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Revisions to SendCarCAN and test file to allow messages to be inspect…
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…ed in GDB using variables instead of prints which were overwhelming UART.
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@KnockbackNemo
KnockbackNemo committed Nov 17, 2023
1 parent 8bdf6bb commit 362628e
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Showing 3 changed files with 111 additions and 57 deletions.
4 changes: 2 additions & 2 deletions Apps/Inc/SendCarCAN.h
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Original file line number Diff line number Diff line change
Expand Up @@ -14,8 +14,8 @@ void SendCarCAN_Init();
void SendCarCAN_Put(CANDATA_t message);

/**
* @brief print SendCarCAN_Q put/get for debug purposes
* @brief return the space left in SendCarCAN_Q for debug purposes
*/
void print_SendCarCAN_Q(void);
uint8_t get_SendCarCAN_Q_Space(void);

#endif
9 changes: 3 additions & 6 deletions Apps/Src/SendCarCAN.c
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Original file line number Diff line number Diff line change
Expand Up @@ -38,13 +38,10 @@ static OS_MUTEX CarCAN_Mtx;
static void Task_PutIOState(void *p_arg);

/**
* @brief print SendCarCAN_Q put/get for debug purposes
* @brief return the space left in SendCarCAN_Q for debug purposes
*/
void print_SendCarCAN_Q(void) {
if(SendCarCAN_Q_is_full(&CANFifo)) {
printf("\n\rSendCarCAN_Q is full.");
}
printf("\n\rSendCarCAN_Q put: %d\n\rSendCarCAN_Q get: %d", CANFifo.put, CANFifo.get);
uint8_t get_SendCarCAN_Q_Space(void) {
return (CANFifo.get - CANFifo.put - 1) % (sizeof CANFifo.buffer / sizeof CANFifo.buffer[0]);
}

/**
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155 changes: 106 additions & 49 deletions Tests/Test_App_SendCarCAN.c
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Original file line number Diff line number Diff line change
Expand Up @@ -6,7 +6,11 @@
*
* This test is intended to be run on hardware with CarCAN in LoopBack mode.
* It is also intended to be tested using the motor controller on to read motor messages.
* The idea is to use "display msgReadCount" in GDB so that the program can be stopped intermittently to view CAN stats.
* Alternatively, you can just use it to spin up tasks and then check output using a logic analyzer.
*
* If TEST_SOFTWARE is defined prior to compilation, then a task will be created to simulate the motor controller.
* In this case, MotorCAN should be in LoopBack mode.
*/

#include "Tasks.h"
Expand All @@ -22,23 +26,44 @@
#include "Display.h"
#include "UpdateDisplay.h"

#define NUM_MOTOR_MSGS 15 // Messages received from the motor controller
#define TEST_SOFTWARE // Uncomment to do a software test with a fake motor controller. (Motorcan must be in loopback mode)

#define NUM_MOTOR_MSGS 15 // Messages we forward from the motor controller
#define NUM_NONMOTOR_MSGS 2 // We also send IO_STATE and CONTROL_MODE
#define IO_STATE_IDX 0 // index in msgArray for tracking info
#define CONTROL_MODE_IDX 1
#define MOTOR_MSG_BASE_ADDRESS 0x240 // Offset to index into msgCount array

typedef struct {
CANDATA_t lastMsg;
uint16_t numReceived;
} msgInfo;

typedef struct {
uint32_t lastReceiveTime_ms;
uint16_t lastMsgReceived;
msgInfo msgArray[NUM_MOTOR_MSGS + NUM_NONMOTOR_MSGS + 1]; // Message types we send plus an extra space just in case
uint8_t SpaceLeftInQ;
} CANInfo;

static OS_TCB Task1TCB;

static OS_TCB Task1_TCB;
static CPU_STK Task1Stk[DEFAULT_STACK_SIZE];
#ifdef TEST_SOFTWARE
static OS_TCB TaskMC_TCB;
static CPU_STK TaskMC_Stk[DEFAULT_STACK_SIZE];
#endif
static OS_TCB TaskReadCAN_TCB;
static CPU_STK TaskReadCANStk[DEFAULT_STACK_SIZE];
static CPU_STK TaskReadCAN_Stk[DEFAULT_STACK_SIZE];

static uint32_t msgCount[20];
//static uint32_t msgCount[20];
static CANInfo msgReadCount = {0};

// Reads CarCAN and prints what we receive on UART
void Task_ReadCAN(void *arg)
{
//OS_ERR err;
OS_ERR err;
CANDATA_t dataBuf = {0};
//uint32_t ts;


while (1) {
Expand All @@ -47,69 +72,85 @@ void Task_ReadCAN(void *arg)
if (status == SUCCESS){
switch(dataBuf.ID) {
case IO_STATE: {
msgCount[0]++;
msgReadCount.msgArray[IO_STATE_IDX].numReceived++;
msgReadCount.msgArray[IO_STATE_IDX].lastMsg = dataBuf;
break;
}

case CONTROL_MODE: {
msgCount[1]++;
msgReadCount.msgArray[CONTROL_MODE_IDX].numReceived++;
memcpy((void *)&msgReadCount.msgArray[CONTROL_MODE_IDX].lastMsg, &dataBuf, sizeof dataBuf);
break;
}

default: {
uint8_t msgIdx = dataBuf.ID - MOTOR_MSG_BASE_ADDRESS;

if (msgIdx >= 0 && msgIdx < NUM_MOTOR_MSGS) { // Check if the message is from the motor controller
msgCount[msgIdx + 2]++; // If so, increment based on the ID
} else {
msgCount[20]++;
msgReadCount.msgArray[msgIdx + NUM_NONMOTOR_MSGS].numReceived++; // If so, increment based on the ID
memcpy((void *)&msgReadCount.msgArray[msgIdx + NUM_NONMOTOR_MSGS].lastMsg, &dataBuf, sizeof dataBuf);

} else { // In case we receive messages not otherwise accounted for
msgReadCount.msgArray[NUM_MOTOR_MSGS + NUM_NONMOTOR_MSGS].numReceived++;
memcpy((void *)(&msgReadCount.msgArray[NUM_MOTOR_MSGS + NUM_NONMOTOR_MSGS].lastMsg), &dataBuf, sizeof dataBuf);

}

}

}

// ts = (OSTimeGet(&err) / OS_CFG_TICK_RATE_HZ);

// printf("\n\r********* Received CANbus message **********");
// printf("\n\rAt: %5ld ms", ts);
// printf("\n\r Received %x %d", dataBuf.data[0], dataBuf.data[4]);

// switch(dataBuf.ID){

// case IO_STATE: {
// printf("\n\rReceived IO_STATE message of %x", dataBuf.data[0]);
// printf("\n\rAccelerator: %d", *((uint8_t*)(&dataBuf.data[0])));
// printf("\n\rBrake: %x", *((uint8_t*)(&dataBuf.data[1])));
// printf("\n\rPins: %x", dataBuf.data[2]);
// printf("\n\rContactors: %d", *((uint8_t*)(&dataBuf.data[3])));
// break;
msgReadCount.lastReceiveTime_ms = (OSTimeGet(&err) / OS_CFG_TICK_RATE_HZ);
msgReadCount.lastMsgReceived = dataBuf.ID;
msgReadCount.SpaceLeftInQ = get_SendCarCAN_Q_Space();

// }

// case CONTROL_MODE: {
// printf("\n\rReceived CONTROL_MODE message of %d", *((uint8_t*)(&dataBuf.data[0])));
// break;
// }



// default:{ // Some messages will only be received if CARCAN messages aren't filtered.
// printf("\n\rReceived an uncategorized message ID type of %x", dataBuf.ID);
// break; //for cases not handled currently
// }
// }
} else {
// CANbus read is unsuccessful
printf("\n\rCANbus_Read error of %x", status);
}

printf("\n\r**********************************");
}


}

#ifdef TEST_SOFTWARE
// Create a fake motor controller to send messages to the controls system via MotorCAN
void Task_MC(void *arg) {
OS_ERR err;
uint8_t loopCount = 0;
CANDATA_t motorMsg = {
.ID=VELOCITY,
.idx=0,
.data={0xD, 0xE, 0xA, 0xD, 0x0, 0x0, 0xE, 0xF},
};

while(1) {
if (++loopCount == 5) { // Only send these messages every 1000ms
loopCount = 0;
motorMsg.ID=TEMPERATURE;
CANbus_Send(motorMsg, CAN_NON_BLOCKING, MOTORCAN);
motorMsg.ID=ODOMETER_AMPHOURS;
CANbus_Send(motorMsg, CAN_NON_BLOCKING, MOTORCAN);
}
// Send these messages every 200ms
motorMsg.ID=MOTOR_STATUS;
CANbus_Send(motorMsg, CAN_NON_BLOCKING, MOTORCAN);
motorMsg.ID=MC_BUS;
CANbus_Send(motorMsg, CAN_NON_BLOCKING, MOTORCAN);
motorMsg.ID=MC_PHASE_CURRENT;
CANbus_Send(motorMsg, CAN_NON_BLOCKING, MOTORCAN);
motorMsg.ID=VOLTAGE_VEC;
CANbus_Send(motorMsg, CAN_NON_BLOCKING, MOTORCAN);
motorMsg.ID=CURRENT_VEC;
CANbus_Send(motorMsg, CAN_NON_BLOCKING, MOTORCAN);
motorMsg.ID=BACKEMF;
CANbus_Send(motorMsg, CAN_NON_BLOCKING, MOTORCAN);
OSTimeDlyHMSM(0, 0, 0, 200, OS_OPT_TIME_HMSM_STRICT, &err);
}

}
#endif



void Task1(void *arg)
Expand Down Expand Up @@ -175,11 +216,11 @@ void Task1(void *arg)
// Create task to read CANbus
OSTaskCreate(
(OS_TCB*)&TaskReadCAN_TCB,
(CPU_CHAR*)"Test_ReadCarCAN",
(CPU_CHAR*)"Task_ReadCAN",
(OS_TASK_PTR)Task_ReadCAN,
(void*)NULL,
(OS_PRIO)13, // Lower prio than other running tasks
(CPU_STK*)TaskReadCANStk,
(CPU_STK*)TaskReadCAN_Stk,
(CPU_STK_SIZE)WATERMARK_STACK_LIMIT,
(CPU_STK_SIZE)DEFAULT_STACK_SIZE,
(OS_MSG_QTY)0,
Expand Down Expand Up @@ -208,6 +249,26 @@ void Task1(void *arg)
);
assertOSError(err);

#ifdef TEST_SOFTWARE
// Create a task to simulate the motor controller
OSTaskCreate(
(OS_TCB*)&TaskMC_TCB,
(CPU_CHAR*)"Task_MC",
(OS_TASK_PTR)&Task_MC,
(void*)NULL,
(OS_PRIO)2, // The motor controller is "external" and shouldn't be delayed by other tasks
(CPU_STK*)TaskMC_Stk,
(CPU_STK_SIZE)WATERMARK_STACK_LIMIT,
(CPU_STK_SIZE)DEFAULT_STACK_SIZE,
(OS_MSG_QTY)0,
(OS_TICK)0,
(void*)NULL,
(OS_OPT)(OS_OPT_TASK_STK_CLR),
(OS_ERR*)&err
);
assertOSError(err);
#endif


while (1) {
// SendTritium task will print Car State
Expand All @@ -228,10 +289,6 @@ void Task1(void *arg)
contactors |= contactorState << contactor;
}
printf("\n\rContactors: %x", contactors);
// Print how full CAN Queue is
printf("\n\r---- Queue data ----");
print_SendCarCAN_Q();

OSTimeDlyHMSM(0, 0, 0, 10 * FSM_PERIOD, OS_OPT_TIME_HMSM_STRICT, &err);
}

Expand All @@ -256,7 +313,7 @@ int main(void)
TaskSwHook_Init();

OSTaskCreate(
(OS_TCB *)&Task1TCB,
(OS_TCB *)&Task1_TCB,
(CPU_CHAR *)"Task 1",
(OS_TASK_PTR)Task1,
(void *)NULL,
Expand Down

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