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commands.c
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/*
Copyright 2016 - 2019 Benjamin Vedder benjamin@vedder.se
This file is part of the VESC firmware.
The VESC firmware is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
The VESC firmware is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include "commands.h"
#include "ch.h"
#include "hal.h"
#include "mc_interface.h"
#include "stm32f4xx_conf.h"
#include "servo_simple.h"
#include "buffer.h"
#include "terminal.h"
#include "hw.h"
#include "mcpwm.h"
#include "mcpwm_foc.h"
#include "mc_interface.h"
#include "app.h"
#include "timeout.h"
#include "servo_dec.h"
#include "comm_can.h"
#include "flash_helper.h"
#include "utils.h"
#include "packet.h"
#include "encoder.h"
#include "nrf_driver.h"
#include "gpdrive.h"
#include "confgenerator.h"
#include "imu.h"
#include "shutdown.h"
#if HAS_BLACKMAGIC
#include "bm_if.h"
#endif
#include "minilzo.h"
#include "mempools.h"
#include <math.h>
#include <string.h>
#include <stdarg.h>
#include <stdio.h>
// Threads
static THD_FUNCTION(blocking_thread, arg);
static THD_WORKING_AREA(blocking_thread_wa, 2048);
static thread_t *blocking_tp;
// Private variables
static uint8_t send_buffer_global[PACKET_MAX_PL_LEN];
static uint8_t blocking_thread_cmd_buffer[PACKET_MAX_PL_LEN];
static volatile unsigned int blocking_thread_cmd_len = 0;
static volatile bool is_blocking = false;
static volatile int blocking_thread_motor = 1;
static void(* volatile send_func)(unsigned char *data, unsigned int len) = 0;
static void(* volatile send_func_blocking)(unsigned char *data, unsigned int len) = 0;
static void(* volatile send_func_nrf)(unsigned char *data, unsigned int len) = 0;
static void(* volatile appdata_func)(unsigned char *data, unsigned int len) = 0;
static disp_pos_mode display_position_mode;
static mutex_t print_mutex;
static mutex_t send_buffer_mutex;
static mutex_t terminal_mutex;
void commands_init(void) {
chMtxObjectInit(&print_mutex);
chMtxObjectInit(&send_buffer_mutex);
chMtxObjectInit(&terminal_mutex);
chThdCreateStatic(blocking_thread_wa, sizeof(blocking_thread_wa), NORMALPRIO, blocking_thread, NULL);
}
/**
* Send a packet using the set send function.
*
* @param data
* The packet data.
*
* @param len
* The data length.
*/
void commands_send_packet(unsigned char *data, unsigned int len) {
if (send_func) {
send_func(data, len);
}
}
/**
* Send a packet using the set NRF51 send function. The NRF51 send function
* is set when the COMM_EXT_NRF_PRESENT and COMM_EXT_NRF_ESB_RX_DATA commands
* are received, at which point the previous send function is restored. The
* intention behind that is to make the NRF51-related communication only with
* the interface that has an NRF51, and prevent the NRF51 communication from
* interfering with other communication.
*
* @param data
* The packet data.
*
* @param len
* The data length.
*/
void commands_send_packet_nrf(unsigned char *data, unsigned int len) {
if (send_func_nrf) {
send_func_nrf(data, len);
}
}
/**
* Send data using the function last used by the blocking thread.
*
* @param data
* The packet data.
*
* @param len
* The data length.
*/
void commands_send_packet_last_blocking(unsigned char *data, unsigned int len) {
if (send_func_blocking) {
send_func_blocking(data, len);
}
}
/**
* Process a received buffer with commands and data.
*
* @param data
* The buffer to process.
*
* @param len
* The length of the buffer.
*/
void commands_process_packet(unsigned char *data, unsigned int len,
void(*reply_func)(unsigned char *data, unsigned int len)) {
if (!len) {
return;
}
COMM_PACKET_ID packet_id;
packet_id = data[0];
data++;
len--;
// The NRF51 ESB implementation is treated like it has its own
// independent communication interface.
if (packet_id == COMM_EXT_NRF_PRESENT ||
packet_id == COMM_EXT_NRF_ESB_RX_DATA) {
send_func_nrf = reply_func;
} else {
send_func = reply_func;
}
// Avoid calling invalid function pointer if it is null.
// commands_send_packet will make the check.
if (!reply_func) {
reply_func = commands_send_packet;
}
switch (packet_id) {
case COMM_FW_VERSION: {
int32_t ind = 0;
uint8_t send_buffer[50];
send_buffer[ind++] = COMM_FW_VERSION;
send_buffer[ind++] = FW_VERSION_MAJOR;
send_buffer[ind++] = FW_VERSION_MINOR;
strcpy((char*)(send_buffer + ind), HW_NAME);
ind += strlen(HW_NAME) + 1;
memcpy(send_buffer + ind, STM32_UUID_8, 12);
ind += 12;
send_buffer[ind++] = app_get_configuration()->pairing_done;
reply_func(send_buffer, ind);
} break;
case COMM_JUMP_TO_BOOTLOADER_ALL_CAN:
data[-1] = COMM_JUMP_TO_BOOTLOADER;
comm_can_send_buffer(255, data - 1, len + 1, 2);
chThdSleepMilliseconds(100);
/* Falls through. */
/* no break */
case COMM_JUMP_TO_BOOTLOADER:
flash_helper_jump_to_bootloader();
break;
case COMM_ERASE_NEW_APP_ALL_CAN:
if (nrf_driver_ext_nrf_running()) {
nrf_driver_pause(6000);
}
data[-1] = COMM_ERASE_NEW_APP;
comm_can_send_buffer(255, data - 1, len + 1, 2);
chThdSleepMilliseconds(1500);
/* Falls through. */
/* no break */
case COMM_ERASE_NEW_APP: {
int32_t ind = 0;
if (nrf_driver_ext_nrf_running()) {
nrf_driver_pause(6000);
}
uint16_t flash_res = flash_helper_erase_new_app(buffer_get_uint32(data, &ind));
ind = 0;
uint8_t send_buffer[50];
send_buffer[ind++] = COMM_ERASE_NEW_APP;
send_buffer[ind++] = flash_res == FLASH_COMPLETE ? 1 : 0;
reply_func(send_buffer, ind);
} break;
case COMM_WRITE_NEW_APP_DATA_ALL_CAN_LZO:
case COMM_WRITE_NEW_APP_DATA_ALL_CAN:
if (packet_id == COMM_WRITE_NEW_APP_DATA_ALL_CAN_LZO) {
chMtxLock(&send_buffer_mutex);
memcpy(send_buffer_global, data + 6, len - 6);
int32_t ind = 4;
lzo_uint decompressed_len = buffer_get_uint16(data, &ind);
lzo1x_decompress_safe(send_buffer_global, len - 6, data + 4, &decompressed_len, NULL);
chMtxUnlock(&send_buffer_mutex);
len = decompressed_len + 4;
}
if (nrf_driver_ext_nrf_running()) {
nrf_driver_pause(2000);
}
data[-1] = COMM_WRITE_NEW_APP_DATA;
comm_can_send_buffer(255, data - 1, len + 1, 2);
/* Falls through. */
/* no break */
case COMM_WRITE_NEW_APP_DATA_LZO:
case COMM_WRITE_NEW_APP_DATA: {
if (packet_id == COMM_WRITE_NEW_APP_DATA_LZO) {
chMtxLock(&send_buffer_mutex);
memcpy(send_buffer_global, data + 6, len - 6);
int32_t ind = 4;
lzo_uint decompressed_len = buffer_get_uint16(data, &ind);
lzo1x_decompress_safe(send_buffer_global, len - 6, data + 4, &decompressed_len, NULL);
chMtxUnlock(&send_buffer_mutex);
len = decompressed_len + 4;
}
int32_t ind = 0;
uint32_t new_app_offset = buffer_get_uint32(data, &ind);
if (nrf_driver_ext_nrf_running()) {
nrf_driver_pause(2000);
}
uint16_t flash_res = flash_helper_write_new_app_data(new_app_offset, data + ind, len - ind);
SHUTDOWN_RESET();
ind = 0;
uint8_t send_buffer[50];
send_buffer[ind++] = COMM_WRITE_NEW_APP_DATA;
send_buffer[ind++] = flash_res == FLASH_COMPLETE ? 1 : 0;
reply_func(send_buffer, ind);
} break;
case COMM_GET_VALUES:
case COMM_GET_VALUES_SELECTIVE: {
int32_t ind = 0;
chMtxLock(&send_buffer_mutex);
uint8_t *send_buffer = send_buffer_global;
send_buffer[ind++] = packet_id;
uint32_t mask = 0xFFFFFFFF;
if (packet_id == COMM_GET_VALUES_SELECTIVE) {
int32_t ind2 = 0;
mask = buffer_get_uint32(data, &ind2);
buffer_append_uint32(send_buffer, mask, &ind);
}
if (mask & ((uint32_t)1 << 0)) {
buffer_append_float16(send_buffer, mc_interface_temp_fet_filtered(), 1e1, &ind);
}
if (mask & ((uint32_t)1 << 1)) {
buffer_append_float16(send_buffer, mc_interface_temp_motor_filtered(), 1e1, &ind);
}
if (mask & ((uint32_t)1 << 2)) {
buffer_append_float32(send_buffer, mc_interface_read_reset_avg_motor_current(), 1e2, &ind);
}
if (mask & ((uint32_t)1 << 3)) {
buffer_append_float32(send_buffer, mc_interface_read_reset_avg_input_current(), 1e2, &ind);
}
if (mask & ((uint32_t)1 << 4)) {
buffer_append_float32(send_buffer, mc_interface_read_reset_avg_id(), 1e2, &ind);
}
if (mask & ((uint32_t)1 << 5)) {
buffer_append_float32(send_buffer, mc_interface_read_reset_avg_iq(), 1e2, &ind);
}
if (mask & ((uint32_t)1 << 6)) {
buffer_append_float16(send_buffer, mc_interface_get_duty_cycle_now(), 1e3, &ind);
}
if (mask & ((uint32_t)1 << 7)) {
buffer_append_float32(send_buffer, mc_interface_get_rpm(), 1e0, &ind);
}
if (mask & ((uint32_t)1 << 8)) {
buffer_append_float16(send_buffer, GET_INPUT_VOLTAGE(), 1e1, &ind);
}
if (mask & ((uint32_t)1 << 9)) {
buffer_append_float32(send_buffer, mc_interface_get_amp_hours(false), 1e4, &ind);
}
if (mask & ((uint32_t)1 << 10)) {
buffer_append_float32(send_buffer, mc_interface_get_amp_hours_charged(false), 1e4, &ind);
}
if (mask & ((uint32_t)1 << 11)) {
buffer_append_float32(send_buffer, mc_interface_get_watt_hours(false), 1e4, &ind);
}
if (mask & ((uint32_t)1 << 12)) {
buffer_append_float32(send_buffer, mc_interface_get_watt_hours_charged(false), 1e4, &ind);
}
if (mask & ((uint32_t)1 << 13)) {
buffer_append_int32(send_buffer, mc_interface_get_tachometer_value(false), &ind);
}
if (mask & ((uint32_t)1 << 14)) {
buffer_append_int32(send_buffer, mc_interface_get_tachometer_abs_value(false), &ind);
}
if (mask & ((uint32_t)1 << 15)) {
send_buffer[ind++] = mc_interface_get_fault();
}
if (mask & ((uint32_t)1 << 16)) {
buffer_append_float32(send_buffer, mc_interface_get_pid_pos_now(), 1e6, &ind);
}
if (mask & ((uint32_t)1 << 17)) {
send_buffer[ind++] = app_get_configuration()->controller_id;
}
if (mask & ((uint32_t)1 << 18)) {
buffer_append_float16(send_buffer, NTC_TEMP_MOS1(), 1e1, &ind);
buffer_append_float16(send_buffer, NTC_TEMP_MOS2(), 1e1, &ind);
buffer_append_float16(send_buffer, NTC_TEMP_MOS3(), 1e1, &ind);
}
if (mask & ((uint32_t)1 << 19)) {
buffer_append_float32(send_buffer, mc_interface_read_reset_avg_vd(), 1e3, &ind);
}
if (mask & ((uint32_t)1 << 20)) {
buffer_append_float32(send_buffer, mc_interface_read_reset_avg_vq(), 1e3, &ind);
}
reply_func(send_buffer, ind);
chMtxUnlock(&send_buffer_mutex);
} break;
case COMM_SET_DUTY: {
int32_t ind = 0;
mc_interface_set_duty((float)buffer_get_int32(data, &ind) / 100000.0);
timeout_reset();
} break;
case COMM_SET_CURRENT: {
int32_t ind = 0;
mc_interface_set_current((float)buffer_get_int32(data, &ind) / 1000.0);
timeout_reset();
} break;
case COMM_SET_CURRENT_BRAKE: {
int32_t ind = 0;
mc_interface_set_brake_current((float)buffer_get_int32(data, &ind) / 1000.0);
timeout_reset();
} break;
case COMM_SET_RPM: {
int32_t ind = 0;
mc_interface_set_pid_speed((float)buffer_get_int32(data, &ind));
timeout_reset();
} break;
case COMM_SET_POS: {
int32_t ind = 0;
mc_interface_set_pid_pos((float)buffer_get_int32(data, &ind) / 1000000.0);
timeout_reset();
} break;
case COMM_SET_HANDBRAKE: {
int32_t ind = 0;
mc_interface_set_handbrake(buffer_get_float32(data, 1e3, &ind));
timeout_reset();
} break;
case COMM_SET_DETECT: {
int32_t ind = 0;
display_position_mode = data[ind++];
if (mc_interface_get_configuration()->motor_type == MOTOR_TYPE_BLDC) {
if (display_position_mode == DISP_POS_MODE_NONE) {
mc_interface_release_motor();
} else if (display_position_mode == DISP_POS_MODE_INDUCTANCE) {
mcpwm_set_detect();
}
}
timeout_reset();
} break;
case COMM_SET_SERVO_POS: {
#if SERVO_OUT_ENABLE
int32_t ind = 0;
servo_simple_set_output(buffer_get_float16(data, 1000.0, &ind));
#endif
} break;
case COMM_SET_MCCONF: {
mc_configuration *mcconf = mempools_alloc_mcconf();
*mcconf = *mc_interface_get_configuration();
if (confgenerator_deserialize_mcconf(data, mcconf)) {
utils_truncate_number(&mcconf->l_current_max_scale , 0.0, 1.0);
utils_truncate_number(&mcconf->l_current_min_scale , 0.0, 1.0);
#ifdef HW_HAS_DUAL_MOTORS
mcconf->motor_type = MOTOR_TYPE_FOC;
#endif
mcconf->lo_current_max = mcconf->l_current_max * mcconf->l_current_max_scale;
mcconf->lo_current_min = mcconf->l_current_min * mcconf->l_current_min_scale;
mcconf->lo_in_current_max = mcconf->l_in_current_max;
mcconf->lo_in_current_min = mcconf->l_in_current_min;
mcconf->lo_current_motor_max_now = mcconf->lo_current_max;
mcconf->lo_current_motor_min_now = mcconf->lo_current_min;
commands_apply_mcconf_hw_limits(mcconf);
conf_general_store_mc_configuration(mcconf, mc_interface_get_motor_thread() == 2);
mc_interface_set_configuration(mcconf);
chThdSleepMilliseconds(200);
int32_t ind = 0;
uint8_t send_buffer[50];
send_buffer[ind++] = packet_id;
reply_func(send_buffer, ind);
} else {
commands_printf("Warning: Could not set mcconf due to wrong signature");
}
mempools_free_mcconf(mcconf);
} break;
case COMM_GET_MCCONF:
case COMM_GET_MCCONF_DEFAULT: {
mc_configuration *mcconf = mempools_alloc_mcconf();
if (packet_id == COMM_GET_MCCONF) {
*mcconf = *mc_interface_get_configuration();
} else {
confgenerator_set_defaults_mcconf(mcconf);
}
commands_send_mcconf(packet_id, mcconf);
mempools_free_mcconf(mcconf);
} break;
case COMM_SET_APPCONF: {
app_configuration *appconf = mempools_alloc_appconf();
*appconf = *app_get_configuration();
if (confgenerator_deserialize_appconf(data, appconf)) {
#ifdef HW_HAS_DUAL_MOTORS
// Ignore ID when setting second motor config
if (mc_interface_get_motor_thread() == 2) {
appconf->controller_id = app_get_configuration()->controller_id;
}
#endif
conf_general_store_app_configuration(appconf);
app_set_configuration(appconf);
timeout_configure(appconf->timeout_msec, appconf->timeout_brake_current);
chThdSleepMilliseconds(200);
int32_t ind = 0;
uint8_t send_buffer[50];
send_buffer[ind++] = packet_id;
reply_func(send_buffer, ind);
} else {
commands_printf("Warning: Could not set appconf due to wrong signature");
}
mempools_free_appconf(appconf);
} break;
case COMM_GET_APPCONF:
case COMM_GET_APPCONF_DEFAULT: {
app_configuration *appconf = mempools_alloc_appconf();
if (packet_id == COMM_GET_APPCONF) {
*appconf = *app_get_configuration();
} else {
confgenerator_set_defaults_appconf(appconf);
}
#ifdef HW_HAS_DUAL_MOTORS
if (mc_interface_get_motor_thread() == 2) {
appconf->controller_id = utils_second_motor_id();
}
#endif
commands_send_appconf(packet_id, appconf);
mempools_free_appconf(appconf);
} break;
case COMM_SAMPLE_PRINT: {
uint16_t sample_len;
uint8_t decimation;
debug_sampling_mode mode;
int32_t ind = 0;
mode = data[ind++];
sample_len = buffer_get_uint16(data, &ind);
decimation = data[ind++];
mc_interface_sample_print_data(mode, sample_len, decimation);
} break;
case COMM_REBOOT:
// Lock the system and enter an infinite loop. The watchdog will reboot.
__disable_irq();
for(;;){};
break;
case COMM_ALIVE:
SHUTDOWN_RESET();
timeout_reset();
break;
case COMM_GET_DECODED_PPM: {
int32_t ind = 0;
uint8_t send_buffer[50];
send_buffer[ind++] = COMM_GET_DECODED_PPM;
buffer_append_int32(send_buffer, (int32_t)(app_ppm_get_decoded_level() * 1000000.0), &ind);
buffer_append_int32(send_buffer, (int32_t)(servodec_get_last_pulse_len(0) * 1000000.0), &ind);
reply_func(send_buffer, ind);
} break;
case COMM_GET_DECODED_ADC: {
int32_t ind = 0;
uint8_t send_buffer[50];
send_buffer[ind++] = COMM_GET_DECODED_ADC;
buffer_append_int32(send_buffer, (int32_t)(app_adc_get_decoded_level() * 1000000.0), &ind);
buffer_append_int32(send_buffer, (int32_t)(app_adc_get_voltage() * 1000000.0), &ind);
buffer_append_int32(send_buffer, (int32_t)(app_adc_get_decoded_level2() * 1000000.0), &ind);
buffer_append_int32(send_buffer, (int32_t)(app_adc_get_voltage2() * 1000000.0), &ind);
reply_func(send_buffer, ind);
} break;
case COMM_GET_DECODED_CHUK: {
int32_t ind = 0;
uint8_t send_buffer[50];
send_buffer[ind++] = COMM_GET_DECODED_CHUK;
buffer_append_int32(send_buffer, (int32_t)(app_nunchuk_get_decoded_chuk() * 1000000.0), &ind);
reply_func(send_buffer, ind);
} break;
case COMM_GET_DECODED_BALANCE: {
int32_t ind = 0;
uint8_t send_buffer[50];
send_buffer[ind++] = COMM_GET_DECODED_BALANCE;
buffer_append_int32(send_buffer, (int32_t)(app_balance_get_pid_output() * 1000000.0), &ind);
buffer_append_int32(send_buffer, (int32_t)(app_balance_get_pitch_angle() * 1000000.0), &ind);
buffer_append_int32(send_buffer, (int32_t)(app_balance_get_roll_angle() * 1000000.0), &ind);
buffer_append_uint32(send_buffer, app_balance_get_diff_time(), &ind);
buffer_append_int32(send_buffer, (int32_t)(app_balance_get_motor_current() * 1000000.0), &ind);
buffer_append_int32(send_buffer, (int32_t)(app_balance_get_motor_position() * 1000000.0), &ind);
buffer_append_uint16(send_buffer, app_balance_get_state(), &ind);
buffer_append_uint16(send_buffer, app_balance_get_switch_state(), &ind);
buffer_append_int32(send_buffer, (int32_t)(app_balance_get_adc1() * 1000000.0), &ind);
buffer_append_int32(send_buffer, (int32_t)(app_balance_get_adc2() * 1000000.0), &ind);
reply_func(send_buffer, ind);
} break;
case COMM_FORWARD_CAN: {
#ifdef HW_HAS_DUAL_MOTORS
if (data[0] == utils_second_motor_id()) {
mc_interface_select_motor_thread(2);
commands_process_packet(data + 1, len - 1, reply_func);
mc_interface_select_motor_thread(1);
} else {
comm_can_send_buffer(data[0], data + 1, len - 1, 0);
}
#else
comm_can_send_buffer(data[0], data + 1, len - 1, 0);
#endif
} break;
case COMM_SET_CHUCK_DATA: {
chuck_data chuck_d_tmp;
int32_t ind = 0;
chuck_d_tmp.js_x = data[ind++];
chuck_d_tmp.js_y = data[ind++];
chuck_d_tmp.bt_c = data[ind++];
chuck_d_tmp.bt_z = data[ind++];
chuck_d_tmp.acc_x = buffer_get_int16(data, &ind);
chuck_d_tmp.acc_y = buffer_get_int16(data, &ind);
chuck_d_tmp.acc_z = buffer_get_int16(data, &ind);
if (len >= (unsigned int)ind + 2) {
chuck_d_tmp.rev_has_state = data[ind++];
chuck_d_tmp.is_rev = data[ind++];
} else {
chuck_d_tmp.rev_has_state = false;
chuck_d_tmp.is_rev = false;
}
app_nunchuk_update_output(&chuck_d_tmp);
} break;
case COMM_CUSTOM_APP_DATA:
if (appdata_func) {
appdata_func(data, len);
}
break;
case COMM_NRF_START_PAIRING: {
int32_t ind = 0;
nrf_driver_start_pairing(buffer_get_int32(data, &ind));
ind = 0;
uint8_t send_buffer[50];
send_buffer[ind++] = packet_id;
send_buffer[ind++] = NRF_PAIR_STARTED;
reply_func(send_buffer, ind);
} break;
case COMM_GPD_SET_FSW: {
timeout_reset();
int32_t ind = 0;
gpdrive_set_switching_frequency((float)buffer_get_int32(data, &ind));
} break;
case COMM_GPD_BUFFER_SIZE_LEFT: {
int32_t ind = 0;
uint8_t send_buffer[50];
send_buffer[ind++] = COMM_GPD_BUFFER_SIZE_LEFT;
buffer_append_int32(send_buffer, gpdrive_buffer_size_left(), &ind);
reply_func(send_buffer, ind);
} break;
case COMM_GPD_FILL_BUFFER: {
timeout_reset();
int32_t ind = 0;
while (ind < (int)len) {
gpdrive_add_buffer_sample(buffer_get_float32_auto(data, &ind));
}
} break;
case COMM_GPD_OUTPUT_SAMPLE: {
timeout_reset();
int32_t ind = 0;
gpdrive_add_buffer_sample(buffer_get_float32_auto(data, &ind));
} break;
case COMM_GPD_SET_MODE: {
timeout_reset();
int32_t ind = 0;
gpdrive_set_mode(data[ind++]);
} break;
case COMM_GPD_FILL_BUFFER_INT8: {
timeout_reset();
int32_t ind = 0;
while (ind < (int)len) {
gpdrive_add_buffer_sample_int((int8_t)data[ind++]);
}
} break;
case COMM_GPD_FILL_BUFFER_INT16: {
timeout_reset();
int32_t ind = 0;
while (ind < (int)len) {
gpdrive_add_buffer_sample_int(buffer_get_int16(data, &ind));
}
} break;
case COMM_GPD_SET_BUFFER_INT_SCALE: {
int32_t ind = 0;
gpdrive_set_buffer_int_scale(buffer_get_float32_auto(data, &ind));
} break;
case COMM_GET_VALUES_SETUP:
case COMM_GET_VALUES_SETUP_SELECTIVE: {
setup_values val = mc_interface_get_setup_values();
float wh_batt_left = 0.0;
float battery_level = mc_interface_get_battery_level(&wh_batt_left);
int32_t ind = 0;
chMtxLock(&send_buffer_mutex);
uint8_t *send_buffer = send_buffer_global;
send_buffer[ind++] = packet_id;
uint32_t mask = 0xFFFFFFFF;
if (packet_id == COMM_GET_VALUES_SETUP_SELECTIVE) {
int32_t ind2 = 0;
mask = buffer_get_uint32(data, &ind2);
buffer_append_uint32(send_buffer, mask, &ind);
}
if (mask & ((uint32_t)1 << 0)) {
buffer_append_float16(send_buffer, mc_interface_temp_fet_filtered(), 1e1, &ind);
}
if (mask & ((uint32_t)1 << 1)) {
buffer_append_float16(send_buffer, mc_interface_temp_motor_filtered(), 1e1, &ind);
}
if (mask & ((uint32_t)1 << 2)) {
buffer_append_float32(send_buffer, val.current_tot, 1e2, &ind);
}
if (mask & ((uint32_t)1 << 3)) {
buffer_append_float32(send_buffer, val.current_in_tot, 1e2, &ind);
}
if (mask & ((uint32_t)1 << 4)) {
buffer_append_float16(send_buffer, mc_interface_get_duty_cycle_now(), 1e3, &ind);
}
if (mask & ((uint32_t)1 << 5)) {
buffer_append_float32(send_buffer, mc_interface_get_rpm(), 1e0, &ind);
}
if (mask & ((uint32_t)1 << 6)) {
buffer_append_float32(send_buffer, mc_interface_get_speed(), 1e3, &ind);
}
if (mask & ((uint32_t)1 << 7)) {
buffer_append_float16(send_buffer, GET_INPUT_VOLTAGE(), 1e1, &ind);
}
if (mask & ((uint32_t)1 << 8)) {
buffer_append_float16(send_buffer, battery_level, 1e3, &ind);
}
if (mask & ((uint32_t)1 << 9)) {
buffer_append_float32(send_buffer, val.ah_tot, 1e4, &ind);
}
if (mask & ((uint32_t)1 << 10)) {
buffer_append_float32(send_buffer, val.ah_charge_tot, 1e4, &ind);
}
if (mask & ((uint32_t)1 << 11)) {
buffer_append_float32(send_buffer, val.wh_tot, 1e4, &ind);
}
if (mask & ((uint32_t)1 << 12)) {
buffer_append_float32(send_buffer, val.wh_charge_tot, 1e4, &ind);
}
if (mask & ((uint32_t)1 << 13)) {
buffer_append_float32(send_buffer, mc_interface_get_distance(), 1e3, &ind);
}
if (mask & ((uint32_t)1 << 14)) {
buffer_append_float32(send_buffer, mc_interface_get_distance_abs(), 1e3, &ind);
}
if (mask & ((uint32_t)1 << 15)) {
buffer_append_float32(send_buffer, mc_interface_get_pid_pos_now(), 1e6, &ind);
}
if (mask & ((uint32_t)1 << 16)) {
send_buffer[ind++] = mc_interface_get_fault();
}
if (mask & ((uint32_t)1 << 17)) {
send_buffer[ind++] = app_get_configuration()->controller_id;
}
if (mask & ((uint32_t)1 << 18)) {
send_buffer[ind++] = val.num_vescs;
}
if (mask & ((uint32_t)1 << 19)) {
buffer_append_float32(send_buffer, wh_batt_left, 1e3, &ind);
}
reply_func(send_buffer, ind);
chMtxUnlock(&send_buffer_mutex);
} break;
case COMM_SET_MCCONF_TEMP:
case COMM_SET_MCCONF_TEMP_SETUP: {
mc_configuration *mcconf = mempools_alloc_mcconf();
*mcconf = *mc_interface_get_configuration();
int32_t ind = 0;
bool store = data[ind++];
bool forward_can = data[ind++];
bool ack = data[ind++];
bool divide_by_controllers = data[ind++];
float controller_num = 1.0;
if (divide_by_controllers) {
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) < 0.1) {
controller_num += 1.0;
}
}
}
mcconf->l_current_min_scale = buffer_get_float32_auto(data, &ind);
mcconf->l_current_max_scale = buffer_get_float32_auto(data, &ind);
if (packet_id == COMM_SET_MCCONF_TEMP_SETUP) {
const float fact = ((mcconf->si_motor_poles / 2.0) * 60.0 *
mcconf->si_gear_ratio) / (mcconf->si_wheel_diameter * M_PI);
mcconf->l_min_erpm = buffer_get_float32_auto(data, &ind) * fact;
mcconf->l_max_erpm = buffer_get_float32_auto(data, &ind) * fact;
// Write computed RPM back and change forwarded packet id to
// COMM_SET_MCCONF_TEMP. This way only the master has to be
// aware of the setup information.
ind -= 8;
buffer_append_float32_auto(data, mcconf->l_min_erpm, &ind);
buffer_append_float32_auto(data, mcconf->l_max_erpm, &ind);
} else {
mcconf->l_min_erpm = buffer_get_float32_auto(data, &ind);
mcconf->l_max_erpm = buffer_get_float32_auto(data, &ind);
}
mcconf->l_min_duty = buffer_get_float32_auto(data, &ind);
mcconf->l_max_duty = buffer_get_float32_auto(data, &ind);
mcconf->l_watt_min = buffer_get_float32_auto(data, &ind) / controller_num;
mcconf->l_watt_max = buffer_get_float32_auto(data, &ind) / controller_num;
// Write divided data back to the buffer, as the other controllers have no way to tell
// how many controllers are on the bus and thus need pre-divided data.
// We set divide by controllers to false before forwarding.
ind -= 8;
buffer_append_float32_auto(data, mcconf->l_watt_min, &ind);
buffer_append_float32_auto(data, mcconf->l_watt_max, &ind);
mcconf->lo_current_min = mcconf->l_current_min * mcconf->l_current_min_scale;
mcconf->lo_current_max = mcconf->l_current_max * mcconf->l_current_max_scale;
mcconf->lo_current_motor_min_now = mcconf->lo_current_min;
mcconf->lo_current_motor_max_now = mcconf->lo_current_max;
commands_apply_mcconf_hw_limits(mcconf);
if (store) {
conf_general_store_mc_configuration(mcconf, mc_interface_get_motor_thread() == 2);
}
mc_interface_set_configuration(mcconf);
if (forward_can) {
data[-1] = COMM_SET_MCCONF_TEMP;
data[1] = 0; // No more forward
data[2] = 0; // No ack
data[3] = 0; // No dividing, see comment above
// TODO: Maybe broadcast on CAN-bus?
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) < 0.1) {
comm_can_send_buffer(msg->id, data - 1, len + 1, 0);
}
}
}
if (ack) {
ind = 0;
uint8_t send_buffer[50];
send_buffer[ind++] = packet_id;
reply_func(send_buffer, ind);
}
mempools_free_mcconf(mcconf);
} break;
case COMM_EXT_NRF_PRESENT: {
if (!conf_general_permanent_nrf_found) {
nrf_driver_init_ext_nrf();
if (!nrf_driver_is_pairing()) {
const app_configuration *appconf = app_get_configuration();
uint8_t send_buffer[50];
send_buffer[0] = COMM_EXT_NRF_ESB_SET_CH_ADDR;
send_buffer[1] = appconf->app_nrf_conf.channel;
send_buffer[2] = appconf->app_nrf_conf.address[0];
send_buffer[3] = appconf->app_nrf_conf.address[1];
send_buffer[4] = appconf->app_nrf_conf.address[2];
commands_send_packet_nrf(send_buffer, 5);
}
}
} break;
case COMM_EXT_NRF_ESB_RX_DATA: {
nrf_driver_process_packet(data, len);
} break;
case COMM_APP_DISABLE_OUTPUT: {
int32_t ind = 0;
bool fwd_can = data[ind++];
int time = buffer_get_int32(data, &ind);
app_disable_output(time);
if (fwd_can) {
data[0] = 0; // Don't continue forwarding
comm_can_send_buffer(255, data - 1, len + 1, 0);
}
} break;
case COMM_TERMINAL_CMD_SYNC:
data[len] = '\0';
chMtxLock(&terminal_mutex);
terminal_process_string((char*)data);
chMtxUnlock(&terminal_mutex);
break;
case COMM_GET_IMU_DATA: {
int32_t ind = 0;
uint8_t send_buffer[70];
send_buffer[ind++] = packet_id;
int32_t ind2 = 0;
uint32_t mask = buffer_get_uint16(data, &ind2);
float rpy[3], acc[3], gyro[3], mag[3], q[4];
imu_get_rpy(rpy);
imu_get_accel(acc);
imu_get_gyro(gyro);
imu_get_mag(mag);
imu_get_quaternions(q);
buffer_append_uint16(send_buffer, mask, &ind);
if (mask & ((uint32_t)1 << 0)) {
buffer_append_float32_auto(send_buffer, rpy[0], &ind);
}
if (mask & ((uint32_t)1 << 1)) {
buffer_append_float32_auto(send_buffer, rpy[1], &ind);
}
if (mask & ((uint32_t)1 << 2)) {
buffer_append_float32_auto(send_buffer, rpy[2], &ind);
}
if (mask & ((uint32_t)1 << 3)) {
buffer_append_float32_auto(send_buffer, acc[0], &ind);
}
if (mask & ((uint32_t)1 << 4)) {
buffer_append_float32_auto(send_buffer, acc[1], &ind);
}
if (mask & ((uint32_t)1 << 5)) {
buffer_append_float32_auto(send_buffer, acc[2], &ind);
}
if (mask & ((uint32_t)1 << 6)) {
buffer_append_float32_auto(send_buffer, gyro[0], &ind);
}
if (mask & ((uint32_t)1 << 7)) {
buffer_append_float32_auto(send_buffer, gyro[1], &ind);
}
if (mask & ((uint32_t)1 << 8)) {
buffer_append_float32_auto(send_buffer, gyro[2], &ind);
}
if (mask & ((uint32_t)1 << 9)) {
buffer_append_float32_auto(send_buffer, mag[0], &ind);
}
if (mask & ((uint32_t)1 << 10)) {
buffer_append_float32_auto(send_buffer, mag[1], &ind);
}
if (mask & ((uint32_t)1 << 11)) {
buffer_append_float32_auto(send_buffer, mag[2], &ind);
}
if (mask & ((uint32_t)1 << 12)) {
buffer_append_float32_auto(send_buffer, q[0], &ind);
}
if (mask & ((uint32_t)1 << 13)) {
buffer_append_float32_auto(send_buffer, q[1], &ind);
}
if (mask & ((uint32_t)1 << 14)) {
buffer_append_float32_auto(send_buffer, q[2], &ind);
}
if (mask & ((uint32_t)1 << 15)) {
buffer_append_float32_auto(send_buffer, q[3], &ind);
}
reply_func(send_buffer, ind);
} break;
case COMM_ERASE_BOOTLOADER_ALL_CAN:
if (nrf_driver_ext_nrf_running()) {
nrf_driver_pause(6000);
}
data[-1] = COMM_ERASE_BOOTLOADER;
comm_can_send_buffer(255, data - 1, len + 1, 2);
chThdSleepMilliseconds(1500);
/* Falls through. */
/* no break */
case COMM_ERASE_BOOTLOADER: {
int32_t ind = 0;
if (nrf_driver_ext_nrf_running()) {
nrf_driver_pause(6000);
}
uint16_t flash_res = flash_helper_erase_bootloader();
ind = 0;
uint8_t send_buffer[50];
send_buffer[ind++] = COMM_ERASE_BOOTLOADER;
send_buffer[ind++] = flash_res == FLASH_COMPLETE ? 1 : 0;