Mc integration test

.gitignore

@@ -26,3 +26,6 @@ __pycache__
 *can_board_ids.h
 *system_can.dbc
 x86_flash
+
+py/can/can.py
+py/can/messages.py

libraries/codegen/boards/motor_controller.yaml

@@ -36,17 +36,6 @@
         velocity_r:
           length: 16
 
-    motor_status:
-      id: 37
-      target:
-        centre_console:
-          watchdog: 0
-      signals:
-        motor_status_l:
-          length: 32
-        motor_status_r:
-          length: 32
-
     motor_sink_temps:
       id: 38
       target:
@@ -69,9 +58,9 @@
           watchdog: 0
       signals:
         dsp_temp_l:
-          length: 32
+          length: 16
         dsp_temp_r:
-          length: 32
+          length: 16
 
     mc_status:
       id: 40
@@ -95,12 +84,3 @@
           length: 8
         precharge_status:
           length: 8
-
-    precharge_completed:
-      id: 16
-      target:
-        centre_console:
-          watchdog: 0
-      signals:
-        notification:
-          length: 8

libraries/codegen/boards/steering.yaml

@@ -1,5 +1,5 @@
 # Message Definitions in plaintext are on the wiki at:
-# https://uwmidsun.atlassian.net/l/cp/Pxn8Xhm8
+# https://uwmidsun.atlassian.net/wiki/spaces/ELEC/pages/50003973/CAN+Message+Definitions
 #
 # If you are making changes to this file please update the corresponding entry
 # on the wiki. If you need to add a new message use a reasonable
@@ -24,3 +24,7 @@ Messages:
         length: 8 # (cc_toggle | cc_increade | cc_decrease)
       input_lights:
         length: 8 
+      digital_input:
+        length: 8
+      analog_input:
+        length: 8

libraries/master/src/master_task.c

@@ -1,6 +1,6 @@
 #include "master_task.h"
 
-static uint32_t MASTER_MS_CYCLE_TIME = 100;
+static uint32_t MASTER_MS_CYCLE_TIME = 50;
 
 #define MASTER_TASK_PRIORITY (configMAX_PRIORITIES - 2)
 #define MAX_CYCLES_OVER 5
@@ -26,10 +26,12 @@ uint8_t get_cycles_over() {
 }
 #endif
 
-void run_fast_cycle();
-void run_medium_cycle();
-void run_slow_cycle();
-void pre_loop_init();
+void master_no_op() {}
+
+void run_fast_cycle() __attribute__((weak, alias("master_no_op")));
+void run_medium_cycle() __attribute__((weak, alias("master_no_op")));
+void run_slow_cycle() __attribute__((weak, alias("master_no_op")));
+void pre_loop_init() __attribute__((weak, alias("master_no_op")));
 
 void check_late_cycle(BaseType_t delay) {
   if (delay != pdTRUE) {

libraries/ms-common/inc/spi.h

@@ -43,10 +43,10 @@ StatusCode spi_init(SpiPort spi, const SpiSettings *settings);
 StatusCode spi_exchange(SpiPort spi, uint8_t *tx_data, size_t tx_len, uint8_t *rx_data,
                         size_t rx_len);
 
-#ifdef x86
+#ifdef MS_PLATFORM_X86
 // Reads data from the tx buffer into data
-StatusCode spi_get_tx(uint8_t *data, uint8_t len);
+StatusCode spi_get_tx(SpiPort spi, uint8_t *data, uint8_t len);
 
 // Writes from data into the rx buffer
-StatusCode spi_set_rx(uint8_t *data, uint8_t len);
+StatusCode spi_set_rx(SpiPort spi, uint8_t *data, uint8_t len);
 #endif

libraries/ms-common/src/callback_handler.c

@@ -28,7 +28,6 @@ Event prv_find_next_event() {
   }
   // Gets index of least significant 0 bit (first available event)
   Event event = __builtin_ctz(~s_registered_callbacks);
-
   return event;
 }
 
@@ -96,13 +95,13 @@ Event register_callback(CallbackFn cb, void *context) {
 TASK(callback_task, TASK_STACK_512) {
   uint32_t notification = 0;
   Event event = 0;
-  StatusCode notification_status;
   while (true) {
     notify_wait(&notification, BLOCK_INDEFINITELY);
 
-    do {
-      notification_status = event_from_notification(&notification, &event);
+    event_from_notification(&notification, &event);
+    while (event != INVALID_EVENT) {
       prv_trigger_callback(event);
-    } while (notification_status != STATUS_CODE_OK);
+      event_from_notification(&notification, &event);
+    }
   }
 }

libraries/ms-common/src/x86/gpio.c

@@ -50,7 +50,7 @@ StatusCode gpio_set_state(const GpioAddress *address, GpioState state) {
   }
   GpioMode mode = s_gpio_pin_modes[prv_get_index(address)];
   if (mode != GPIO_OUTPUT_OPEN_DRAIN && mode != GPIO_OUTPUT_PUSH_PULL) {
-    LOG_WARN("Attempting to set an output pin, check your configuration");
+    LOG_WARN("Attempting to set an input pin, check your configuration");
     return status_code(STATUS_CODE_INVALID_ARGS);
   }
 

libraries/ms-common/src/x86/spi.c

@@ -6,7 +6,6 @@
 #include "spi_mcu.h"
 
 #define SPI_BUF_SIZE 32
-#define SPI_QUEUE_DELAY_MS 0
 
 typedef struct {
   uint8_t tx_buf[SPI_BUF_SIZE];
@@ -89,31 +88,27 @@ StatusCode spi_exchange(SpiPort spi, uint8_t *tx_data, size_t tx_len, uint8_t *r
 }
 
 StatusCode spi_get_tx(SpiPort spi, uint8_t *data, uint8_t len) {
-  status_ok_or_return(mutex_lock(&s_port[spi].spi_buf.mutex, SPI_TIMEOUT_MS));
-
+  uint8_t dummy = 0;
   for (size_t tx = 0; tx < len; tx++) {
-    if (queue_receive(&s_port[spi].spi_buf.tx_queue, &data[tx], SPI_QUEUE_DELAY_MS)) {
+    if (queue_receive(&s_port[spi].spi_buf.tx_queue, &data[tx], SPI_TIMEOUT_MS)) {
       queue_reset(&s_port[spi].spi_buf.tx_queue);
-      mutex_unlock(&s_port[spi].spi_buf.mutex);
       return STATUS_CODE_EMPTY;
     }
+    queue_send(&s_port[spi].spi_buf.rx_queue, &dummy, SPI_TIMEOUT_MS);
   }
 
-  mutex_unlock(&s_port[spi].spi_buf.mutex);
   return STATUS_CODE_OK;
 }
 
 StatusCode spi_set_rx(SpiPort spi, uint8_t *data, uint8_t len) {
-  status_ok_or_return(mutex_lock(&s_port[spi].spi_buf.mutex, SPI_TIMEOUT_MS));
-
+  uint8_t dummy = 0;
   for (size_t rx = 0; rx < len; rx++) {
-    if (queue_send(&s_port[spi].spi_buf.rx_queue, &data[rx], SPI_QUEUE_DELAY_MS)) {
+    if (queue_receive(&s_port[spi].spi_buf.tx_queue, &dummy, SPI_TIMEOUT_MS)) {
       queue_reset(&s_port[spi].spi_buf.rx_queue);
-      mutex_unlock(&s_port[spi].spi_buf.mutex);
       return STATUS_CODE_RESOURCE_EXHAUSTED;
     }
+    queue_send(&s_port[spi].spi_buf.rx_queue, &data[rx], SPI_TIMEOUT_MS);
   }
 
-  mutex_unlock(&s_port[spi].spi_buf.mutex);
   return STATUS_CODE_OK;
 }

projects/motor_controller/config.json

@@ -4,5 +4,9 @@
         "ms-common",
         "master"
     ],
-    "can": true
-}
+    "can": true,
+    "mocks": {
+        "motor_can_tx": ["mcp2515_hw_transmit", "mcp2515_hw_init"],
+        "motor_can_rx": ["mcp2515_hw_transmit", "mcp2515_hw_init"]
+    }
+}

projects/motor_controller/inc/mcp2515_defs.h

@@ -130,8 +130,7 @@
 #define MCP2515_TXBNDLC_DLC_MASK 0x0F
 
 // RXB0CTRL: Register 4-1
-#define MCP2515_RXB0CTRL_BUKT_MASK 0x4
-#define MCP2515_RXB0CTRL_BUKT_ROLLOVER 0x4
+#define MCP2515_RXB0CTRL_BUKT 0x4
 
 #define MCP2515_MAX_WRITE_BUFFER_LEN 10
 #define MCP2515_STANDARD_ID_LEN 11
@@ -143,3 +142,11 @@
 
 #define MCP2515_NUM_MASK_REGISTERS_STANDARD 2
 #define MCP2515_NUM_MASK_REGISTERS_EXTENDED 4
+
+// BFPCTRL: Register 4-3
+#define MCP2515_BFPCTRL_B1BFS 0x20
+#define MCP2515_BFPCTRL_B2BFS 0x10
+#define MCP2515_BFPCTRL_B1BFE 0x08
+#define MCP2515_BFPCTRL_B2BFE 0x04
+#define MCP2515_BFPCTRL_B1BFM 0x02
+#define MCP2515_BFPCTRL_B2BFM 0x01

projects/motor_controller/inc/mcp2515_hw.h

@@ -15,6 +15,8 @@ typedef struct Mcp2515Settings {
   SpiSettings spi_settings;
 
   GpioAddress interrupt_pin;
+  GpioAddress RX0BF;
+  GpioAddress RX1BF;
 
   // same can settings except MCP2515 does not support 1000kbps bitrate
   CanSettings can_settings;
@@ -28,12 +30,12 @@ typedef struct Mcp2515Storage {
 } Mcp2515Storage;
 
 // Initializes CAN using the specified settings.
-StatusCode mcp2515_hw_init(const CanQueue *rx_queue, const Mcp2515Settings *settings);
+StatusCode mcp2515_hw_init(Mcp2515Storage *rx_queue, const Mcp2515Settings *settings);
 
 // StatusCode mcp2515_hw_add_filter_in(uint32_t mask, uint32_t filter, bool extended);
 
 StatusCode mcp2515_hw_set_filter(CanMessageId *filters, bool loopback);
 
 CanHwBusStatus mcp2515_hw_bus_status(void);
 
-StatusCode mcp2515_hw_transmit(uint32_t id, bool extended, const uint64_t data, size_t len);
+StatusCode mcp2515_hw_transmit(uint32_t id, bool extended, uint8_t *data, size_t len);

projects/motor_controller/inc/motor_can.h

@@ -7,13 +7,16 @@
 #define VELOCITY_SCALE 100
 #define TEMP_SCALE 100
 
+// also used as the current for regen braking, might need to be seperated
 #define ACCERLATION_FORCE 1
 #define CRUISE_THROTTLE_THRESHOLD 0
 #define TORQUE_CONTROL_VEL 20000  // unobtainable rpm for current control
-#define VEL_TO_RPM_RATIO 1.0      // TODO: set actual ratio, m/s to motor rpm
+#define VEL_TO_RPM_RATIO 0.57147  // TODO: set actual ratio, m/s to motor (rpm for m/s)
+// wheel diameter 557mm
+// 1000 / (557 * pi) = 0.57147
 
-#define DRIVER_CONTROL_BASE 0x1
-#define MOTOR_CONTROLLER_BASE_L 0x40
-#define MOTOR_CONTROLLER_BASE_R 0x80
+#define DRIVER_CONTROL_BASE 0x500
+#define MOTOR_CONTROLLER_BASE_L 0x400
+#define MOTOR_CONTROLLER_BASE_R 0x80  // TODO: set to actual values
 
 void init_motor_controller_can();

projects/motor_controller/inc/precharge.h

@@ -0,0 +1,17 @@
+#pragma once
+
+#include <stdbool.h>
+
+#include "gpio.h"
+#include "notify.h"
+#include "status.h"
+
+// Requires GPIO to be initialized
+// Requires GPIO interrupts to be initialized
+
+typedef struct PrechargeSettings {
+  GpioAddress precharge_control;
+  GpioAddress precharge_monitor;
+} PrechargeSettings;
+
+StatusCode precharge_init(const PrechargeSettings *settings, Event event, const Task *task);