*

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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+#ifndef __ODRIVE_CAN_HPP
+#define __ODRIVE_CAN_HPP
+
+#include <cmsis_os.h>
+
+#include "canbus.hpp"
+#include "can_simple.hpp"
+#include <autogen/interfaces.hpp>
+
+#define CAN_CLK_HZ (42000000)
+#define CAN_CLK_MHZ (42)
+
+// Anonymous enum for defining the most common CAN baud rates
+enum {
+    CAN_BAUD_125K = 125000,
+    CAN_BAUD_250K = 250000,
+    CAN_BAUD_500K = 500000,
+    CAN_BAUD_1000K = 1000000,
+    CAN_BAUD_1M = 1000000
+};
+
+class ODriveCAN : public CanBusBase, public ODriveIntf::CanIntf {
+public:
+    struct Config_t {
+        uint32_t baud_rate = CAN_BAUD_250K;
+        Protocol protocol = PROTOCOL_SIMPLE;
+
+        ODriveCAN* parent = nullptr; // set in apply_config()
+        void set_baud_rate(uint32_t value) { parent->set_baud_rate(value); }
+    };
+
+    ODriveCAN() {}
+
+    bool apply_config();
+    bool start_server(CAN_HandleTypeDef* handle);
+
+    Error error_ = ERROR_NONE;
+
+    Config_t config_;
+    CANSimple can_simple_{this};
+
+    osThreadId thread_id_;
+    const uint32_t stack_size_ = 1024;  // Bytes
+
+private:
+    static const uint8_t kCanFifoNone = 0xff;
+
+    struct ODriveCanSubscription : CanSubscription {
+        uint8_t fifo = kCanFifoNone;
+        on_can_message_cb_t callback;
+        void* ctx;
+    };
+
+    bool reinit();
+    void can_server_thread();
+    bool set_baud_rate(uint32_t baud_rate);
+    void process_rx_fifo(uint32_t fifo);
+    bool send_message(const can_Message_t& message) final;
+    bool subscribe(const MsgIdFilterSpecs& filter, on_can_message_cb_t callback, void* ctx, CanSubscription** handle) final;
+    bool unsubscribe(CanSubscription* handle) final;
+
+    // Hardware supports at most 28 filters unless we do optimizations. For now
+    // we don't need that many.
+    std::array<ODriveCanSubscription, 8> subscriptions_;
+    CAN_HandleTypeDef *handle_ = nullptr;
+};
+
+#endif  // __ODRIVE_CAN_HPP