Skip to content

Iacopo #55

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
wants to merge 2 commits into
base: master
Choose a base branch
from
Open

Iacopo #55

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
4c8e1be
CAN is working
Jul 26, 2023
8440c30
Merge remote-tracking branch 'origin/iacopo' into iacopo
Jul 26, 2023
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
Binary file modified CM4/RemoteProc/WildhornAV_CM4.elf.bz2
View file
Open in desktop
Binary file not shown.
13 changes: 10 additions & 3 deletions CM4/ert/driver/can.c
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -19,6 +19,7 @@
#include <od/od.h>
#include <device/device.h>
#include <feedback/led.h>
#include <feedback/debug.h>

/**********************
* CONSTANTS
Expand Down Expand Up @@ -144,7 +145,9 @@ util_error_t can_handle_data(device_interface_t * can_if) {
frame.data_id = rxHeader.Identifier >> CAN_DATAID_OFFSET;
uint8_t source = rxHeader.Identifier & CAN_BOARDID_MASK;

od_handle_can_frame(source, &frame);
debug_log("CAN Received: %x\n", source);

//od_handle_can_frame(source, &frame);

}
return ER_SUCCESS;
Expand Down Expand Up @@ -270,13 +273,17 @@ void can_transmit_thread(__attribute__((unused)) void *arg) {
while(1) {
// retrieve next frame
od_frame_t frame;
od_pop_from_out_q(&frame);
od_push_to_in_q(&frame);

frame.data[0] = 35;
//od_pop_from_out_q(&frame);
//od_push_to_in_q(&frame);

led_checkpoint(checkpoint_tx);

// send over CAN
device_interface_send(&fdcan1_interface, (uint8_t *) &frame, sizeof(od_frame_t));

osDelay(1000);
}
}

Expand Down
6 changes: 3 additions & 3 deletions CM4/ert/init.c
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -123,7 +123,7 @@ void init(void) {
od_init();

// NOT USED DUE TO BUGS!!!!
//can_init(WH_COMPUTER);
can_init(1);

#if WH_HAS_FEEDBACK == WH_TRUE
#if WH_USE_BUZZER == WH_TRUE
Expand Down Expand Up @@ -155,9 +155,9 @@ void init(void) {
INIT_THREAD_CREATE(hostcom_handle, hostcom, hostcom_thread, NULL, HOSTCOM_SZ, HOSTCOM_PRIO);

// NOT USED DUE TO BUGS!!!!
//INIT_THREAD_CREATE(can_rx_handle, can_rx, can_receive_thread, NULL, CAN_TX_SZ, CAN_TX_PRIO);
INIT_THREAD_CREATE(can_rx_handle, can_rx, can_receive_thread, NULL, CAN_TX_SZ, CAN_TX_PRIO);
UNUSED(can_rx_handle);
//INIT_THREAD_CREATE(can_tx_handle, can_tx, can_transmit_thread, NULL, CAN_RX_SZ, CAN_RX_PRIO);
INIT_THREAD_CREATE(can_tx_handle, can_tx, can_transmit_thread, NULL, CAN_RX_SZ, CAN_RX_PRIO);
UNUSED(can_tx_handle);

#if WH_HAS_RADIO
Expand Down