms;
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} can_wdog_t;
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void can_driver_init(void);
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void can_driver_send_cmd(uint8_t node_id, const can_cmd_t *cmd);
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void can_driver_send_enable(uint8_t node_id, bool enable);
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bool can_driver_get_feedback(uint8_t node_id, can_feedback_t *out);
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bool can_driver_is_alive(uint8_t node_id, uint32_t now_ms);
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void can_driver_get_stats(can_stats_t *out);
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void can_driver_process(void);
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can_error_state_t can_driver_watchdog_tick(uint32_t now_ms);
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void can_driver_get_wdog(can_wdog_t *out);
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#ifdef TEST_HOST
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void can_driver_inject_esr(uint32_t esr_val);
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#endif
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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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typedef void (*can_std_frame_cb_t)(uint16_t std_id, const uint8_t *data, uint8_t len);
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void can_driver_set_ext_cb(can_ext_frame_cb_t cb);
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void can_driver_set_std_cb(can_std_frame_cb_t cb);
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void can_driver_send_ext(uint32_t ext_id, const uint8_t *data, uint8_t len);
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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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