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Added uart functions #651

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Added uart functions #651

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1 change: 1 addition & 0 deletions comm/comm_can.h
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Original file line number Diff line number Diff line change
Expand Up @@ -42,6 +42,7 @@ void comm_can_set_current_off_delay(uint8_t controller_id, float current, float
void comm_can_set_current_brake(uint8_t controller_id, float current);
void comm_can_set_rpm(uint8_t controller_id, float rpm);
void comm_can_set_pos(uint8_t controller_id, float pos);
void comm_can_set_handbrake(uint8_t controller_id, float current);
void comm_can_set_current_rel(uint8_t controller_id, float current_rel);
void comm_can_set_current_rel_off_delay(uint8_t controller_id, float current_rel, float off_delay);
void comm_can_set_current_brake_rel(uint8_t controller_id, float current_rel);
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135 changes: 135 additions & 0 deletions comm/commands.c
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Original file line number Diff line number Diff line change
Expand Up @@ -1232,6 +1232,141 @@ void commands_process_packet(unsigned char *data, unsigned int len,
}
} break;

case COMM_CAN_SET_DUTY: {
int32_t ind = 0;
float duty = (float)buffer_get_int32(data, &ind);

for (int i = 0;i < CAN_STATUS_MSGS_TO_STORE;i++) {
can_status_msg *msg = comm_can_get_status_msg_index(i);

if (msg->id >= 0 && UTILS_AGE_S(msg->rx_time) < MAX_CAN_AGE) {
comm_can_set_duty(msg->id, duty);
}
}
timeout_reset();
} break;

case COMM_CAN_SET_CURRENT: {
int32_t ind = 0;
float current = (float)buffer_get_int32(data, &ind);
for (int i = 0;i < CAN_STATUS_MSGS_TO_STORE;i++) {
can_status_msg *msg = comm_can_get_status_msg_index(i);
if (msg->id >= 0 && UTILS_AGE_S(msg->rx_time) < MAX_CAN_AGE) {
comm_can_set_current(msg->id, current / 1000.0);
}
}
timeout_reset();
} break;

case COMM_TC_SET_CURRENT: {
int32_t ind = 0;
float current = (float)buffer_get_int32(data, &ind);
float current_out = current;


float rpm_local = fabsf(mc_interface_get_rpm());
float rpm_lowest = rpm_local;

for (int i = 0;i < CAN_STATUS_MSGS_TO_STORE;i++) {
can_status_msg *msg = comm_can_get_status_msg_index(i);

if (msg->id >= 0 && UTILS_AGE_S(msg->rx_time) < MAX_CAN_AGE) {
float rpm_tmp = fabsf(msg->rpm);

if (rpm_tmp < rpm_lowest) {
rpm_lowest = rpm_tmp;
}
}
}

mc_configuration *mcconf = mempools_alloc_mcconf();
*mcconf = *mc_interface_get_configuration();

for (int i = 0;i < CAN_STATUS_MSGS_TO_STORE;i++) {
can_status_msg *msg = comm_can_get_status_msg_index(i);

if (msg->id >= 0 && UTILS_AGE_S(msg->rx_time) < MAX_CAN_AGE) {
bool is_braking = (current > 0.0 && msg->duty < 0.0) || (current < 0.0 && msg->duty > 0.0);

if (!is_braking) {
float rpm_tmp = fabsf(msg->rpm);

float diff = rpm_tmp - rpm_lowest;
current_out = utils_map(diff, 0.0, 3000.0, current, 0.0);
if (fabsf(current_out) < mcconf->cc_min_current) {
current_out = 0.0;
}
}

comm_can_set_current(msg->id, current_out / 1000.0);
}
}

const float duty_now = mc_interface_get_duty_cycle_now();

bool is_braking = (current > 0.0 && duty_now < 0.0) || (current < 0.0 && duty_now > 0.0);

if (!is_braking) {
float diff = rpm_local - rpm_lowest;
current_out = utils_map(diff, 0.0, 3000.0, current, 0.0);
if (fabsf(current_out) < mcconf->cc_min_current) {
current_out = 0.0;
}
}

mempools_free_mcconf(mcconf);
mc_interface_set_current(current_out / 1000.0);
timeout_reset();
} break;

case COMM_CAN_SET_CURRENT_BRAKE: {
int32_t ind = 0;
float current = (float)buffer_get_int32(data, &ind);
for (int i = 0;i < CAN_STATUS_MSGS_TO_STORE;i++) {
can_status_msg *msg = comm_can_get_status_msg_index(i);
if (msg->id >= 0 && UTILS_AGE_S(msg->rx_time) < MAX_CAN_AGE) {
comm_can_set_current_brake(msg->id, current / 1000.0);
}
}
timeout_reset();
} break;

case COMM_CAN_SET_RPM: {
int32_t ind = 0;
float rpm = (float)buffer_get_int32(data, &ind);
for (int i = 0;i < CAN_STATUS_MSGS_TO_STORE;i++) {
can_status_msg *msg = comm_can_get_status_msg_index(i);
if (msg->id >= 0 && UTILS_AGE_S(msg->rx_time) < MAX_CAN_AGE) {
comm_can_set_rpm(msg->id, rpm);
}
}
timeout_reset();
} break;

case COMM_CAN_SET_POS: {
int32_t ind = 0;
float pos = (float)buffer_get_int32(data, &ind);
for (int i = 0;i < CAN_STATUS_MSGS_TO_STORE;i++) {
can_status_msg *msg = comm_can_get_status_msg_index(i);
if (msg->id >= 0 && UTILS_AGE_S(msg->rx_time) < MAX_CAN_AGE) {
comm_can_set_pos(msg->id, pos);
}
}
timeout_reset();
} break;

case COMM_CAN_SET_HANDBRAKE: {
int32_t ind = 0;
float handbrake = buffer_get_float32(data, 1e3, &ind);
for (int i = 0;i < CAN_STATUS_MSGS_TO_STORE;i++) {
can_status_msg *msg = comm_can_get_status_msg_index(i);
if (msg->id >= 0 && UTILS_AGE_S(msg->rx_time) < MAX_CAN_AGE) {
comm_can_set_handbrake(msg->id, handbrake);
}
}
timeout_reset();
} break;

case COMM_SET_BATTERY_CUT: {
int32_t ind = 0;
float start = buffer_get_float32(data, 1e3, &ind);
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1 change: 1 addition & 0 deletions comm/commands.h
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Original file line number Diff line number Diff line change
Expand Up @@ -21,6 +21,7 @@
#define COMMANDS_H_

#include "datatypes.h"
#define MAX_CAN_AGE 0.1

// Functions
void commands_init(void);
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7 changes: 7 additions & 0 deletions datatypes.h
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Expand Up @@ -1005,6 +1005,13 @@ typedef enum {
COMM_BM_WRITE_FLASH_LZO = 83,
COMM_SET_CURRENT_REL = 84,
COMM_CAN_FWD_FRAME = 85,
COMM_CAN_SET_DUTY = 153,
COMM_CAN_SET_CURRENT = 154,
COMM_CAN_SET_CURRENT_BRAKE = 155,
COMM_CAN_SET_RPM = 156,
COMM_CAN_SET_POS = 157,
COMM_CAN_SET_HANDBRAKE = 158,
COMM_TC_SET_CURRENT = 159,
COMM_SET_BATTERY_CUT = 86,
COMM_SET_BLE_NAME = 87,
COMM_SET_BLE_PIN = 88,
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