Mc integration test

can/src/can.c

@@ -75,6 +75,8 @@ TASK(CAN_TX, TASK_MIN_STACK_SIZE)
     clear_rx_received();
 
     send_task_end();
+
+    LOG_DEBUG("can_tx finished\n");
   }
 }
 

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
@@ -94,11 +83,12 @@
         precharge_status:
           length: 8
 
+    # THIS MESSAGE DOESN'T EXIST
     precharge_completed:
       id: 16
       target:
         centre_console:
           watchdog: 0
       signals:
         notification:
-          length: 8
+          length: 8

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);
   }
 

projects/motor_controller/config.json

@@ -4,5 +4,10 @@
         "ms-common",
         "master"
     ],
-    "can": true
-}
+    "can": true,
+    "mocks": {
+        "mcp2515_hw": ["spi_init", "spi_tx", "spi_rx", "spi_exchange"],
+        "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

@@ -143,3 +143,11 @@
 
 #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

@@ -7,12 +7,13 @@
 #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 30       // TODO: set actual ratio, m/s to motor (rpm for 1m/s)
 
-#define DRIVER_CONTROL_BASE 0x1
+#define DRIVER_CONTROL_BASE 0x0
 #define MOTOR_CONTROLLER_BASE_L 0x40
 #define MOTOR_CONTROLLER_BASE_R 0x80
 

projects/motor_controller/inc/precharge_control.h

@@ -20,8 +20,6 @@ typedef struct PrechargeControlSettings {
   GpioAddress precharge_monitor2;
 } PrechargeControlSettings;
 
-StatusCode prv_set_precharge_control(GpioAddress *address, const GpioState state);
-
 StatusCode run_precharge_rx_cycle();
 
 StatusCode precharge_control_init(const PrechargeControlSettings *settings);

projects/motor_controller/src/main.c

@@ -4,6 +4,8 @@
 #include "can_board_ids.h"
 #include "delay.h"
 #include "fsm.h"
+#include "gpio_it.h"
+#include "interrupt.h"
 #include "log.h"
 #include "master_task.h"
 #include "mcp2515.h"
@@ -22,22 +24,27 @@ const CanSettings can_settings = {
   .loopback = true,
 };
 static Mcp2515Storage s_mcp2515_storage = { 0 };
-Mcp2515Settings mcp2515_settings = {  // place holder values
-  .spi_port = SPI_PORT_1,
+static Mcp2515Settings s_mcp2515_settings = {
+  .spi_port = SPI_PORT_2,
   .spi_settings = {
-    0
+    .baudrate = 10000000,  // 10 Mhz
+    .mode = SPI_MODE_0,
+    .mosi = { GPIO_PORT_B, 15 },
+    .miso = { GPIO_PORT_B, 14 },
+    .sclk = { GPIO_PORT_B, 13 },
+    .cs = { GPIO_PORT_B, 12 },
   },
-  .interrupt_pin = { GPIO_PORT_A, 0 },
+  .interrupt_pin = { GPIO_PORT_A, 8 },
+  .RX0BF = { GPIO_PORT_B, 10 },
+  .RX1BF = { GPIO_PORT_B, 11 },
   .can_settings = {
     .bitrate = CAN_HW_BITRATE_500KBPS,
     .loopback = true,
   },
 };
-PrechargeControlSettings precharge_settings = {
-  // place holder values
-  .precharge_control = { GPIO_PORT_A, 10 },
-  .precharge_monitor = { GPIO_PORT_A, 9 },
-  .precharge_monitor2 = { GPIO_PORT_A, 8 },
+static PrechargeControlSettings s_precharge_settings = {
+  .precharge_control = { GPIO_PORT_A, 9 },
+  .precharge_monitor = { GPIO_PORT_A, 10 },
 };
 
 void run_fast_cycle() {
@@ -57,9 +64,12 @@ void run_slow_cycle() {}
 int main() {
   tasks_init();
   log_init();
+  gpio_init();
+  interrupt_init();
+  gpio_it_init();
   can_init(&s_can_storage, &can_settings);
-  mcp2515_init(&s_mcp2515_storage, &mcp2515_settings);
-  precharge_control_init(&precharge_settings);
+  mcp2515_init(&s_mcp2515_storage, &s_mcp2515_settings);
+  precharge_control_init(&s_precharge_settings);
   init_motor_controller_can();
   LOG_DEBUG("Motor Controller Task\n");
 

projects/motor_controller/src/mcp2515.c

@@ -82,7 +82,7 @@ StatusCode mcp2515_transmit(const CanMessage *msg) {
     return status_msg(STATUS_CODE_INVALID_ARGS, "CAN: Invalid message ID");
   }
 
-  return mcp2515_hw_transmit(msg->id.raw, msg->extended, msg->data, msg->dlc);
+  return mcp2515_hw_transmit(msg->id.raw, msg->extended, msg->data_u8, msg->dlc);
 }
 
 static void no_op() {}
@@ -98,7 +98,7 @@ StatusCode mcp2515_init(Mcp2515Storage *storage, const Mcp2515Settings *settings
     mcp2515_tx_all = no_op;
   }
 
-  mcp2515_hw_init(&storage->rx_queue, settings);
+  mcp2515_hw_init(storage, settings);
 
   // Create Semaphores
   s_mcp2515_rx_sem_handle = xSemaphoreCreateBinaryStatic(&s_mcp2515_rx_sem);
@@ -111,8 +111,8 @@ StatusCode mcp2515_init(Mcp2515Storage *storage, const Mcp2515Settings *settings
   if (settings->can_settings.mode == CAN_CONTINUOUS) {
     // Create RX and TX Tasks
     // ! Ensure the task priority is lower than the interrupt tasks in mcp2515_hw.c
-    status_ok_or_return(tasks_init_task(MCP2515_RX, TASK_PRIORITY(2), NULL));
     status_ok_or_return(tasks_init_task(MCP2515_TX, TASK_PRIORITY(2), NULL));
+    status_ok_or_return(tasks_init_task(MCP2515_RX, TASK_PRIORITY(2), NULL));
   }
 
   return STATUS_CODE_OK;