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refactor CAN

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This commit is contained in:
Samuel Sadok
2020-12-03 12:53:54 +01:00
parent 520783d4b6
commit 4e350823b4
14 changed files with 362 additions and 279 deletions
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Firmware/MotorControl/main.cpp
+5 -16
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@@ -28,7 +28,7 @@ extern char _estack; // provided by the linker script
ODriveCAN::Config_t can_config;
ODriveCAN *odCAN = nullptr;
CANSimple *can_simple = nullptr;
ODrive odrv{};
@@ -146,7 +146,7 @@ static void config_clear_all() {
}
static bool config_apply_all() {
bool success = true;
bool success = odrv.can_.apply_config();
for (size_t i = 0; (i < AXIS_COUNT) && success; ++i) {
success = encoders[i].apply_config(motors[i].config_.motor_type)
&& axes[i].controller_.apply_config()
@@ -266,19 +266,19 @@ void vApplicationIdleHook(void) {
odrv.system_stats_.max_stack_usage_usb = stack_size_usb_thread - uxTaskGetStackHighWaterMark(usb_thread) * sizeof(StackType_t);
odrv.system_stats_.max_stack_usage_uart = stack_size_uart_thread - uxTaskGetStackHighWaterMark(uart_thread) * sizeof(StackType_t);
odrv.system_stats_.max_stack_usage_startup = stack_size_default_task - uxTaskGetStackHighWaterMark(defaultTaskHandle) * sizeof(StackType_t);
odrv.system_stats_.max_stack_usage_can = odCAN ? (odCAN->stack_size_ - uxTaskGetStackHighWaterMark(odCAN->thread_id_) * sizeof(StackType_t)) : 0;
odrv.system_stats_.max_stack_usage_can = odrv.can_.stack_size_ - uxTaskGetStackHighWaterMark(odrv.can_.thread_id_) * sizeof(StackType_t);
odrv.system_stats_.stack_size_axis = axes[0].stack_size_;
odrv.system_stats_.stack_size_usb = stack_size_usb_thread;
odrv.system_stats_.stack_size_uart = stack_size_uart_thread;
odrv.system_stats_.stack_size_startup = stack_size_default_task;
odrv.system_stats_.stack_size_can = odCAN ? odCAN->stack_size_ : 0;
odrv.system_stats_.stack_size_can = odrv.can_.stack_size_;
odrv.system_stats_.prio_axis = osThreadGetPriority(axes[0].thread_id_);
odrv.system_stats_.prio_usb = osThreadGetPriority(usb_thread);
odrv.system_stats_.prio_uart = osThreadGetPriority(uart_thread);
odrv.system_stats_.prio_startup = osThreadGetPriority(defaultTaskHandle);
odrv.system_stats_.prio_can = odCAN ? osThreadGetPriority(odCAN->thread_id_) : 0;
odrv.system_stats_.prio_can = osThreadGetPriority(odrv.can_.thread_id_);
status_led_controller.update();
}
@@ -829,17 +829,6 @@ extern "C" int main(void) {
sem_can = osSemaphoreCreate(osSemaphore(sem_can), 1);
osSemaphoreWait(sem_can, 0);
// Construct all objects.
if (odrv.config_.enable_can_a) {
switch (can_config.protocol) {
case ODriveIntf::CanIntf::Protocol::PROTOCOL_SIMPLE:
odCAN = new CANSimple(can_config, &hcan1);
break;
default:
break;
}
}
// Create main thread
osThreadDef(defaultTask, rtos_main, osPriorityNormal, 0, stack_size_default_task / sizeof(StackType_t));
defaultTaskHandle = osThreadCreate(osThread(defaultTask), NULL);