*

2025-05-13 01:34:53 +03:00
parent 427735e23d
commit 83f3f1c7d4
945 changed files with 633484 additions and 0 deletions
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+
+/* Includes ------------------------------------------------------------------*/
+
+#include "communication.h"
+
+#include "interface_usb.h"
+#include "interface_uart.h"
+#include "interface_can.hpp"
+#include "interface_i2c.h"
+
+#include "odrive_main.h"
+#include "freertos_vars.h"
+#include "utils.hpp"
+#include "gpio_utils.hpp"
+
+#include <cmsis_os.h>
+#include <memory>
+//#include <usbd_cdc_if.h>
+//#include <usb_device.h>
+//#include <usart.h>
+#include <gpio.h>
+
+#include <type_traits>
+
+/* Private defines -----------------------------------------------------------*/
+/* Private macros ------------------------------------------------------------*/
+/* Private typedef -----------------------------------------------------------*/
+/* Global constant data ------------------------------------------------------*/
+/* Global variables ----------------------------------------------------------*/
+
+uint64_t serial_number;
+char serial_number_str[13]; // 12 digits + null termination
+
+/* Private constant data -----------------------------------------------------*/
+/* Private variables ---------------------------------------------------------*/
+
+osThreadId comm_thread;
+const uint32_t stack_size_comm_thread = 4096; // Bytes
+volatile bool endpoint_list_valid = false;
+
+/* Private function prototypes -----------------------------------------------*/
+/* Function implementations --------------------------------------------------*/
+
+void init_communication(void) {
+    printf("hi!\r\n");
+
+    // Start command handling thread
+    osThreadDef(task_cmd_parse, communication_task, osPriorityNormal, 0, stack_size_comm_thread / sizeof(StackType_t));
+    comm_thread = osThreadCreate(osThread(task_cmd_parse), NULL);
+
+    while (!endpoint_list_valid)
+        osDelay(1);
+}
+
+float oscilloscope[OSCILLOSCOPE_SIZE] = {0};
+size_t oscilloscope_pos = 0;
+
+// Thread to handle deffered processing of USB interrupt, and
+// read commands out of the UART DMA circular buffer
+void communication_task(void * ctx) {
+    (void) ctx; // unused parameter
+
+    // Allow main init to continue
+    endpoint_list_valid = true;
+    
+    start_uart_server();
+    start_usb_server();
+    if (odrv.config_.enable_i2c_instead_of_can) {
+        start_i2c_server();
+    } else {
+        odCAN->start_can_server();
+    }
+
+    for (;;) {
+        osDelay(1000); // nothing to do
+    }
+}
+
+extern "C" {
+int _write(int file, const char* data, int len);
+}
+
+// @brief This is what printf calls internally
+int _write(int file, const char* data, int len) {
+#ifdef USB_PROTOCOL_STDOUT
+    usb_stream_output_ptr->process_bytes((const uint8_t *)data, len, nullptr);
+#endif
+#ifdef UART_PROTOCOL_STDOUT
+    uart4_stream_output_ptr->process_bytes((const uint8_t *)data, len, nullptr);
+#endif
+    return len;
+}
+
+
+#include "../autogen/function_stubs.hpp"
+
+ODrive& ep_root = odrv;
+#include "../autogen/endpoints.hpp"