Mtc Nucleo board connection #115

TomLonergan03 · 2022-02-12T21:37:31Z

Description

Implements CAN connection to STM board

codecov-commenter · 2022-02-12T21:40:59Z

Codecov Report

Merging #115 (b7948a3) into master (b4144b8) will increase coverage by 0.08%.
The diff coverage is 15.15%.

@@            Coverage Diff             @@
##           master     #115      +/-   ##
==========================================
+ Coverage   34.01%   34.10%   +0.08%     
==========================================
  Files          67       69       +2     
  Lines        3545     3545              
==========================================
+ Hits         1206     1209       +3     
+ Misses       2339     2336       -3

Impacted Files	Coverage Δ
src/propulsion/can/can_sender.cpp	`33.33% <0.00%> (+25.92%)`	⬆️
src/propulsion/controller.cpp	`1.46% <0.00%> (ø)`
src/propulsion/fake_controller.cpp	`0.00% <ø> (ø)`
src/propulsion/fake_controller.hpp	`0.00% <ø> (ø)`
src/propulsion/main.cpp	`21.81% <ø> (ø)`
src/propulsion/rpm_regulator.cpp	`0.00% <0.00%> (ø)`
src/utils/io/spi.cpp	`0.00% <ø> (ø)`
src/propulsion/can/can_receiver.cpp	`6.66% <6.66%> (ø)`
src/propulsion/state_processor.cpp	`6.09% <14.28%> (-0.16%)`	⬇️
src/propulsion/nucleo_manager.cpp	`42.85% <42.85%> (ø)`

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src/propulsion/can/can_sender.hpp

src/propulsion/can/can_transceiver.hpp

src/propulsion/nucleo_manager.cpp

src/propulsion/nucleo_manager.hpp

mifrandir · 2022-02-14T08:13:07Z

src/propulsion/nucleo_manager.hpp

+ private:
+  utils::Logger &log_;
+  utils::io::can::Frame nucleo_message_;
+  CanSender sender_;


I don't think the whole fake CAN setup is being used (or even works) at the moment, but to make this easier in the future I would make this into a ICanSender (rename the ISender interface for clarity). Then one could pass in the sender to be used by this class.

In fact this sounds like a suitable refactor. You would probably want to do this everywhere. (Controller, FakeController, IController, ...) Of course we would then still get the CAN instance, but only at a higher level.

src/propulsion/state_processor.cpp

src/propulsion/state_processor.hpp

src/propulsion/can/can_sender.cpp

src/propulsion/nucleo_manager.cpp

src/propulsion/state_processor.cpp

src/propulsion/can/can_ids.hpp

mifrandir · 2022-03-21T15:27:24Z

src/propulsion/can/can_receiver.cpp

+void CanReceiver::processNewData(utils::io::can::Frame &message)
+{
+  uint32_t id = message.id;
+  if (id == kEmgyTransmit + node_id_) {


How do we ensure that there are no conflicts here? Do we limit node IDs?

Each node_id_ is numbered from 0 and there is one node for each motor controller so we won't have one overflow unless we have 21 motor controllers

Do we know the BMS is not using these nodes?

BMS starts at node 300 as far as i can tell

src/propulsion/can/can_receiver.cpp

src/propulsion/can/can_receiver.hpp

src/propulsion/controller.hpp

src/propulsion/nucleo_manager.cpp

src/propulsion/rpm_regulator.hpp

src/propulsion/state_processor.cpp

src/propulsion/state_processor.hpp

mifrandir · 2022-03-23T18:54:53Z

src/propulsion/can/can_receiver.cpp

+void CanReceiver::processNewData(utils::io::can::Frame &message)
+{
+  uint32_t id = message.id;
+  if (id == kEmgyTransmit + node_id_) {


Do we know the BMS is not using these nodes?

src/propulsion/can/can_sender.hpp

mifrandir · 2022-03-23T18:56:21Z

src/propulsion/can/fake_can_receiver.hpp

+
+  void processNewData(utils::io::can::Frame &message) override;
+
+  bool hasId(const uint32_t id, bool extended) override;


Can we add a comment here why the boolean isn't used?

src/propulsion/can/fake_can_sender.hpp

mifrandir · 2022-03-23T18:57:46Z

src/propulsion/nucleo_manager.cpp

+  can_frame_.len      = 4;
+}
+
+void NucleoManager::sendNucleoFrequency(uint32_t target_frequency)


Aaaaand once more...

const 😂

target_frequency isn't const. gets bitshifted a couple lines later

src/propulsion/nucleo_manager.cpp

src/propulsion/rpm_regulator.hpp

src/propulsion/state_processor.cpp

maxguy2001

A lot of 'uint8_t' types and couldn't find where they all come from so don't know how big the numbers are really getting sometimes but worried they might be bigger than 255?

src/propulsion/can/can_receiver.cpp

src/propulsion/can/can_receiver.hpp

src/propulsion/can/fake_can_receiver.cpp

maxguy2001 · 2022-03-24T16:50:20Z

src/propulsion/can/fake_can_receiver.cpp

+  is_sending_ = false;
+}
+
+bool FakeCanReceiver::hasId(const uint32_t, bool)


not passing in any arguments?

maxguy2001 · 2022-03-24T17:03:26Z

src/propulsion/nucleo_manager.cpp

+{
+  can_frame_.id       = kNucleoTransmit;
+  can_frame_.extended = false;
+  can_frame_.len      = 4;


src/propulsion/rpm_regulator.cpp

TomLonergan03 added 3 commits February 12, 2022 19:38

Started frequency sender

34e1877

Added STM CAN data frame

0c753ff

STM CAN sender

f4ac389

TomLonergan03 self-assigned this Feb 12, 2022

TomLonergan03 added moderate motor-controllers labels Feb 12, 2022

TomLonergan03 added 5 commits February 12, 2022 22:14

Rename stm to nucleo

9c46d21

Moved nucleo management to new class

0a16c38

Splitting out can sender from transceiver

dea68a6

Split sender and transceiver

cd8c79b

Added nucleo frequency sender

8d64707

mifrandir changed the title ~~Mtc STM connection~~ Mtc STN connection Feb 14, 2022

mifrandir requested changes Feb 14, 2022

View reviewed changes

TomLonergan03 added 5 commits February 27, 2022 17:18

Fixes

b3dccab

Revert logger changes

df754b2

replaced int division with rounding

49067e8

Moved nucleo manager to unique ptr

7d3024c

Nucleo manager owns own logger

492b3bd

TomLonergan03 changed the title ~~Mtc STN connection~~ Mtc Nucleo board connection Mar 11, 2022

mifrandir requested changes Mar 12, 2022

View reviewed changes

src/propulsion/can/can_sender.cpp Outdated Show resolved Hide resolved

src/propulsion/can/can_sender.cpp Outdated Show resolved Hide resolved

mifrandir requested changes Mar 12, 2022

View reviewed changes

src/propulsion/nucleo_manager.cpp Outdated Show resolved Hide resolved

src/propulsion/state_processor.cpp Outdated Show resolved Hide resolved

TomLonergan03 added 6 commits March 14, 2022 23:43

Changed all loggers to new style

59e4882

Removed unused is_sending from non-fake can system

546f159

Can sender owns can instance, transceiver inherits from sender

0084ef8

Moved nucleo_manager_ construction

3538b73

Can transceiver is dead, long live can receiver

966a5b2

Renamed CAN interfaces

fbf3c25

mifrandir requested review from kshxtij and SnickeyX March 17, 2022 18:30

mifrandir requested changes Mar 21, 2022

View reviewed changes

TomLonergan03 added 4 commits March 22, 2022 00:06

Reorder and cleanup can ids

dc8ad4a

Consts

01f1fe1

Clarified casting

e3fb1ab

Arrays start at 0

0744837

mifrandir requested changes Mar 23, 2022

View reviewed changes

TomLonergan03 added 2 commits March 24, 2022 14:24

Moved include statements

b926539

Fixes

c6fb226

maxguy2001 self-requested a review March 24, 2022 16:45

maxguy2001 requested changes Mar 24, 2022

View reviewed changes

Removed unused ids

bf038ca

mifrandir added the hard label Mar 25, 2022

TomLonergan03 removed the moderate label Mar 29, 2022

TomLonergan03 added 5 commits April 5, 2022 12:28

Minor fixes

b7948a3

Fix merge conflicts

07c6652

Merge branch 'master' into mtc-frequency_gen

42799b4

Spelling

3d4e3a8

Fixing merge issues

f3dd33f

Provide feedback

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Mtc Nucleo board connection #115

Mtc Nucleo board connection #115

TomLonergan03 commented Feb 12, 2022

codecov-commenter commented Feb 12, 2022 •

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maxguy2001 Mar 24, 2022

maxguy2001 Mar 24, 2022


		void processNewData(utils::io::can::Frame &message) override;

		bool hasId(const uint32_t id, bool extended) override;

Mtc Nucleo board connection #115

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Mtc Nucleo board connection #115

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TomLonergan03 commented Feb 12, 2022

Description

codecov-commenter commented Feb 12, 2022 • edited Loading

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codecov-commenter commented Feb 12, 2022 •

edited

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