Revision 2:12431dd6475f, committed 2019-06-15

Comitter:

DunkelAmber

Date:

Sat Jun 15 09:31:22 2019 +0000

Parent:

1:9ecda2b969c2

Commit message:

feat: itocan supports template

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/canid.hpp	Sat Jun 15 09:31:22 2019 +0000
@@ -0,0 +1,37 @@
+#ifndef __CANID__
+#define __CANID__
+
+enum can_commands {
+        /* VESCs */
+        BLDC_SET_DUTY = 0,            // Set the duty cycle of the motor
+        BLDC_SET_CURRENT,             // Set the motor current
+        BLDC_SET_CURRENT_BRAKE,       // Set the braking current
+        BLDC_SET_RPM,                 // Set the motor ERPM
+        BLDC_SET_POS,                 // Set the motor position
+        BLDC_FILL_RX_BUFFER,          // Copy data to the VESC recieve buffer
+        BLDC_FILL_RX_BUFFER_LONG,     // Copy data to the VESC recieve buffer
+        BLDC_PROCESS_RX_BUFFER,       // Process a command with data from the recieve buffer
+        BLDC_PROCESS_SHORT_BUFFER,    // Process a command with data from the recieve buffer
+        BLDC_STATUS,                  // The motor status (1 of 3)
+        BLDC_STATUS2,                 // The motor status (2 of 3)
+        BLDC_STATUS3,                 // The motor status (3 of 3)
+
+        /* Mobility Controller */
+        MOBILITY_GO = 15,                // Set the motor speed
+
+        /* BMS - Battery Management System */
+
+        /* Arm Controller */
+
+        /* Arm Joint Controllers */
+
+        /* Scientific Module */
+        SCIENTIFIC_BOX_COMMANDS = 201,
+        SCIENTIFIC_BOX_DATA,
+        SCIENTIFIC_ENVIRONMENT_DATA
+
+        /* Turret Pan-Tilt Controller */
+
+    };
+
+#endif // __CANID__

--- a/main.cpp	Fri Jun 14 15:08:55 2019 +0000
+++ b/main.cpp	Sat Jun 15 09:31:22 2019 +0000
@@ -1,4 +1,7 @@
- #include "mbed.h" //5.4.7 (144)
+#include "mbed.h" //5.4.7 (144)
+#include "canid.hpp"
+
+#define BIG_ENDIAN
 
 const PinName can1rxPins[] = {PA_11};
 const PinName can1txPins[] = {PA_12};
@@ -9,7 +12,7 @@
 
 //CAN1
 //0,0=OK 0,1=OK 0,2=OK 1,0=OK 1,1=OK 1,2=OK 2,0=OK 2,1=OK 2,2=OK
-//CAN2
+//CAN"
 //0,0=RX_OK 0,1=OK 1,0=RX_OK 1,1=OK
 
 CAN can1(can1rxPins[0], can1txPins[0]);
@@ -24,23 +27,62 @@
 CANMessage messageIn;
 CANMessage messageOut;
 
+void setID (CANMessage& message, uint32_t device_id, uint32_t content_id) {
+    uint32_t id = device_id;
+    id |= (uint32_t)content_id << 8;
+    id |= 0x80000000;               // Set EFF(Extended Frame Format) flag true
+
+    message.id = id;
+    
+}
+
 uint64_t cantoi(CANMessage message) {
-    int data=0;
+    uint64_t ret=0;
+    
+    #ifdef BIG_ENDIAN
     for(int i=message.len-1, k=0; i>=0; i--, k++) {
-        data += message.data[i] << (8*k); 
+        ret += message.data[i] << (8*k); 
     }
-    return data;
+    #else //LITTLE ENDIAN
+    for(int i=0, k=0; i>=message.len-1; i++, k++) {
+            ret += message.data[i] << (8*k); 
+    }
+    #endif
+    
+    
+    return ret;
     //pose = message.data[0] + (message.data[1] << 8) + (message.data[2] << 16) + (message.data[3] << 24);
 }
 
-void itocan(uint64_t data, CANMessage& message) {
+template <class data_t> void xtocan(data_t _data, unsigned int n_bytes, CANMessage& message) {
+    data_t data = 0;
+    message.len = n_bytes;
+    int mask = 0xff;    // last 8 bits
+    
+    #ifdef BIG_ENDIAN
+    for(int i=message.len-1; i>=0; i--) {
+        message.data[i] = data & mask;
+        data = data>>8; 
+    }
+    #else //LITTLE ENDIAN
+     for(int i=0; i<message.len; i++) {
+        message.data[i] = data & maks;
+        data = data>>8; 
+    }
+    #endif
+    
+    return;
+}
+
+/* DEPRECATED
+void ui64tocan(uint64_t data, CANMessage& message) {
     
     for(int i=message.len-1; i>=0; i--) {
         //printf("dataconv:\t% 12llu\n\r", data);
         message.data[i] = data & 0x00000000000000ff;
         data = data>>8; 
     }
-}
+}*/
 
 void canRxIsr()
 {
@@ -65,12 +107,14 @@
     while (true) {
         counter += 1;
         
-        messageOut.id = 1000;
-        messageOut.format = CANStandard;
+        messageOut.id = 1000;  // DELETEME
+        setID(messageOut, 1, BLDC_SET_RPM);
+        messageOut.format = CANExtended;
         messageOut.data[0]=25;
         messageOut.len = 8;
     
-        itocan(counter, messageOut);
+        xtocan<uint64_t>(counter, 8, messageOut);
+        //ui64tocan(counter, messageOut);
         printf("sending couter: %llu\t| CAN data: %llu\n\r", counter, cantoi(messageOut));
         sendMessage();
         osDelay(1000);
@@ -84,7 +128,7 @@
     can.frequency(500000);
 
     messageOut.id = 1000;
-    messageOut.format = CANStandard;
+    messageOut.format = CANExtended;
     messageOut.data[0]=24;
     messageOut.len = 8;