Updated to latest libopeninv

Makefile

@@ -33,16 +33,17 @@ CFLAGS		= -Os -Wall -Wextra -Iinclude/ -Ilibopeninv/include -Ilibopencm3/include
              -fno-common -fno-builtin -pedantic -DSTM32F1 \
              -mcpu=cortex-m3 -mthumb -std=gnu99 -ffunction-sections -fdata-sections
 CPPFLAGS    = -Os -Wall -Wextra -Iinclude/ -Ilibopeninv/include -Ilibopencm3/include \
-            -fno-common -std=c++11 -pedantic -DSTM32F1 -DMAX_MESSAGES=15 \
+            -fno-common -std=c++11 -pedantic -DSTM32F1 -DMAX_ITEMS=70 -DMAX_MESSAGES=15 \
             -ffunction-sections -fdata-sections -fno-builtin -fno-rtti -fno-exceptions -fno-unwind-tables -mcpu=cortex-m3 -mthumb
 LDSCRIPT	  = linker.ld
 LDFLAGS    = -Llibopencm3/lib -T$(LDSCRIPT) -march=armv7 -nostartfiles -Wl,--gc-sections,-Map,linker.map
 OBJSL		  = main.o hwinit.o stm32scheduler.o params.o terminal.o terminal_prj.o \
              my_string.o digio.o sine_core.o my_fp.o printf.o anain.o \
-             param_save.o errormessage.o stm32_can.o \
+             param_save.o errormessage.o canhardware.o stm32_can.o canmap.o cansdo.o \
              picontroller.o terminalcommands.o chargercan.o charger.o
 
 OBJS     = $(patsubst %.o,obj/%.o, $(OBJSL))
+DEPENDS  = $(patsubst %.o,obj/%.d, $(OBJSL))
 vpath %.c src/ libopeninv/src
 vpath %.cpp src/ libopeninv/src
 
@@ -78,13 +79,15 @@ $(BINARY): $(OBJS) $(LDSCRIPT)
 	@printf "  LD      $(subst $(shell pwd)/,,$(@))\n"
 	$(Q)$(LD) $(LDFLAGS) -o $(BINARY) $(OBJS) -lopencm3_stm32f1
 
+-include $(DEPENDS)
+
 $(OUT_DIR)/%.o: %.c Makefile
 	@printf "  CC      $(subst $(shell pwd)/,,$(@))\n"
-	$(Q)$(CC) $(CFLAGS) -o $@ -c $<
+	$(Q)$(CC) $(CFLAGS) -MMD -MP -o $@ -c $<
 
 $(OUT_DIR)/%.o: %.cpp Makefile
 	@printf "  CPP     $(subst $(shell pwd)/,,$(@))\n"
-	$(Q)$(CPP) $(CPPFLAGS) -o $@ -c $<
+	$(Q)$(CPP) $(CPPFLAGS) -MMD -MP -o $@ -c $<
 
 clean:
 	@printf "  CLEAN   ${OUT_DIR}\n"
@@ -124,7 +127,7 @@ Test:
 	g++ -c -Ilibopeninv/include/ -o my_string.o libopeninv/src/my_string.c
 	g++ -c -Ilibopeninv/include/ -Iinclude -o params.o libopeninv/src/params.cpp
 	g++ -c -Ilibopeninv/include/ -Iinclude -o errormessage.o libopeninv/src/errormessage.cpp
-	g++ -c -Ilibopeninv/include/ -Iinclude -o printf.o libopeninv/src/printf.cpp
+	g++ -c -Ilibopeninv/include/ -Iinclude -Wno-builtin-declaration-mismatch -Wno-int-to-pointer-cast -o printf.o libopeninv/src/printf.cpp
 	g++ -c -Ilibopeninv/include/ -Iinclude -o picontroller.o libopeninv/src/picontroller.cpp
 	g++ -c -Ilibopeninv/include/ -Iinclude -o charger.o src/charger.cpp -D TEST_COMMON_H
 	g++ -c -Ilibopeninv/include/ -Iinclude -o digio_mock.o test/digio_mock.cpp

include/chargercan.h

@@ -18,12 +18,12 @@
  */
 #ifndef CHARGERCAN_H
 #define CHARGERCAN_H
-#include "stm32_can.h"
+#include "canmap.h"
 
 class ChargerCAN
 {
    public:
-      static void MapMessages(Can* can);
+      static void MapMessages(CanMap* can);
 
    protected:
 

include/hwdefs.h

@@ -2,7 +2,7 @@
 #define HWDEFS_H_INCLUDED
 
 
-#define RCC_CLOCK_SETUP rcc_clock_setup_in_hse_8mhz_out_72mhz
+#define RCC_CLOCK_SETUP() rcc_clock_setup_pll(&rcc_hse_configs[RCC_CLOCK_HSE8_72MHZ])
 
 //Address of parameter block in flash
 #define FLASH_PAGE_SIZE 1024

include/param_prj.h

@@ -39,7 +39,7 @@
  */
 
 //Define a version string of your firmware here
-#define VER 1.17.R
+#define VER 1.18.R
 
 /* Entries must be ordered as follows:
    1. Saveable parameters (id != 0)
@@ -107,10 +107,9 @@
     VALUE_ENTRY(c3iac,       "A",     2034 ) \
     VALUE_ENTRY(c3udc,       "V",     2035 ) \
     VALUE_ENTRY(c3idc,       "A",     2036 ) \
-    VALUE_ENTRY(test_time,   "s",     2037 ) \
+    VALUE_ENTRY(test_time,   "s",     3000 ) \
-    VALUE_ENTRY(test_timer_flag,   "X",     2038 ) \
+    VALUE_ENTRY(test_timer_flag,   "X",     3001 ) \
-    VALUE_ENTRY(test_timer_icvalue,   "X",     2039 ) \
+    VALUE_ENTRY(test_timer_icvalue,   "X",     3002 ) \
-    // TODO: How to hide this in interface?
 
 
 /***** Enum String definitions *****/

src/chargercan.cpp

@@ -18,7 +18,7 @@
  */
 #include "chargercan.h"
 
-void ChargerCAN::MapMessages(Can* can)
+void ChargerCAN::MapMessages(CanMap* can)
 {
    can->AddRecv(Param::hwaclim, 0x207, 32, 9, 0.06666f); //gain 0.06666
    can->AddRecv(Param::hwaclim, 0x209, 32, 9, 0.06666f); //gain 0.06666

src/main.cpp

@@ -28,6 +28,7 @@
 #include <libopencm3/stm32/iwdg.h>
 #include <libopencm3/stm32/crc.h>
 #include "stm32_can.h"
+#include "cansdo.h"
 #include "terminal.h"
 #include "params.h"
 #include "hwdefs.h"
@@ -42,9 +43,13 @@
 #include "picontroller.h"
 #include "chargercan.h"
 #include "charger.h"
+#include "terminalcommands.h"
+
+#define PRINT_JSON 0
 
 static Stm32Scheduler* scheduler;
-static Can* can;
+static CanHardware* can;
+static CanMap* canMap;
 PiController dcCurController;
 uint32_t startTime;
 
@@ -72,7 +77,7 @@ static void Ms100Task(void)
 
    EvseRead();
 
-   can->SendAll();
+   canMap->SendAll();
 }
 
 static void MapChargerMessages()
@@ -84,13 +89,13 @@ static void MapChargerMessages()
    bool dummyrx;
 
    //check sample value, if it is mapped assume valid CAN map
-   if (can->FindMap(Param::hwaclim, dummyId, dummyOfs, dummyLen, dummyGain, dummyAdd, dummyrx)) return;
+   if (canMap->FindMap(Param::hwaclim, dummyId, dummyOfs, dummyLen, dummyGain, dummyAdd, dummyrx)) return;
 
-   can->Clear();
+   //canMap->Clear();
 
-   ChargerCAN::MapMessages(can);
+   ChargerCAN::MapMessages(canMap);
 
-   can->Save();
+   canMap->Save();
 }
 
 /** This function is called when the user changes a parameter */
@@ -115,6 +120,16 @@ void Param::Change(Param::PARAM_NUM paramNum)
    }
 }
 
+static void HandleClear()
+{
+   MapChargerMessages();
+}
+
+static bool CanCallback(uint32_t, uint32_t*, uint8_t)
+{
+   return false;
+}
+
 //Whichever timer(s) you use for the scheduler, you have to
 //implement their ISRs here and call into the respective scheduler
 extern "C" void tim2_isr(void)
@@ -142,10 +157,19 @@ extern "C" int main(void)
    Stm32Scheduler s(TIM2); //We never exit main so it's ok to put it on stack
    scheduler = &s;
    //Initialize CAN1, including interrupts. Clock must be enabled in clock_setup()
-   Can c(CAN1, Can::Baud500, true);
+   Stm32Can c(CAN1, CanHardware::Baud500, true);
-   c.SetNodeId(5);
+   FunctionPointerCallback cb(CanCallback, HandleClear);
-   //store a pointer for easier access
+   c.AddCallback(&cb);
    can = &c;
+
+   //store a pointer for easier access
+   CanMap cm(&c);
+   canMap = &cm;
+   CanSdo sdo(&c, &cm);
+   sdo.SetNodeId(2);
+
+   TerminalCommands::SetCanMap(&cm);
+
    Terminal t3(USART3, termCmds);
    Terminal t1(USART1, termCmds);
 
@@ -161,6 +185,9 @@ extern "C" int main(void)
 
    //backward compatibility, version 4 was the first to support the "stream" command
    Param::SetInt(Param::version, 4);
+   Param::SetFlag(Param::test_time, Param::FLAG_HIDDEN);
+   Param::SetFlag(Param::test_timer_flag, Param::FLAG_HIDDEN);
+   Param::SetFlag(Param::test_timer_icvalue, Param::FLAG_HIDDEN);
 
    //In version 1.11 this changed from mV to V
    if (Param::GetInt(Param::udcspnt) > 420)
@@ -176,6 +203,12 @@ extern "C" int main(void)
    {
       t1.Run();
       t3.Run();
+
+      if (sdo.GetPrintRequest() == PRINT_JSON)
+      {
+         char c = 0;
+         TerminalCommands::PrintParamsJson(&sdo, &c);
+      }
    }
 
 

src/terminal_prj.cpp

@@ -36,7 +36,6 @@
 #include "chargercan.h"
 
 static void LoadDefaults(Terminal* term, char *arg);
-static void PrintParamsJson(Terminal* term, char *arg);
 static void PrintSerial(Terminal* term, char *arg);
 static void MapCan(Terminal* term, char *arg);
 static void PrintErrors(Terminal* term, char *arg);
@@ -52,7 +51,7 @@ extern "C" const TERM_CMD termCmds[] =
   { "defaults", LoadDefaults },
   { "save", TerminalCommands::SaveParameters },
   { "load", TerminalCommands::LoadParameters },
-  { "json", PrintParamsJson },
+  { "json", TerminalCommands::PrintParamsJson },
   { "can", MapCan },
   { "serial", PrintSerial },
   { "errors", PrintErrors },
@@ -75,163 +74,24 @@ void PrintCanMap(Param::PARAM_NUM param, uint32_t canid, uint8_t offsetBits, uin
 //cantx param id offset len gain
 static void MapCan(Terminal* term, char *arg)
 {
-   Param::PARAM_NUM paramIdx = Param::PARAM_INVALID;
-   int values[4];
-   int result;
-   char op;
-   char *ending;
-   const int numArgs = 4;
-
    arg = my_trim(arg);
 
-   if (arg[0] == 'p')
+   if (arg[0] == 'd')
    {
-      while (curTerm != NULL); //lock
+      fprintf(term, "CAN map can not be deleted selectively, use clear command\r\n");
-      curTerm = term;
-      Can::GetInterface(0)->IterateCanMap(PrintCanMap);
-      curTerm = NULL;
-      return;
    }
 
    if (arg[0] == 'c')
    {
-      Can::GetInterface(0)->Clear();
+      TerminalCommands::MapCan(term, arg);
-      ChargerCAN::MapMessages(Can::GetInterface(0));
+      //ChargerCAN::MapMessages(Can::GetInterface(0));
       fprintf(term, "Default CAN mapping restored\r\n");
       return;
    }
 
-   op = arg[0];
+   TerminalCommands::MapCan(term, arg);
-   arg = (char *)my_strchr(arg, ' ');
-
-   if (0 == *arg)
-   {
-      fprintf(term, "Missing argument\r\n");
-      return;
-   }
-
-   arg = my_trim(arg);
-   ending = (char *)my_strchr(arg, ' ');
-
-   if (*ending == 0 && op != 'd')
-   {
-      fprintf(term, "Missing argument\r\n");
-      return;
-   }
-
-   *ending = 0;
-   paramIdx = Param::NumFromString(arg);
-   arg = my_trim(ending + 1);
-
-   if (Param::PARAM_INVALID == paramIdx)
-   {
-      fprintf(term, "Unknown parameter\r\n");
-      return;
-   }
-
-   if (op == 'd')
-   {
-      if (paramIdx >= Param::version)
-      {
-         fprintf(term, "Internal CAN map can not be deleted\r\n");
-         return;
-      }
-      result = Can::GetInterface(0)->Remove(paramIdx);
-      fprintf(term, "%d entries removed\r\n", result);
-      return;
-   }
-
-   for (int i = 0; i < numArgs; i++)
-   {
-      ending = (char *)my_strchr(arg, ' ');
-
-      if (0 == *ending && i < (numArgs - 1))
-      {
-         fprintf(term, "Missing argument\r\n");
-         return;
-      }
-
-      *ending = 0;
-      int iVal = my_atoi(arg);
-
-      //allow gain values < 1 and re-interpret them
-      if (i == (numArgs - 1) && iVal == 0)
-      {
-         values[i] = fp_atoi(arg, 16);
-      }
-      else
-      {
-         values[i] = iVal;
-      }
-
-      arg = my_trim(ending + 1);
-   }
-
-   if (op == 't')
-   {
-      result = Can::GetInterface(0)->AddSend(paramIdx, values[0], values[1], values[2], values[3] / 65536.0f);
-   }
-   else
-   {
-      result = Can::GetInterface(0)->AddRecv(paramIdx, values[0], values[1], values[2], values[3] / 65536.0f);
-   }
-
-   switch (result)
-   {
-      case CAN_ERR_INVALID_ID:
-         fprintf(term, "Invalid CAN Id %x\r\n", values[0]);
-         break;
-      case CAN_ERR_INVALID_OFS:
-         fprintf(term, "Invalid Offset %d\r\n", values[1]);
-         break;
-      case CAN_ERR_INVALID_LEN:
-         fprintf(term, "Invalid length %d\r\n", values[2]);
-         break;
-      case CAN_ERR_MAXITEMS:
-         fprintf(term, "Cannot map anymore items to CAN id %d\r\n", values[0]);
-         break;
-      case CAN_ERR_MAXMESSAGES:
-         fprintf(term, "Max message count reached\r\n");
-         break;
-      default:
-         fprintf(term, "CAN map successful, %d message%s active\r\n", result, result > 1 ? "s" : "");
-   }
 }
 
-static void PrintParamsJson(Terminal* term, char *arg)
-{
-   arg = my_trim(arg);
-
-   const Param::Attributes *pAtr;
-   char comma = ' ';
-   bool printHidden = arg[0] == 'h';
-
-   fprintf(term, "{");
-   for (uint32_t idx = 0; idx < Param::PARAM_LAST; idx++)
-   {
-      pAtr = Param::GetAttrib((Param::PARAM_NUM)idx);
-
-      if ((Param::GetFlag((Param::PARAM_NUM)idx) & Param::FLAG_HIDDEN) == 0 || printHidden)
-      {
-         fprintf(term, "%c\r\n   \"%s\": {\"unit\":\"%s\",\"value\":%f,",comma, pAtr->name, pAtr->unit, Param::Get((Param::PARAM_NUM)idx));
-
-         if (Param::IsParam((Param::PARAM_NUM)idx))
-         {
-            fprintf(term, "\"isparam\":true,\"minimum\":%f,\"maximum\":%f,\"default\":%f,\"category\":\"%s\",\"i\":%d}",
-                   pAtr->min, pAtr->max, pAtr->def, pAtr->category, idx);
-         }
-         else
-         {
-            fprintf(term, "\"isparam\":false}");
-         }
-         comma = ',';
-      }
-   }
-   fprintf(term, ",\r\n   \"serial\": {\"unit\":\"\",\"value\":\"%X:%X:%X\",\"isparam\":false}", DESIG_UNIQUE_ID2, DESIG_UNIQUE_ID1, DESIG_UNIQUE_ID0);
-   fprintf(term, "\r\n}\r\n");
-}
-
-
 static void LoadDefaults(Terminal* term, char *arg)
 {
    arg = arg;

tesla.cbp

@@ -42,10 +42,17 @@
 		<Unit filename="include/hwinit.h" />
 		<Unit filename="include/param_prj.h" />
 		<Unit filename="libopeninv/include/anain.h" />
+		<Unit filename="libopeninv/include/canhardware.h" />
+		<Unit filename="libopeninv/include/canmap.h" />
+		<Unit filename="libopeninv/include/canobd2.h" />
+		<Unit filename="libopeninv/include/cansdo.h" />
+		<Unit filename="libopeninv/include/crc8.h" />
+		<Unit filename="libopeninv/include/delay.h" />
 		<Unit filename="libopeninv/include/digio.h" />
 		<Unit filename="libopeninv/include/errormessage.h" />
 		<Unit filename="libopeninv/include/foc.h" />
 		<Unit filename="libopeninv/include/fu.h" />
+		<Unit filename="libopeninv/include/linbus.h" />
 		<Unit filename="libopeninv/include/my_fp.h" />
 		<Unit filename="libopeninv/include/my_math.h" />
 		<Unit filename="libopeninv/include/my_string.h" />
@@ -60,10 +67,16 @@
 		<Unit filename="libopeninv/include/terminal.h" />
 		<Unit filename="libopeninv/include/terminalcommands.h" />
 		<Unit filename="libopeninv/src/anain.cpp" />
+		<Unit filename="libopeninv/src/canhardware.cpp" />
+		<Unit filename="libopeninv/src/canmap.cpp" />
+		<Unit filename="libopeninv/src/canobd2.cpp" />
+		<Unit filename="libopeninv/src/cansdo.cpp" />
+		<Unit filename="libopeninv/src/crc8.cpp" />
 		<Unit filename="libopeninv/src/digio.cpp" />
 		<Unit filename="libopeninv/src/errormessage.cpp" />
 		<Unit filename="libopeninv/src/foc.cpp" />
 		<Unit filename="libopeninv/src/fu.cpp" />
+		<Unit filename="libopeninv/src/linbus.cpp" />
 		<Unit filename="libopeninv/src/my_fp.c">
 			<Option compilerVar="CC" />
 		</Unit>