mirror of
https://github.com/odriverobotics/ODrive.git
synced 2026-09-12 14:27:20 +08:00
Samuel Sadok
caacde7544
When enabled, the USB CDC interface of the ODrive will run the ASCII protocol instead of the native protocol. In that case the native protocol can still be used on endpoints 0x03, 0x83. Truly concurrent use is not tested and thus not recommended.
193 lines
8.8 KiB
C++
193 lines
8.8 KiB
C++
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/* Includes ------------------------------------------------------------------*/
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#include "communication.h"
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#include "interface_usb.h"
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#include "interface_uart.h"
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#include "odrive_main.h"
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#include "protocol.hpp"
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#include "freertos_vars.h"
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#include "utils.h"
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#include "../build/version.h" // autogenerated based on Git state
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#include <cmsis_os.h>
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#include <memory>
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//#include <usbd_cdc_if.h>
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//#include <usb_device.h>
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//#include <usart.h>
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//#include <gpio.h>
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#include <type_traits>
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/* Private defines -----------------------------------------------------------*/
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/* Private macros ------------------------------------------------------------*/
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/* Private typedef -----------------------------------------------------------*/
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/* Global constant data ------------------------------------------------------*/
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/* Global variables ----------------------------------------------------------*/
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uint64_t serial_number;
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char serial_number_str[13]; // 12 digits + null termination
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/* Private constant data -----------------------------------------------------*/
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/* Private variables ---------------------------------------------------------*/
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#if HW_VERSION_MAJOR == 3
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// Determine start address of the OTP struct:
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// The OTP is organized into 16-byte blocks.
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// If the first block starts with "0xfe" we use the first block.
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// If the first block starts with "0x00" and the second block starts with "0xfe",
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// we use the second block. This gives the user the chance to screw up once.
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// If none of the above is the case, we consider the OTP invalid (otp_ptr will be NULL).
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const uint8_t* otp_ptr =
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(*(uint8_t*)FLASH_OTP_BASE == 0xfe) ? (uint8_t*)FLASH_OTP_BASE :
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(*(uint8_t*)FLASH_OTP_BASE != 0x00) ? NULL :
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(*(uint8_t*)(FLASH_OTP_BASE + 0x10) != 0xfe) ? NULL :
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(uint8_t*)(FLASH_OTP_BASE + 0x10);
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// Read hardware version from OTP if available, otherwise fall back
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// to software defined version.
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const uint8_t hw_version_major = otp_ptr ? otp_ptr[3] : HW_VERSION_MAJOR;
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const uint8_t hw_version_minor = otp_ptr ? otp_ptr[4] : HW_VERSION_MINOR;
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const uint8_t hw_version_variant = otp_ptr ? otp_ptr[5] : HW_VERSION_VOLTAGE;
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#else
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#error "not implemented"
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#endif
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// the corresponding macros are defined in the autogenerated version.h
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const uint8_t fw_version_major = FW_VERSION_MAJOR;
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const uint8_t fw_version_minor = FW_VERSION_MINOR;
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const uint8_t fw_version_revision = FW_VERSION_REVISION;
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const uint8_t fw_version_unreleased = FW_VERSION_UNRELEASED; // 0 for official releases, 1 otherwise
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osThreadId comm_thread;
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static uint32_t test_property = 0;
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/* Private function prototypes -----------------------------------------------*/
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/* Function implementations --------------------------------------------------*/
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void init_communication(void) {
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printf("hi!\r\n");
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// Start command handling thread
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osThreadDef(task_cmd_parse, communication_task, osPriorityNormal, 0, 5000 /* in 32-bit words */); // TODO: fix stack issues
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comm_thread = osThreadCreate(osThread(task_cmd_parse), NULL);
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}
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float oscilloscope[OSCILLOSCOPE_SIZE] = {0};
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size_t oscilloscope_pos = 0;
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// Helper class because the protocol library doesn't yet
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// support non-member functions
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// TODO: make this go away
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class StaticFunctions {
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public:
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void save_configuration_helper() { save_configuration(); }
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void erase_configuration_helper() { erase_configuration(); }
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void NVIC_SystemReset_helper() { NVIC_SystemReset(); }
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void enter_dfu_mode_helper() { enter_dfu_mode(); }
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float get_oscilloscope_val(uint32_t index) { return oscilloscope[index]; }
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int32_t test_function(int32_t delta) { static int cnt = 0; return cnt += delta; }
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} static_functions;
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// When adding new functions/variables to the protocol, be careful not to
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// blow the communication stack. You can check comm_stack_info to see
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// how much headroom you have.
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static inline auto make_obj_tree() {
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return make_protocol_member_list(
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make_protocol_ro_property("vbus_voltage", &vbus_voltage),
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make_protocol_ro_property("serial_number", &serial_number),
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make_protocol_ro_property("hw_version_major", &hw_version_major),
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make_protocol_ro_property("hw_version_minor", &hw_version_minor),
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make_protocol_ro_property("hw_version_variant", &hw_version_variant),
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make_protocol_ro_property("fw_version_major", &fw_version_major),
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make_protocol_ro_property("fw_version_minor", &fw_version_minor),
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make_protocol_ro_property("fw_version_revision", &fw_version_revision),
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make_protocol_ro_property("fw_version_unreleased", &fw_version_unreleased),
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make_protocol_ro_property("user_config_loaded", const_cast<const bool *>(&user_config_loaded_)),
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make_protocol_ro_property("brake_resistor_armed", &brake_resistor_armed_),
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make_protocol_object("system_stats",
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make_protocol_ro_property("uptime", &system_stats_.uptime),
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make_protocol_ro_property("min_heap_space", &system_stats_.min_heap_space),
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make_protocol_ro_property("min_stack_space_axis0", &system_stats_.min_stack_space_axis0),
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make_protocol_ro_property("min_stack_space_axis1", &system_stats_.min_stack_space_axis1),
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make_protocol_ro_property("min_stack_space_comms", &system_stats_.min_stack_space_comms),
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make_protocol_ro_property("min_stack_space_usb", &system_stats_.min_stack_space_usb),
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make_protocol_ro_property("min_stack_space_uart", &system_stats_.min_stack_space_uart),
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make_protocol_ro_property("min_stack_space_usb_irq", &system_stats_.min_stack_space_usb_irq),
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make_protocol_ro_property("min_stack_space_startup", &system_stats_.min_stack_space_startup),
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make_protocol_object("usb",
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make_protocol_ro_property("rx_cnt", &usb_stats_.rx_cnt),
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make_protocol_ro_property("tx_cnt", &usb_stats_.tx_cnt),
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make_protocol_ro_property("tx_overrun_cnt", &usb_stats_.tx_overrun_cnt)
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)
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),
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make_protocol_object("config",
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make_protocol_property("brake_resistance", &board_config.brake_resistance),
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// TODO: changing this currently requires a reboot - fix this
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make_protocol_property("enable_uart", &board_config.enable_uart),
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make_protocol_property("enable_ascii_protocol_on_usb", &board_config.enable_ascii_protocol_on_usb),
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make_protocol_property("dc_bus_undervoltage_trip_level", &board_config.dc_bus_undervoltage_trip_level),
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make_protocol_property("dc_bus_overvoltage_trip_level", &board_config.dc_bus_overvoltage_trip_level)
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),
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make_protocol_object("axis0", axes[0]->make_protocol_definitions()),
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make_protocol_object("axis1", axes[1]->make_protocol_definitions()),
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make_protocol_property("test_property", &test_property),
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make_protocol_function("test_function", static_functions, &StaticFunctions::test_function, "delta"),
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make_protocol_function("get_oscilloscope_val", static_functions, &StaticFunctions::get_oscilloscope_val, "index"),
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make_protocol_function("save_configuration", static_functions, &StaticFunctions::save_configuration_helper),
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make_protocol_function("erase_configuration", static_functions, &StaticFunctions::erase_configuration_helper),
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make_protocol_function("reboot", static_functions, &StaticFunctions::NVIC_SystemReset_helper),
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make_protocol_function("enter_dfu_mode", static_functions, &StaticFunctions::enter_dfu_mode_helper)
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);
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}
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using tree_type = decltype(make_obj_tree());
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uint8_t tree_buffer[sizeof(tree_type)];
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// the protocol has one additional built-in endpoint
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constexpr size_t MAX_ENDPOINTS = decltype(make_obj_tree())::endpoint_count + 1;
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Endpoint* endpoints_[MAX_ENDPOINTS] = { 0 };
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const size_t max_endpoints_ = MAX_ENDPOINTS;
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size_t n_endpoints_ = 0;
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// Thread to handle deffered processing of USB interrupt, and
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// read commands out of the UART DMA circular buffer
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void communication_task(void * ctx) {
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(void) ctx; // unused parameter
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// TODO: this is supposed to use the move constructor, but currently
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// the compiler uses the copy-constructor instead. Thus the make_obj_tree
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// ends up with a stupid stack size of around 8000 bytes. Fix this.
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auto tree_ptr = new (tree_buffer) tree_type(make_obj_tree());
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auto endpoint_provider = EndpointProvider_from_MemberList<tree_type>(*tree_ptr);
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set_application_endpoints(&endpoint_provider);
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serve_on_uart();
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serve_on_usb();
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for (;;) {
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osDelay(1000); // nothing to do
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}
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}
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extern "C" {
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int _write(int file, const char* data, int len);
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}
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// @brief This is what printf calls internally
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int _write(int file, const char* data, int len) {
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#ifdef USB_PROTOCOL_STDOUT
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usb_stream_output.process_bytes((const uint8_t *)data, len);
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#endif
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#ifdef UART_PROTOCOL_STDOUT
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uart4_stream_output.process_bytes((const uint8_t *)data, len);
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#endif
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return len;
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}
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