wip VESC implementation

Author: ClemensElflein

CMakeLists.txt

@@ -59,8 +59,13 @@ target_sources(${CMAKE_PROJECT_NAME} PRIVATE
         src/services/imu_service/imu_service.hpp
         src/services/power_service/power_service.cpp
         src/services/power_service/power_service.hpp
+        # BQ2567 driver
         src/drivers/bq_2576/bq_2576.cpp
         src/drivers/bq_2576/bq_2576.hpp
+        # VESC driver
+        src/drivers/vesc/buffer.cpp
+        src/drivers/vesc/VescUart.cpp
+        src/drivers/vesc/crc.cpp
 )
 
 # Add include paths

boards/XCORE/mcuconf.h

@@ -361,7 +361,7 @@
  */
 #define STM32_SERIAL_USE_USART1             FALSE
 #define STM32_SERIAL_USE_USART2             FALSE
-#define STM32_SERIAL_USE_USART3             TRUE
+#define STM32_SERIAL_USE_USART3             FALSE
 #define STM32_SERIAL_USE_UART4              FALSE
 #define STM32_SERIAL_USE_UART5              FALSE
 #define STM32_SERIAL_USE_USART6             FALSE
@@ -435,14 +435,14 @@
 /*
  * UART driver system settings.
  */
-#define STM32_UART_USE_USART1               FALSE
-#define STM32_UART_USE_USART2               FALSE
+#define STM32_UART_USE_USART1               TRUE
+#define STM32_UART_USE_USART2               TRUE
 #define STM32_UART_USE_USART3               FALSE
-#define STM32_UART_USE_UART4                FALSE
+#define STM32_UART_USE_UART4                TRUE
 #define STM32_UART_USE_UART5                FALSE
-#define STM32_UART_USE_USART6               FALSE
-#define STM32_UART_USE_UART7                FALSE
-#define STM32_UART_USE_UART8                FALSE
+#define STM32_UART_USE_USART6               TRUE
+#define STM32_UART_USE_UART7                TRUE
+#define STM32_UART_USE_UART8                TRUE
 #define STM32_UART_USE_UART9                FALSE
 #define STM32_UART_USE_USART10              FALSE
 #define STM32_UART_USART1_RX_DMA_STREAM     STM32_DMA_STREAM_ID_ANY

cfg/chconf.h

@@ -105,7 +105,7 @@ extern volatile uint32_t last_idle_tick;
  *          this value.
  */
 #if !defined(CH_CFG_ST_TIMEDELTA)
-#define CH_CFG_ST_TIMEDELTA                 2
+#define CH_CFG_ST_TIMEDELTA                 10
 #endif
 
 /** @} */

cfg/halconf.h

@@ -142,7 +142,7 @@
  * @brief   Enables the SERIAL subsystem.
  */
 #if !defined(HAL_USE_SERIAL) || defined(__DOXYGEN__)
-#define HAL_USE_SERIAL                      TRUE
+#define HAL_USE_SERIAL                      FALSE
 #endif
 
 /**
@@ -177,7 +177,7 @@
  * @brief   Enables the UART subsystem.
  */
 #if !defined(HAL_USE_UART) || defined(__DOXYGEN__)
-#define HAL_USE_UART                        FALSE
+#define HAL_USE_UART                        TRUE
 #endif
 
 /**
@@ -505,15 +505,15 @@
  * @note    Disabling this option saves both code and data space.
  */
 #if !defined(UART_USE_WAIT) || defined(__DOXYGEN__)
-#define UART_USE_WAIT                       FALSE
+#define UART_USE_WAIT                       TRUE
 #endif
 
 /**
  * @brief   Enables the @p uartAcquireBus() and @p uartReleaseBus() APIs.
  * @note    Disabling this option saves both code and data space.
  */
 #if !defined(UART_USE_MUTUAL_EXCLUSION) || defined(__DOXYGEN__)
-#define UART_USE_MUTUAL_EXCLUSION           FALSE
+#define UART_USE_MUTUAL_EXCLUSION           TRUE
 #endif
 
 /*===========================================================================*/

cfg/lwipopts.h

@@ -38,8 +38,7 @@
 #ifndef __LWIPOPT_H__
 #define __LWIPOPT_H__
 
-// LWIP_LINK_POLL_INTERVAL is set low here in order to have quicker startup time.
-#define LWIP_LINK_POLL_INTERVAL TIME_MS2I(1000)
+#define LWIP_LINK_POLL_INTERVAL TIME_S2I(5000)
 
 /*
    -----------------------------------------------

main.cpp

@@ -7,6 +7,7 @@
 #include <SEGGER_RTT_streams.h>
 #include <boot_service_discovery.h>
 #include <chprintf.h>
+#include <drivers/vesc/VescUart.h>
 #include <globals.h>
 #include <heartbeat.h>
 #include <id_eeprom.h>
@@ -20,6 +21,23 @@
 #include "services/power_service/power_service.hpp"
 ImuService imu_service{4};
 PowerService power_service{5};
+
+static THD_WORKING_AREA(waTestThread, 500);
+
+static void test_thread(void *p) {
+  static VescUart vesc_uart(&UARTD2);
+  while (1) {
+    SEGGER_SYSVIEW_Print("keepalive");
+    vesc_uart.sendKeepalive();
+    SEGGER_SYSVIEW_Print("request");
+    vesc_uart.requestVescValues();
+    SEGGER_SYSVIEW_Print("parse");
+    vesc_uart.parseVescValues();
+    SEGGER_SYSVIEW_Print("wait");
+    chThdSleepMilliseconds(50);
+  }
+}
+
 /*
  * Application entry point.
  */
@@ -82,5 +100,9 @@ int main(void) {
   xbot::service::Io::start();
   imu_service.start();
   power_service.start();
+
+  chThdCreateStatic(waTestThread, sizeof(waTestThread), NORMALPRIO, test_thread,
+                    NULL);
+
   chThdSleep(TIME_INFINITE);
 }

src/boot_service_discovery.c

@@ -13,7 +13,6 @@
 
 #include "chprintf.h"
 #include "lwip/sockets.h"
-
 static char boardAdvertisementBuffer[1000];
 static char boardAdvertisementRequestBuffer[1000];
 static THD_WORKING_AREA(waServiceDiscovery, 500);
@@ -64,7 +63,6 @@ static void multicast_sender_thread(void *p) {
   multicast_addr.sin_family = AF_INET;
   multicast_addr.sin_addr.s_addr = inet_addr(SD_MULTICAST_GROUP);
   multicast_addr.sin_port = htons(SD_MULTICAST_PORT);
-
   while (true) {
     int received =
         recvfrom(sockfd, boardAdvertisementRequestBuffer,