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Added more C lib support
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@vedderb
vedderb committed Jul 5, 2022
1 parent 44425d6 commit f53cbfc
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Showing 4 changed files with 275 additions and 1 deletion.
2 changes: 1 addition & 1 deletion conf_general.h
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Expand Up @@ -24,7 +24,7 @@
#define FW_VERSION_MAJOR 6
#define FW_VERSION_MINOR 00
// Set to 0 for building a release and iterate during beta test builds
#define FW_TEST_VERSION_NUMBER 52
#define FW_TEST_VERSION_NUMBER 53

#include "datatypes.h"

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1 change: 1 addition & 0 deletions lispBM/c_libs/rules.mk
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Expand Up @@ -29,6 +29,7 @@ CFLAGS += -fomit-frame-pointer -falign-functions=16 -mthumb
CFLAGS += -fsingle-precision-constant -Wdouble-promotion
CFLAGS += -mfloat-abi=hard -mfpu=fpv4-sp-d16 -mcpu=cortex-m4
CFLAGS += -fdata-sections -ffunction-sections
CFLAGS += -DIS_VESC_LIB

ifeq ($(USE_STLIB),yes)
CFLAGS += -DUSE_STLIB -I$(STLIB_PATH)/inc
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180 changes: 180 additions & 0 deletions lispBM/c_libs/vesc_c_if.h
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Expand Up @@ -26,6 +26,94 @@
typedef bool (*load_extension_fptr)(char*,extension_fptr);
typedef void* lib_thread;

#ifdef IS_VESC_LIB
typedef uint32_t systime_t;

typedef struct {
int id;
systime_t rx_time;
float rpm;
float current;
float duty;
} can_status_msg;

typedef struct {
int id;
systime_t rx_time;
float amp_hours;
float amp_hours_charged;
} can_status_msg_2;

typedef struct {
int id;
systime_t rx_time;
float watt_hours;
float watt_hours_charged;
} can_status_msg_3;

typedef struct {
int id;
systime_t rx_time;
float temp_fet;
float temp_motor;
float current_in;
float pid_pos_now;
} can_status_msg_4;

typedef struct {
int id;
systime_t rx_time;
float v_in;
int32_t tacho_value;
} can_status_msg_5;

typedef struct {
int id;
systime_t rx_time;
float adc_1;
float adc_2;
float adc_3;
float ppm;
} can_status_msg_6;

typedef enum {
HW_TYPE_VESC = 0,
HW_TYPE_VESC_BMS,
HW_TYPE_CUSTOM_MODULE
} HW_TYPE;

typedef enum {
FAULT_CODE_NONE = 0,
FAULT_CODE_OVER_VOLTAGE,
FAULT_CODE_UNDER_VOLTAGE,
FAULT_CODE_DRV,
FAULT_CODE_ABS_OVER_CURRENT,
FAULT_CODE_OVER_TEMP_FET,
FAULT_CODE_OVER_TEMP_MOTOR,
FAULT_CODE_GATE_DRIVER_OVER_VOLTAGE,
FAULT_CODE_GATE_DRIVER_UNDER_VOLTAGE,
FAULT_CODE_MCU_UNDER_VOLTAGE,
FAULT_CODE_BOOTING_FROM_WATCHDOG_RESET,
FAULT_CODE_ENCODER_SPI,
FAULT_CODE_ENCODER_SINCOS_BELOW_MIN_AMPLITUDE,
FAULT_CODE_ENCODER_SINCOS_ABOVE_MAX_AMPLITUDE,
FAULT_CODE_FLASH_CORRUPTION,
FAULT_CODE_HIGH_OFFSET_CURRENT_SENSOR_1,
FAULT_CODE_HIGH_OFFSET_CURRENT_SENSOR_2,
FAULT_CODE_HIGH_OFFSET_CURRENT_SENSOR_3,
FAULT_CODE_UNBALANCED_CURRENTS,
FAULT_CODE_BRK,
FAULT_CODE_RESOLVER_LOT,
FAULT_CODE_RESOLVER_DOS,
FAULT_CODE_RESOLVER_LOS,
FAULT_CODE_FLASH_CORRUPTION_APP_CFG,
FAULT_CODE_FLASH_CORRUPTION_MC_CFG,
FAULT_CODE_ENCODER_NO_MAGNET,
FAULT_CODE_ENCODER_MAGNET_TOO_STRONG,
FAULT_CODE_PHASE_FILTER,
} mc_fault_code;
#endif

typedef enum {
VESC_PIN_COMM_RX = 0,
VESC_PIN_COMM_TX,
Expand All @@ -49,6 +137,10 @@ typedef enum {
VESC_PIN_MODE_ANALOG,
} VESC_PIN_MODE;

/*
* Function pointer struct. Always add new function pointers to the end in order to not
* break compatibility with old binaries.
*/
typedef struct {
// LBM If
load_extension_fptr lbm_add_extension;
Expand Down Expand Up @@ -92,6 +184,94 @@ typedef struct {
void (*can_set_eid_cb)(bool (*p_func)(uint32_t id, uint8_t *data, uint8_t len));
void (*can_transmit_sid)(uint32_t id, const uint8_t *data, uint8_t len);
void (*can_transmit_eid)(uint32_t id, const uint8_t *data, uint8_t len);
void (*can_send_buffer)(uint8_t controller_id, uint8_t *data, unsigned int len, uint8_t send);
void (*can_set_duty)(uint8_t controller_id, float duty);
void (*can_set_current)(uint8_t controller_id, float current);
void (*can_set_current_off_delay)(uint8_t controller_id, float current, float off_delay);
void (*can_set_current_brake)(uint8_t controller_id, float current);
void (*can_set_rpm)(uint8_t controller_id, float rpm);
void (*can_set_pos)(uint8_t controller_id, float pos);
void (*can_set_current_rel)(uint8_t controller_id, float current_rel);
void (*can_set_current_rel_off_delay)(uint8_t controller_id, float current_rel, float off_delay);
void (*can_set_current_brake_rel)(uint8_t controller_id, float current_rel);
bool (*can_ping)(uint8_t controller_id, HW_TYPE *hw_type);
can_status_msg* (*can_get_status_msg_index)(int index);
can_status_msg* (*can_get_status_msg_id)(int id);
can_status_msg_2* (*can_get_status_msg_2_index)(int index);
can_status_msg_2* (*can_get_status_msg_2_id)(int id);
can_status_msg_3* (*can_get_status_msg_3_index)(int index);
can_status_msg_3* (*can_get_status_msg_3_id)(int id);
can_status_msg_4* (*can_get_status_msg_4_index)(int index);
can_status_msg_4* (*can_get_status_msg_4_id)(int id);
can_status_msg_5* (*can_get_status_msg_5_index)(int index);
can_status_msg_5* (*can_get_status_msg_5_id)(int id);
can_status_msg_6* (*can_get_status_msg_6_index)(int index);
can_status_msg_6* (*can_get_status_msg_6_id)(int id);

// Motor Control
int (*mc_motor_now)(void);
void (*mc_select_motor_thread)(int motor);
int (*mc_get_motor_thread)(void);
bool (*mc_dccal_done)(void);
void (*mc_set_pwm_callback)(void (*p_func)(void));
mc_fault_code (*mc_get_fault)(void);
const char* (*mc_fault_to_string)(mc_fault_code fault);
void (*mc_set_duty)(float dutyCycle);
void (*mc_set_duty_noramp)(float dutyCycle);
void (*mc_set_pid_speed)(float rpm);
void (*mc_set_pid_pos)(float pos);
void (*mc_set_current)(float current);
void (*mc_set_brake_current)(float current);
void (*mc_set_current_rel)(float val);
void (*mc_set_brake_current_rel)(float val);
void (*mc_set_handbrake)(float current);
void (*mc_set_handbrake_rel)(float val);
int (*mc_set_tachometer_value)(int steps);
void (*mc_release_motor)(void);
bool (*mc_wait_for_motor_release)(float timeout);
float (*mc_get_duty_cycle_now)(void);
float (*mc_get_sampling_frequency_now)(void);
float (*mc_get_rpm)(void);
float (*mc_get_amp_hours)(bool reset);
float (*mc_get_amp_hours_charged)(bool reset);
float (*mc_get_watt_hours)(bool reset);
float (*mc_get_watt_hours_charged)(bool reset);
float (*mc_get_tot_current)(void);
float (*mc_get_tot_current_filtered)(void);
float (*mc_get_tot_current_directional)(void);
float (*mc_get_tot_current_directional_filtered)(void);
float (*mc_get_tot_current_in)(void);
float (*mc_get_tot_current_in_filtered)(void);
float (*mc_get_input_voltage_filtered)(void);
int (*mc_get_tachometer_value)(bool reset);
int (*mc_get_tachometer_abs_value)(bool reset);
float (*mc_get_pid_pos_set)(void);
float (*mc_get_pid_pos_now)(void);
void (*mc_update_pid_pos_offset)(float angle_now, bool store);
float (*mc_temp_fet_filtered)(void);
float (*mc_temp_motor_filtered)(void);
float (*mc_get_battery_level)(float *wh_left);
float (*mc_get_speed)(void);
float (*mc_get_distance)(void);
float (*mc_get_distance_abs)(void);
uint64_t (*mc_get_odometer)(void);
void (*mc_set_odometer)(uint64_t new_odometer_meters);
void (*mc_set_current_off_delay)(float delay_sec);
float (*mc_stat_speed_avg)(void);
float (*mc_stat_speed_max)(void);
float (*mc_stat_power_avg)(void);
float (*mc_stat_power_max)(void);
float (*mc_stat_current_avg)(void);
float (*mc_stat_current_max)(void);
float (*mc_stat_temp_mosfet_avg)(void);
float (*mc_stat_temp_mosfet_max)(void);
float (*mc_stat_temp_motor_avg)(void);
float (*mc_stat_temp_motor_max)(void);
float (*mc_stat_count_time)(void);
void (*mc_stat_reset)(void);

// More (added here to not break binary compatibility)
float (*system_time)(void);
} vesc_c_if;

typedef struct {
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93 changes: 93 additions & 0 deletions lispBM/lispif_c_lib.c
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Original file line number Diff line number Diff line change
Expand Up @@ -25,6 +25,7 @@
#include "comm_can.h"
#include "lispif.h"
#include "lispbm.h"
#include "utils.h"
#include "c_libs/vesc_c_if.h"

typedef struct {
Expand Down Expand Up @@ -52,6 +53,10 @@ static void lib_sleep_us(uint32_t us) {
chThdSleepMicroseconds(us);
}

static float lib_system_time(void) {
return UTILS_AGE_S(0);
}

static void* lib_malloc(size_t size) {
lbm_uint alloc_size;
if (size % sizeof(lbm_uint) == 0) {
Expand Down Expand Up @@ -328,6 +333,94 @@ lbm_value ext_load_native_lib(lbm_value *args, lbm_uint argn) {
cif.cif.can_set_eid_cb = comm_can_set_eid_rx_callback;
cif.cif.can_transmit_sid = comm_can_transmit_sid;
cif.cif.can_transmit_eid = comm_can_transmit_eid;
cif.cif.can_send_buffer = comm_can_send_buffer;
cif.cif.can_set_duty = comm_can_set_duty;
cif.cif.can_set_current = comm_can_set_current;
cif.cif.can_set_current_off_delay = comm_can_set_current_off_delay;
cif.cif.can_set_current_brake = comm_can_set_current_brake;
cif.cif.can_set_rpm = comm_can_set_rpm;
cif.cif.can_set_pos = comm_can_set_pos;
cif.cif.can_set_current_rel = comm_can_set_current_rel;
cif.cif.can_set_current_rel_off_delay = comm_can_set_current_rel_off_delay;
cif.cif.can_set_current_brake_rel = comm_can_set_current_brake_rel;
cif.cif.can_ping = comm_can_ping;
cif.cif.can_get_status_msg_index = comm_can_get_status_msg_index;
cif.cif.can_get_status_msg_id = comm_can_get_status_msg_id;
cif.cif.can_get_status_msg_2_index = comm_can_get_status_msg_2_index;
cif.cif.can_get_status_msg_2_id = comm_can_get_status_msg_2_id;
cif.cif.can_get_status_msg_3_index = comm_can_get_status_msg_3_index;
cif.cif.can_get_status_msg_3_id = comm_can_get_status_msg_3_id;
cif.cif.can_get_status_msg_4_index = comm_can_get_status_msg_4_index;
cif.cif.can_get_status_msg_4_id = comm_can_get_status_msg_4_id;
cif.cif.can_get_status_msg_5_index = comm_can_get_status_msg_5_index;
cif.cif.can_get_status_msg_5_id = comm_can_get_status_msg_5_id;
cif.cif.can_get_status_msg_6_index = comm_can_get_status_msg_6_index;
cif.cif.can_get_status_msg_6_id = comm_can_get_status_msg_6_id;

// Motor Control
cif.cif.mc_motor_now = mc_interface_motor_now;
cif.cif.mc_select_motor_thread = mc_interface_select_motor_thread;
cif.cif.mc_get_motor_thread = mc_interface_get_motor_thread;
cif.cif.mc_dccal_done = mc_interface_dccal_done;
cif.cif.mc_set_pwm_callback = mc_interface_set_pwm_callback;
cif.cif.mc_get_fault = mc_interface_get_fault;
cif.cif.mc_fault_to_string = mc_interface_fault_to_string;
cif.cif.mc_set_duty = mc_interface_set_duty;
cif.cif.mc_set_duty_noramp = mc_interface_set_duty_noramp;
cif.cif.mc_set_pid_speed = mc_interface_set_pid_speed;
cif.cif.mc_set_pid_pos = mc_interface_set_pid_pos;
cif.cif.mc_set_current = mc_interface_set_current;
cif.cif.mc_set_brake_current = mc_interface_set_brake_current;
cif.cif.mc_set_current_rel = mc_interface_set_current_rel;
cif.cif.mc_set_brake_current_rel = mc_interface_set_brake_current_rel;
cif.cif.mc_set_handbrake = mc_interface_set_handbrake;
cif.cif.mc_set_handbrake_rel = mc_interface_set_handbrake_rel;
cif.cif.mc_set_tachometer_value = mc_interface_set_tachometer_value;
cif.cif.mc_release_motor = mc_interface_release_motor;
cif.cif.mc_wait_for_motor_release = mc_interface_wait_for_motor_release;
cif.cif.mc_get_duty_cycle_now = mc_interface_get_duty_cycle_now;
cif.cif.mc_get_sampling_frequency_now = mc_interface_get_sampling_frequency_now;
cif.cif.mc_get_rpm = mc_interface_get_rpm;
cif.cif.mc_get_amp_hours = mc_interface_get_amp_hours;
cif.cif.mc_get_amp_hours_charged = mc_interface_get_amp_hours_charged;
cif.cif.mc_get_watt_hours = mc_interface_get_watt_hours;
cif.cif.mc_get_watt_hours_charged = mc_interface_get_watt_hours_charged;
cif.cif.mc_get_tot_current = mc_interface_get_tot_current;
cif.cif.mc_get_tot_current_filtered = mc_interface_get_tot_current_filtered;
cif.cif.mc_get_tot_current_directional = mc_interface_get_tot_current_directional;
cif.cif.mc_get_tot_current_directional_filtered = mc_interface_get_tot_current_directional_filtered;
cif.cif.mc_get_tot_current_in = mc_interface_get_tot_current_in;
cif.cif.mc_get_tot_current_in_filtered = mc_interface_get_tot_current_in_filtered;
cif.cif.mc_get_input_voltage_filtered = mc_interface_get_input_voltage_filtered;
cif.cif.mc_get_tachometer_value = mc_interface_get_tachometer_value;
cif.cif.mc_get_tachometer_abs_value = mc_interface_get_tachometer_abs_value;
cif.cif.mc_get_pid_pos_set = mc_interface_get_pid_pos_set;
cif.cif.mc_get_pid_pos_now = mc_interface_get_pid_pos_now;
cif.cif.mc_update_pid_pos_offset = mc_interface_update_pid_pos_offset;
cif.cif.mc_temp_fet_filtered = mc_interface_temp_fet_filtered;
cif.cif.mc_temp_motor_filtered = mc_interface_temp_motor_filtered;
cif.cif.mc_get_battery_level = mc_interface_get_battery_level;
cif.cif.mc_get_speed = mc_interface_get_speed;
cif.cif.mc_get_distance = mc_interface_get_distance;
cif.cif.mc_get_distance_abs = mc_interface_get_distance_abs;
cif.cif.mc_get_odometer = mc_interface_get_odometer;
cif.cif.mc_set_odometer = mc_interface_set_odometer;
cif.cif.mc_set_current_off_delay = mc_interface_set_current_off_delay;
cif.cif.mc_stat_speed_avg = mc_interface_stat_speed_avg;
cif.cif.mc_stat_speed_max = mc_interface_stat_speed_max;
cif.cif.mc_stat_power_avg = mc_interface_stat_power_avg;
cif.cif.mc_stat_power_max = mc_interface_stat_power_max;
cif.cif.mc_stat_current_avg = mc_interface_stat_current_avg;
cif.cif.mc_stat_current_max = mc_interface_stat_current_max;
cif.cif.mc_stat_temp_mosfet_avg = mc_interface_stat_temp_mosfet_avg;
cif.cif.mc_stat_temp_mosfet_max = mc_interface_stat_temp_mosfet_max;
cif.cif.mc_stat_temp_motor_avg = mc_interface_stat_temp_motor_avg;
cif.cif.mc_stat_temp_motor_max = mc_interface_stat_temp_motor_max;
cif.cif.mc_stat_count_time = mc_interface_stat_count_time;
cif.cif.mc_stat_reset = mc_interface_stat_reset;

// More
cif.cif.system_time = lib_system_time;

lib_init_done = true;
}
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