mirror of
https://github.com/odriverobotics/ODrive.git
synced 2026-08-18 09:29:03 +08:00
248 lines
12 KiB
C++
248 lines
12 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 "interface_can.hpp"
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#include "interface_i2c.h"
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#include "odrive_main.h"
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#include "freertos_vars.h"
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#include "utils.hpp"
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#include "gpio_utils.hpp"
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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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const uint32_t stack_size_comm_thread = 4096; // Bytes
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volatile bool endpoint_list_valid = false;
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static uint32_t test_property = 0;
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/* Private function prototypes -----------------------------------------------*/
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auto make_protocol_definitions(PWMMapping_t& mapping) {
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return make_protocol_member_list(
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make_protocol_property("endpoint", &mapping.endpoint),
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make_protocol_property("min", &mapping.min),
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make_protocol_property("max", &mapping.max)
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);
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}
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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, stack_size_comm_thread / sizeof(StackType_t));
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comm_thread = osThreadCreate(osThread(task_cmd_parse), NULL);
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while (!endpoint_list_valid)
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osDelay(1);
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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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float get_adc_voltage_(uint32_t gpio) { return get_adc_voltage(get_gpio_port_by_pin(gpio), get_gpio_pin_by_pin(gpio)); }
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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("ibus", &ibus_),
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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_property("brake_resistor_saturated", &brake_resistor_saturated),
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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_can", &system_stats_.min_stack_space_can),
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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_ro_property("stack_usage_axis0", &system_stats_.stack_usage_axis0),
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make_protocol_ro_property("stack_usage_axis1", &system_stats_.stack_usage_axis1),
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make_protocol_ro_property("stack_usage_comms", &system_stats_.stack_usage_comms),
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make_protocol_ro_property("stack_usage_usb", &system_stats_.stack_usage_usb),
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make_protocol_ro_property("stack_usage_uart", &system_stats_.stack_usage_uart),
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make_protocol_ro_property("stack_usage_usb_irq", &system_stats_.stack_usage_usb_irq),
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make_protocol_ro_property("stack_usage_startup", &system_stats_.stack_usage_startup),
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make_protocol_ro_property("stack_usage_can", &system_stats_.stack_usage_can),
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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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make_protocol_object("i2c",
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make_protocol_ro_property("addr", &i2c_stats_.addr),
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make_protocol_ro_property("addr_match_cnt", &i2c_stats_.addr_match_cnt),
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make_protocol_ro_property("rx_cnt", &i2c_stats_.rx_cnt),
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make_protocol_ro_property("error_cnt", &i2c_stats_.error_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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make_protocol_property("max_regen_current", &board_config.max_regen_current),
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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("uart_baudrate", &board_config.uart_baudrate), // requires a reboot
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make_protocol_property("enable_i2c_instead_of_can" , &board_config.enable_i2c_instead_of_can), // requires a reboot
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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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make_protocol_property("enable_dc_bus_overvoltage_ramp", &board_config.enable_dc_bus_overvoltage_ramp),
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make_protocol_property("dc_bus_overvoltage_ramp_start", &board_config.dc_bus_overvoltage_ramp_start),
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make_protocol_property("dc_bus_overvoltage_ramp_end", &board_config.dc_bus_overvoltage_ramp_end),
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make_protocol_property("dc_max_negative_current", &board_config.dc_max_negative_current),
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make_protocol_property("dc_max_positive_current", &board_config.dc_max_positive_current),
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#if HW_VERSION_MAJOR == 3 && HW_VERSION_MINOR >= 3
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make_protocol_object("gpio1_pwm_mapping", make_protocol_definitions(board_config.pwm_mappings[0])),
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make_protocol_object("gpio2_pwm_mapping", make_protocol_definitions(board_config.pwm_mappings[1])),
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make_protocol_object("gpio3_pwm_mapping", make_protocol_definitions(board_config.pwm_mappings[2])),
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#endif
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make_protocol_object("gpio4_pwm_mapping", make_protocol_definitions(board_config.pwm_mappings[3])),
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make_protocol_object("gpio3_analog_mapping", make_protocol_definitions(board_config.analog_mappings[2])),
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make_protocol_object("gpio4_analog_mapping", make_protocol_definitions(board_config.analog_mappings[3]))
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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_object("can", odCAN->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("get_adc_voltage", static_functions, &StaticFunctions::get_adc_voltage_, "gpio"),
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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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void initTree(){
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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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fibre_publish(*tree_ptr);
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}
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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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// Allow main init to continue
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endpoint_list_valid = true;
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start_uart_server();
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start_usb_server();
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if (board_config.enable_i2c_instead_of_can) {
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start_i2c_server();
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} else {
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odCAN->start_can_server();
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}
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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_ptr->process_bytes((const uint8_t *)data, len, nullptr);
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#endif
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#ifdef UART_PROTOCOL_STDOUT
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uart4_stream_output_ptr->process_bytes((const uint8_t *)data, len, nullptr);
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#endif
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return len;
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}
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