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Merge pull request SolidGeek#24 from BertvanRossem/master
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Adds vesc fault code readout
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@SolidGeek
SolidGeek authored May 9, 2022
2 parents fbf1409 + fe76ce4 commit a2729c0
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Showing 2 changed files with 137 additions and 209 deletions.
4 changes: 2 additions & 2 deletions src/VescUart.cpp
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Original file line number Diff line number Diff line change
@@ -1,7 +1,7 @@
#include <stdint.h>
#include "VescUart.h"

VescUart::VescUart(void){
VescUart::VescUart(uint32_t timeout_ms) : _TIMEOUT(timeout_ms) {
nunchuck.valueX = 127;
nunchuck.valueY = 127;
nunchuck.lowerButton = false;
Expand Down Expand Up @@ -33,7 +33,7 @@ int VescUart::receiveUartMessage(uint8_t * payloadReceived) {
uint8_t messageReceived[256];
uint16_t lenPayload = 0;

uint32_t timeout = millis() + 100; // Defining the timestamp for timeout (100ms before timeout)
uint32_t timeout = millis() + _TIMEOUT; // Defining the timestamp for timeout (100ms before timeout)

while ( millis() < timeout && messageRead == false) {

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342 changes: 135 additions & 207 deletions src/VescUart.h
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Original file line number Diff line number Diff line change
Expand Up @@ -8,9 +8,10 @@

class VescUart
{
/** Struct to store the telemetry data returned by the VESC */
struct dataPackage {
float avgMotorCurrent;

/** Struct to store the telemetry data returned by the VESC */
struct dataPackage {
float avgMotorCurrent;
float avgInputCurrent;
float dutyCycleNow;
float rpm;
Expand All @@ -23,211 +24,138 @@ class VescUart
long tachometerAbs;
float tempMosfet;
float tempMotor;
uint8_t error;
float pidPos;
uint8_t id;
};

/** Struct to hold the nunchuck values to send over UART */
struct nunchuckPackage {
int valueX;
int valueY;
bool upperButton; // valUpperButton
bool lowerButton; // valLowerButton
};

struct FWversionPackage {
uint8_t major;
uint8_t minor;
};

public:
/**
* @brief Class constructor
*/
VescUart(void);

/** Variable to hold measurements returned from VESC */
dataPackage data;

/** Variable to hold nunchuck values */
nunchuckPackage nunchuck;

/** Variable to hold firmware version */
FWversionPackage fw_version;

/**
* @brief Set the serial port for uart communication
* @param port - Reference to Serial port (pointer)
*/
void setSerialPort(Stream* port);

/**
* @brief Set the serial port for debugging
* @param port - Reference to Serial port (pointer)
*/
void setDebugPort(Stream* port);

/**
* @brief Populate the firmware version variables
*
* @return True if successfull otherwise false
*/
bool getFWversion(void);

/**
* @brief Populate the firmware version variables
*
* @param canId - The CAN ID of the VESC
* @return True if successfull otherwise false
*/
bool getFWversion(uint8_t canId);

/**
* @brief Sends a command to VESC and stores the returned data
*
* @return True if successfull otherwise false
*/
bool getVescValues(void);

/**
* @brief Sends a command to VESC and stores the returned data
* @param canId - The CAN ID of the VESC
*
* @return True if successfull otherwise false
*/
bool getVescValues(uint8_t canId);

/**
* @brief Sends values for joystick and buttons to the nunchuck app
*/
void setNunchuckValues(void);
/**
* @brief Sends values for joystick and buttons to the nunchuck app
* @param canId - The CAN ID of the VESC
*/
void setNunchuckValues(uint8_t canId);

/**
* @brief Set the current to drive the motor
* @param current - The current to apply
*/
void setCurrent(float current);

/**
* @brief Set the current to drive the motor
* @param current - The current to apply
* @param canId - The CAN ID of the VESC
*/
void setCurrent(float current, uint8_t canId);

/**
* @brief Set the current to brake the motor
* @param brakeCurrent - The current to apply
*/
void setBrakeCurrent(float brakeCurrent);

/**
* @brief Set the current to brake the motor
* @param brakeCurrent - The current to apply
* @param canId - The CAN ID of the VESC
*/
void setBrakeCurrent(float brakeCurrent, uint8_t canId);


/**
* @brief Set the rpm of the motor
* @param rpm - The desired RPM (actually eRPM = RPM * poles)
*/
void setRPM(float rpm);

/**
* @brief Set the rpm of the motor
* @param rpm - The desired RPM (actually eRPM = RPM * poles)
* @param canId - The CAN ID of the VESC
*/
void setRPM(float rpm, uint8_t canId);

/**
* @brief Set the duty of the motor
* @param duty - The desired duty (0.0-1.0)
*/
void setDuty(float duty);

/**
* @brief Set the duty of the motor
* @param duty - The desired duty (0.0-1.0)
* @param canId - The CAN ID of the VESC
*/
void setDuty(float duty, uint8_t canId);

/**
* @brief Send a keepalive message
*/
void VescUart::sendKeepalive(void);

/**
* @brief Send a keepalive message
* @param canId - The CAN ID of the VESC
*/
void VescUart::sendKeepalive(uint8_t canId);

/**
* @brief Help Function to print struct dataPackage over Serial for Debug
*/
void printVescValues(void);

private:

/** Variable to hold the reference to the Serial object to use for UART */
Stream* serialPort = NULL;

/** Variable to hold the reference to the Serial object to use for debugging.
* Uses the class Stream instead of HarwareSerial */
Stream* debugPort = NULL;

/**
* @brief Packs the payload and sends it over Serial
*
* @param payload - The payload as a unit8_t Array with length of int lenPayload
* @param lenPay - Length of payload
* @return The number of bytes send
*/
int packSendPayload(uint8_t * payload, int lenPay);

/**
* @brief Receives the message over Serial
*
* @param payloadReceived - The received payload as a unit8_t Array
* @return The number of bytes receeived within the payload
*/
int receiveUartMessage(uint8_t * payloadReceived);

/**
* @brief Verifies the message (CRC-16) and extracts the payload
*
* @param message - The received UART message
* @param lenMes - The lenght of the message
* @param payload - The final payload ready to extract data from
* @return True if the process was a success
*/
bool unpackPayload(uint8_t * message, int lenMes, uint8_t * payload);

/**
* @brief Extracts the data from the received payload
*
* @param message - The payload to extract data from
* @return True if the process was a success
*/
bool processReadPacket(uint8_t * message);

/**
* @brief Help Function to print uint8_t array over Serial for Debug
*
* @param data - Data array to print
* @param len - Lenght of the array to print
*/
void serialPrint(uint8_t * data, int len);
uint8_t id;
mc_fault_code error;
};

/** Struct to hold the nunchuck values to send over UART */
struct nunchuckPackage {
int valueX;
int valueY;
bool upperButton; // valUpperButton
bool lowerButton; // valLowerButton
};

//Timeout - specifies how long the function will wait for the vesc to respond
const uint32_t _TIMEOUT;

public:
/**
* @brief Class constructor
*/
VescUart(uint32_t timeout_ms = 100);

/** Variabel to hold measurements returned from VESC */
dataPackage data;

/** Variabel to hold nunchuck values */
nunchuckPackage nunchuck;

/**
* @brief Set the serial port for uart communication
* @param port - Reference to Serial port (pointer)
*/
void setSerialPort(HardwareSerial* port);

/**
* @brief Set the serial port for debugging
* @param port - Reference to Serial port (pointer)
*/
void setDebugPort(Stream* port);

/**
* @brief Sends a command to VESC and stores the returned data
*
* @return True if successfull otherwise false
*/
bool getVescValues(void);

/**
* @brief Sends values for joystick and buttons to the nunchuck app
*/
void setNunchuckValues(void);

/**
* @brief Set the current to drive the motor
* @param current - The current to apply
*/
void setCurrent(float current);

/**
* @brief Set the current to brake the motor
* @param brakeCurrent - The current to apply
*/
void setBrakeCurrent(float brakeCurrent);

/**
* @brief Set the rpm of the motor
* @param rpm - The desired RPM (actually eRPM = RPM * poles)
*/
void setRPM(float rpm);

/**
* @brief Set the duty of the motor
* @param duty - The desired duty (0.0-1.0)
*/
void setDuty(float duty);

/**
* @brief Help Function to print struct dataPackage over Serial for Debug
*/
void printVescValues(void);

private:

/** Variabel to hold the reference to the Serial object to use for UART */
HardwareSerial* serialPort = NULL;

/** Variabel to hold the reference to the Serial object to use for debugging.
* Uses the class Stream instead of HarwareSerial */
Stream* debugPort = NULL;

/**
* @brief Packs the payload and sends it over Serial
*
* @param payload - The payload as a unit8_t Array with length of int lenPayload
* @param lenPay - Length of payload
* @return The number of bytes send
*/
int packSendPayload(uint8_t * payload, int lenPay);

/**
* @brief Receives the message over Serial
*
* @param payloadReceived - The received payload as a unit8_t Array
* @return The number of bytes receeived within the payload
*/
int receiveUartMessage(uint8_t * payloadReceived);

/**
* @brief Verifies the message (CRC-16) and extracts the payload
*
* @param message - The received UART message
* @param lenMes - The lenght of the message
* @param payload - The final payload ready to extract data from
* @return True if the process was a success
*/
bool unpackPayload(uint8_t * message, int lenMes, uint8_t * payload);

/**
* @brief Extracts the data from the received payload
*
* @param message - The payload to extract data from
* @return True if the process was a success
*/
bool processReadPacket(uint8_t * message);

/**
* @brief Help Function to print uint8_t array over Serial for Debug
*
* @param data - Data array to print
* @param len - Lenght of the array to print
*/
void serialPrint(uint8_t * data, int len);

};

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