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AP_CANManager: remove KDECAN from CANTester

This commit is contained in:
Tom Pittenger 2023-04-10 15:16:36 -07:00 committed by Andrew Tridgell
parent eed3cf3255
commit 5ca3aa6346
5 changed files with 3 additions and 383 deletions
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56
libraries/AP_CANManager/AP_CANTester.cpp
View File

@ -30,7 +30,6 @@
#include <uavcan/equipment/esc/Status.hpp>
#include <uavcan/equipment/esc/RawCommand.hpp>
#include <AP_HAL/utility/sparse-endian.h>
#include "AP_CANTester_KDECAN.h"
extern const AP_HAL::HAL& hal;
const AP_Param::GroupInfo CANTester::var_info[] = {
@ -38,7 +37,7 @@ const AP_Param::GroupInfo CANTester::var_info[] = {
// @DisplayName: CAN Test Index
// @Description: Selects the Index of Test that needs to be run recursively, this value gets reset to 0 at boot.
// @Range: 0 4
// @Values: 0:TEST_NONE, 1:TEST_LOOPBACK,2:TEST_BUSOFF_RECOVERY,3:TEST_UAVCAN_DNA,5:TEST_KDE_CAN, 6:TEST_UAVCAN_ESC, 7:TEST_UAVCAN_FD_ESC
// @Values: 0:TEST_NONE, 1:TEST_LOOPBACK,2:TEST_BUSOFF_RECOVERY,3:TEST_UAVCAN_DNA,6:TEST_UAVCAN_ESC,7:TEST_UAVCAN_FD_ESC
// @User: Advanced
AP_GROUPINFO("ID", 1, CANTester, _test_id, 0),
@ -192,18 +191,6 @@ void CANTester::main_thread()
gcs().send_text(MAV_SEVERITY_ALERT, "Only one iface needs to be set for DroneCAN_DNA_TEST");
}
break;
case CANTester::TEST_KDE_CAN:
if (_can_ifaces[1] == nullptr) {
gcs().send_text(MAV_SEVERITY_ALERT, "********Running KDE CAN Test********");
if (test_kdecan()) {
gcs().send_text(MAV_SEVERITY_ALERT, "********KDE CAN Test Pass********");
} else {
gcs().send_text(MAV_SEVERITY_ALERT, "********KDE CAN Test Fail********");
}
} else {
gcs().send_text(MAV_SEVERITY_ALERT, "Only one iface needs to be set for TEST_KDE_CAN");
}
break;
case CANTester::TEST_UAVCAN_ESC:
if (_can_ifaces[1] == nullptr) {
gcs().send_text(MAV_SEVERITY_ALERT, "********Running DroneCAN ESC Test********");
@ -500,47 +487,6 @@ bool CANTester::test_uavcan_dna()
return true;
}
/*****************************************
* KDE CAN Test *
*****************************************/
bool CANTester::test_kdecan()
{
AP_CANTester_KDECAN* kdecan_test = new AP_CANTester_KDECAN;
if (kdecan_test == nullptr) {
gcs().send_text(MAV_SEVERITY_ERROR, "Failed to allocate KDECAN Tester");
return false;
}
kdecan_test->init(_can_ifaces[0]);
while (true) {
kdecan_test->loop();
static uint32_t last_print_ms;
static uint32_t last_enumsend_ms;
static uint8_t enum_count = 0;
uint32_t now = AP_HAL::millis();
if (now - last_print_ms >= 1000) {
last_print_ms = now;
kdecan_test->print_stats();
}
if (!_kdecan_enumeration) {
enum_count = 0;
}
if (now - last_enumsend_ms >= 2000 && enum_count < 4 && _kdecan_enumeration) {
last_enumsend_ms = now;
if (kdecan_test->send_enumeration(enum_count)) {
enum_count++;
}
}
}
return true;
}
bool CANTester::run_kdecan_enumeration(bool start_stop)
{
_kdecan_enumeration = start_stop;
return true;
}
/***********************************************
* DroneCAN ESC *
* *********************************************/

8
libraries/AP_CANManager/AP_CANTester.h
View File

@ -40,7 +40,6 @@ public:
void init(uint8_t driver_index, bool enable_filters) override;
bool add_interface(AP_HAL::CANIface* can_iface) override;
bool run_kdecan_enumeration(bool start_stop);
static CANTester *get_cantester(uint8_t driver_index);
@ -51,8 +50,8 @@ private:
TEST_LOOPBACK,
TEST_BUSOFF_RECOVERY,
TEST_UAVCAN_DNA,
TEST_KDE_CAN,
TEST_UAVCAN_ESC,
TEST_UAVCAN_ESC = 6,
TEST_UAVCAN_FD_ESC,
TEST_END,
};
@ -78,8 +77,6 @@ private:
bool test_uavcan_dna();
bool test_kdecan();
bool test_uavcan_esc(bool enable_canfd);
// write frame on CAN bus, returns true on success
@ -104,7 +101,6 @@ private:
AP_Int32 _test_id;
AP_Int32 _loop_rate;
uint8_t _num_ifaces;
bool _kdecan_enumeration;
};
#endif //#if HAL_MAX_CAN_PROTOCOL_DRIVERS > 1 && !HAL_MINIMIZE_FEATURES && HAL_MAX_CAN_PROTOCOL_DRIVERS

236
libraries/AP_CANManager/AP_CANTester_KDECAN.cpp
View File

@ -1,236 +0,0 @@
/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
/*
* Author: Francisco Ferreira
* Modified for CANManager by Siddharth B Purohit
*/
#include <AP_HAL/AP_HAL.h>
#include <AP_Common/AP_Common.h>
#if HAL_MAX_CAN_PROTOCOL_DRIVERS > 1 && !HAL_MINIMIZE_FEATURES && HAL_CANMANAGER_ENABLED
#include "AP_CANTester_KDECAN.h"
#include "AP_CANManager.h"
#include <AP_Math/AP_Math.h>
#include <AP_HAL/utility/sparse-endian.h>
#include <AP_Vehicle/AP_Vehicle_Type.h>
#include <GCS_MAVLink/GCS.h>
#define debug_can(level_debug, fmt, args...) do { AP::can().log_text(level_debug, "TestKDECAN", fmt, ##args); } while (0)
extern const AP_HAL::HAL& hal;
void AP_CANTester_KDECAN::count_msg(uint32_t frame_id)
{
for (uint16_t i=0; i<ARRAY_SIZE(counters); i++) {
if (counters[i].frame_id == frame_id) {
counters[i].count++;
break;
}
if (counters[i].frame_id == 0) {
counters[i].frame_id = frame_id;
counters[i].count++;
break;
}
}
}
bool AP_CANTester_KDECAN::init(AP_HAL::CANIface* can_iface)
{
_can_iface = can_iface;
if (_can_iface == nullptr) {
debug_can(AP_CANManager::LOG_ERROR, "CANIface is null, abort!");
return false;
}
if (!_can_iface->is_initialized()) {
debug_can(AP_CANManager::LOG_ERROR, "Can not initialised");
return false;
}
if (!_can_iface->set_event_handle(&_event_handle)) {
debug_can(AP_CANManager::LOG_ERROR, "Failed to set Event Handle");
return false;
}
debug_can(AP_CANManager::LOG_ERROR, "init done");
return true;
}
void AP_CANTester_KDECAN::loop(void)
{
if (_can_iface == nullptr) {
return;
}
AP_HAL::CANFrame empty_frame { (0 | AP_HAL::CANFrame::FlagEFF), nullptr, 0 };
bool read_select = true;
bool write_select = false;
bool select_ret = _can_iface->select(read_select, write_select, nullptr, AP_HAL::micros64() + 1000);
if (select_ret && read_select) {
AP_HAL::CANFrame recv_frame;
uint64_t rx_time;
AP_HAL::CANIface::CanIOFlags flags {};
int16_t res = _can_iface->receive(recv_frame, rx_time, flags);
if (res == 1) {
uint32_t id = recv_frame.id & AP_HAL::CANFrame::MaskExtID;
uint8_t object_address = id & 0xFF;
uint8_t esc_num = uint8_t((id >> 8) & 0xFF);
count_msg(id);
uint8_t i = 0;
uint8_t n = NUM_ESCS;
if (esc_num != BROADCAST_NODE_ID) {
for (; i < NUM_ESCS; i++) {
if (object_address == UPDATE_NODE_ID_OBJ_ADDR) {
uint64_t mcu_id;
memcpy (&mcu_id, recv_frame.data, sizeof(mcu_id));
mcu_id = be64toh(mcu_id);
if (_esc_info[i].mcu_id == mcu_id) {
n = i + 1;
break;
}
} else if (_esc_info[i].node_id == esc_num) {
n = i + 1;
break;
}
}
}
while (i < n) {
AP_HAL::CANFrame res_frame;
switch (object_address) {
case ESC_INFO_OBJ_ADDR: {
uint8_t info[5] { 1, 2, 3, 4, 0 };
res_frame.dlc = 5;
memcpy(res_frame.data, info, 5);
break;
}
case SET_PWM_OBJ_ADDR: {
if ((1 << (esc_num - 2) & _mask_received_pwm) && _mask_received_pwm != ((1 << _max_node_id) - 1)) {
count_msg(0xFFFFFFF0);
_mask_received_pwm = 0;
}
_mask_received_pwm |= 1 << (esc_num - 2);
if (_mask_received_pwm == ((1 << _max_node_id) - 1)) {
count_msg(0xFFFFFFFF);
_mask_received_pwm = 0;
}
res_frame.dlc = 0;
break;
}
case UPDATE_NODE_ID_OBJ_ADDR: {
if (_esc_info[i].enum_timeout_ms != 0
&& _esc_info[i].enum_timeout_ms >= AP_HAL::millis()) {
_esc_info[i].node_id = esc_num;
_max_node_id = MAX(_max_node_id, esc_num - 2 + 1);
gcs().send_text(MAV_SEVERITY_ALERT, "KDECANTester: Set node ID %d for ESC %d\n", esc_num, i);
}
_esc_info[i].enum_timeout_ms = 0;
res_frame.dlc = 1;
memcpy(res_frame.data, &(_esc_info[i].node_id), 1);
break;
}
case START_ENUM_OBJ_ADDR: {
_esc_info[i].enum_timeout_ms = AP_HAL::millis() + be16toh_ptr(&recv_frame.data[0]);
gcs().send_text(MAV_SEVERITY_ALERT, "KDECANTester: Starting enumeration for ESC %d, timeout %u", i, (unsigned)_esc_info[i].enum_timeout_ms);
i++;
continue;
}
case TELEMETRY_OBJ_ADDR: {
uint8_t data[8] {};
put_le16_ptr(&data[0], get_random16());
put_le16_ptr(&data[2], get_random16());
put_le16_ptr(&data[4], get_random16());
data[6] = uint8_t(float(rand()) / RAND_MAX * 40.0f + 15);
res_frame.dlc = 8;
memcpy(res_frame.data, data, 8);
break;
}
case VOLTAGE_OBJ_ADDR:
case CURRENT_OBJ_ADDR:
case RPM_OBJ_ADDR:
case TEMPERATURE_OBJ_ADDR:
case GET_PWM_INPUT_OBJ_ADDR:
case GET_PWM_OUTPUT_OBJ_ADDR:
case MCU_ID_OBJ_ADDR:
default:
// discard frame
return;
}
res_frame.id = (_esc_info[i].node_id << 16) | object_address | AP_HAL::CANFrame::FlagEFF;
read_select = false;
write_select = true;
select_ret = _can_iface->select(read_select, write_select, &res_frame, AP_HAL::micros64() + 1000);
if (!select_ret) {
break;
}
int16_t res2 = _can_iface->send(res_frame, AP_HAL::micros64() + 500000, 0);
if (res2 == 1) {
i++;
} else {
gcs().send_text(MAV_SEVERITY_ALERT, "KDECANTester: Failed to transmit frame Err: %d 0x%lx", res2, (long unsigned)res_frame.id);
}
}
}
}
}
void AP_CANTester_KDECAN::print_stats(void)
{
DEV_PRINTF("KDECANTester: TimeStamp: %u\n", (unsigned)AP_HAL::micros());
for (uint16_t i=0; i<100; i++) {
if (counters[i].frame_id == 0) {
break;
}
DEV_PRINTF("0x%08x: %u\n", (unsigned)counters[i].frame_id, (unsigned)counters[i].count);
counters[i].count = 0;
}
}
bool AP_CANTester_KDECAN::send_enumeration(uint8_t num)
{
if (_esc_info[num].enum_timeout_ms == 0 ||
AP_HAL::millis() > _esc_info[num].enum_timeout_ms) {
_esc_info[num].enum_timeout_ms = 0;
gcs().send_text(MAV_SEVERITY_ALERT, "KDECANTester: Not running enumeration for ESC %d\n", num);
return false;
}
while (true) {
uint64_t mcu = 0;
mcu = htobe64(_esc_info[num].mcu_id);
AP_HAL::CANFrame res_frame { (_esc_info[num].node_id << 16) | START_ENUM_OBJ_ADDR | AP_HAL::CANFrame::FlagEFF,
(uint8_t*)&mcu,
8 };
int16_t res = _can_iface->send(res_frame, AP_HAL::micros64() + 1000, 0);
if (res == 1) {
return true;
}
}
}
#endif

82
libraries/AP_CANManager/AP_CANTester_KDECAN.h
View File

@ -1,82 +0,0 @@
/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
/*
* Author: Francisco Ferreira
* Modified for CANManager by Siddharth B Purohit
*/
#include "AP_CANDriver.h"
#include <AP_Common/AP_Common.h>
#include <AP_HAL/AP_HAL.h>
#if HAL_MAX_CAN_PROTOCOL_DRIVERS > 1 && !HAL_MINIMIZE_FEATURES && HAL_MAX_CAN_PROTOCOL_DRIVERS
#define NUM_ESCS 4
class AP_CANTester_KDECAN
{
public:
AP_CANTester_KDECAN()
{
for (uint8_t i = 0; i < NUM_ESCS; i++) {
_esc_info[i].mcu_id = 0xA5961824E7BD3C00 | i;
}
}
bool init(AP_HAL::CANIface* can_iface);
void loop(void);
void print_stats(void);
bool send_enumeration(uint8_t num);
private:
uint8_t _driver_index = 0;
uint8_t _interface = 0;
AP_HAL::CANIface* _can_iface;
uint8_t _mask_received_pwm = 0;
struct esc_info {
uint8_t node_id;
uint64_t mcu_id;
uint32_t enum_timeout_ms;
esc_info() : node_id(1), mcu_id(0), enum_timeout_ms(0) {}
} _esc_info[NUM_ESCS];
uint8_t _max_node_id = 0;
static const uint8_t BROADCAST_NODE_ID = 1;
static const uint8_t ESC_INFO_OBJ_ADDR = 0;
static const uint8_t SET_PWM_OBJ_ADDR = 1;
static const uint8_t VOLTAGE_OBJ_ADDR = 2;
static const uint8_t CURRENT_OBJ_ADDR = 3;
static const uint8_t RPM_OBJ_ADDR = 4;
static const uint8_t TEMPERATURE_OBJ_ADDR = 5;
static const uint8_t GET_PWM_INPUT_OBJ_ADDR = 6;
static const uint8_t GET_PWM_OUTPUT_OBJ_ADDR = 7;
static const uint8_t MCU_ID_OBJ_ADDR = 8;
static const uint8_t UPDATE_NODE_ID_OBJ_ADDR = 9;
static const uint8_t START_ENUM_OBJ_ADDR = 10;
static const uint8_t TELEMETRY_OBJ_ADDR = 11;
struct {
uint32_t frame_id;
uint32_t count;
} counters[100];
void count_msg(uint32_t frame_id);
HAL_EventHandle _event_handle;
};
#endif

4
libraries/AP_CANManager/README.md
View File

@ -18,10 +18,6 @@ This test simply creates a uavcan node allocation client and tries to get node a
This test simply emulates a ToshibaCan ESC on a bus and handles the data sent by Toshiba CAN driver, and and also responds with ESC telemetry.
**5: TEST_KDE_CAN**
This test simply emulates a KDECAN ESC on a bus and handles the data sent by KDE CAN driver, and and also responds with ESC telemetry. Need to supply this command `long MAV_CMD_PREFLIGHT_UAVCAN 1` after enabling KDECAN because need to do Enumeration before use.
A lot more tests will be needing to be added overtime to ensure robustness and maintainability of CAN Ecosystem.
**Testing under SITL**