CAN Actuator Output

[chengguizi]

UAVCAN bus seems not to be universal with DJI's CAN Bus protocol, but we could probably reuse some of the CAN library within UAVCAN bus https://github.com/nusrobomaster/PX4-Autopilot/tree/rm2021/src/drivers/uavcan/uavcan_drivers/stm32/driver/include/uavcan_stm32

Could we refer to our last seasons code base for this?

Some code from DJI
https://github.com/RoboMaster/Development-Board-C-Examples/blob/master/14.CAN/application/CAN_receive.c

[chengguizi]

Some documentation for Motor M3508
https://www.robomaster.com/en-US/products/components/general/M3508

https://rm-static.djicdn.com/tem/17348/RoboMaster%20C620%20Brushless%20DC%20Motor%20Speed%20Controller%20V1.01.pdf

[AndreWongZH]

eb40991
Commit to enable a working can port for dev c

Things done:

• Configure the can port's GPIO pins correctly
• Enable can1 port in defconfig
• Set baud rate to 1000000 for can1 port in defconfig
• calll can_devinit() in the init file

[AndreWongZH]

To run a can example:

• enable can example in defconfig (application configuration -> example -> can example)

replace the can_main.c (platform/nuttx/Nuttx/apps/examples/can/can_main.c) with the code below:

/****************************************************************************
 * examples/can/can_main.c
 *
 *   Copyright (C) 2011 Gregory Nutt. All rights reserved.
 *   Author: Gregory Nutt <gnutt@nuttx.org>
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
 * are met:
 *
 * 1. Redistributions of source code must retain the above copyright
 *    notice, this list of conditions and the following disclaimer.
 * 2. Redistributions in binary form must reproduce the above copyright
 *    notice, this list of conditions and the following disclaimer in
 *    the documentation and/or other materials provided with the
 *    distribution.
 * 3. Neither the name NuttX nor the names of its contributors may be
 *    used to endorse or promote products derived from this software
 *    without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
 * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
 * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 *
 ****************************************************************************/

/****************************************************************************
 * Included Files
 ****************************************************************************/

#include <nuttx/config.h>

#include <sys/types.h>
#include <sys/ioctl.h>

#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>
#include <string.h>
#include <fcntl.h>
#include <errno.h>
#include <debug.h>

#include <nuttx/can/can.h>

#include "can.h"

/****************************************************************************
 * Pre-processor Definitions
 ****************************************************************************/

#if defined(CONFIG_EXAMPLES_CAN_READ)
#  define CAN_OFLAGS O_RDONLY
#elif defined(CONFIG_EXAMPLES_CAN_WRITE)
#  define CAN_OFLAGS O_WRONLY
#elif defined(CONFIG_EXAMPLES_CAN_READWRITE)
#  define CAN_OFLAGS O_RDWR
#  define CONFIG_EXAMPLES_CAN_READ 1
#  define CONFIG_EXAMPLES_CAN_WRITE 1
#endif

#ifdef CONFIG_EXAMPLES_CAN_WRITE
#  ifdef CONFIG_CAN_EXTID
#    define MAX_ID CAN_MAX_EXTMSGID
#  else
#    define MAX_ID CAN_MAX_STDMSGID
#  endif
#endif

#ifdef CONFIG_EXAMPLES_CAN_WRITE
#  ifdef CONFIG_CAN_EXTID
#    define OPT_STR ":n:a:b:hs"
#  else
#    define OPT_STR ":n:a:b:h"
#  endif
#else
#  define OPT_STR ":n:h"
#endif

/****************************************************************************
 * Private Types
 ****************************************************************************/

/****************************************************************************
 * Private Function Prototypes
 ****************************************************************************/

/****************************************************************************
 * Private Data
 ****************************************************************************/

/****************************************************************************
 * Public Data
 ****************************************************************************/

/****************************************************************************
 * Private Functions
 ****************************************************************************/

static void show_usage(FAR const char *progname)
{
  fprintf(stderr, "USAGE: %s"
          " [-n <nmsgs]"
#ifdef CONFIG_EXAMPLES_CAN_WRITE
#ifdef CONFIG_CAN_EXTID
          " [-s]"
#endif
          " [-a <min-id>] [b <max-id>]"
#endif
          "\n",
          progname);
  fprintf(stderr, "USAGE: %s -h\n",
          progname);
  fprintf(stderr, "\nWhere:\n");
  fprintf(stderr, "-n <nmsgs>: The number of messages to send.  Default: 32\n");
#ifdef CONFIG_EXAMPLES_CAN_WRITE
#ifdef CONFIG_CAN_EXTID
  fprintf(stderr, "-s: Use standard IDs.  Default: Extended ID\n");
#endif
  fprintf(stderr, "-a <min-id>: The start message id.  Default 1\n");
  fprintf(stderr, "-b <max-id>: The start message id.  Default %d\n", MAX_ID);
#endif
  fprintf(stderr, "-h: Show this message and exit\n");
}

/****************************************************************************
 * Public Functions
 ****************************************************************************/

/****************************************************************************
 * Name: can_main
 ****************************************************************************/

int main(int argc, FAR char *argv[])
{
  struct canioc_bittiming_s bt;

#ifdef CONFIG_EXAMPLES_CAN_WRITE
  // struct can_msg_s txmsg;
#ifdef CONFIG_CAN_EXTID
  bool extended = true;
  uint32_t msgid;
#else
  // uint16_t msgid;
#endif
  long minid    = 1;
  long maxid    = MAX_ID;
  // uint8_t msgdata;
#endif
  // int msgdlc;
  // int i;

#ifdef CONFIG_EXAMPLES_CAN_READ
  struct can_msg_s rxmsg;
#endif

  size_t msgsize;
  ssize_t nbytes;
  bool badarg   = false;
  bool help     = false;
  long nmsgs    = CONFIG_EXAMPLES_CAN_NMSGS;
  long msgno;
  int option;
  int fd;
  int errval    = 0;
  int ret;

  /* Parse command line parameters */

  while ((option = getopt(argc, argv, OPT_STR)) != ERROR)
    {
      switch (option)
        {
#ifdef CONFIG_EXAMPLES_CAN_WRITE
#ifdef CONFIG_CAN_EXTID
          case 's':
            extended = false;
            break;
#endif

          case 'a':
            minid = strtol(optarg, NULL, 10);
            if (minid < 1 || minid > maxid)
              {
                fprintf(stderr, "<min-id> out of range\n");
                badarg = true;
              }
            break;

          case 'b':
            maxid = strtol(optarg, NULL, 10);
            if (maxid < minid || maxid > MAX_ID)
              {
                fprintf(stderr, "ERROR: <max-id> out of range\n");
                badarg = true;
              }
            break;
#endif

          case 'h':
            help = true;
            break;

          case 'n':
            nmsgs = strtol(optarg, NULL, 10);
            if (nmsgs < 1)
              {
                fprintf(stderr, "ERROR: <nmsgs> out of range\n");
                badarg = true;
              }
            break;

          case ':':
            fprintf(stderr, "ERROR: Bad option argument\n");
            badarg = true;
            break;

          case '?':
          default:
            fprintf(stderr, "ERROR: Unrecognized option\n");
            badarg = true;
            break;
        }
    }

  if (badarg)
    {
      show_usage(argv[0]);
      return EXIT_FAILURE;
    }

  if (help)
    {
      show_usage(argv[0]);
      return EXIT_SUCCESS;
    }

#if defined(CONFIG_EXAMPLES_CAN_WRITE) && defined(CONFIG_CAN_EXTID)
  if (!extended && maxid > CAN_MAX_STDMSGID)
    {
      maxid = CAN_MAX_STDMSGID;
      if (minid > maxid)
        {
          minid = maxid;
        }
    }
#endif

  if (optind != argc)
    {
      fprintf(stderr, "ERROR: Garbage on command line\n");
      show_usage(argv[0]);
      return EXIT_FAILURE;
    }

  printf("nmsgs: %d\n", nmsgs);
#ifdef CONFIG_EXAMPLES_CAN_WRITE
  printf("min ID: %ld max ID: %ld\n", minid, maxid);
#endif

  /* Initialization of the CAN hardware is performed by board-specific,
   * logic external prior to running this test.
   */

  /* Open the CAN device for reading */

  fd = open(CONFIG_EXAMPLES_CAN_DEVPATH, CAN_OFLAGS);
  if (fd < 0)
    {
      printf("ERROR: open %s failed: %d\n",
             CONFIG_EXAMPLES_CAN_DEVPATH, errno);
      errval = 2;
      goto errout_with_dev;
    }

  /* Show bit timing information if provided by the driver.  Not all CAN
   * drivers will support this IOCTL.
   */

  ret = ioctl(fd, CANIOC_GET_BITTIMING, (unsigned long)((uintptr_t)&bt));
  if (ret < 0)
    {
      printf("Bit timing not available: %d\n", errno);
    }
  else
    {
      printf("Bit timing:\n");
      printf("   Baud: %lu\n", (unsigned long)bt.bt_baud);
      printf("  TSEG1: %u\n", bt.bt_tseg1);
      printf("  TSEG2: %u\n", bt.bt_tseg2);
      printf("    SJW: %u\n", bt.bt_sjw);
    }

    for (msgno = 0; !nmsgs || msgno < nmsgs; msgno++)
    {
      msgsize = sizeof(struct can_msg_s);
      nbytes = read(fd, &rxmsg, msgsize);
      if (nbytes < CAN_MSGLEN(0) || nbytes > msgsize)
        {
          printf("ERROR: read(%ld) returned %ld\n",
                  (long)msgsize, (long)nbytes);
          errval = 4;
          goto errout_with_dev;
        }

      printf("  ID: %4u DLC: %u\n",
              rxmsg.cm_hdr.ch_id, rxmsg.cm_hdr.ch_dlc);
      printf("Data0: %d\n", rxmsg.cm_data[0]);
      printf("Data1: %d\n", rxmsg.cm_data[1]);
      printf("Data2: %d\n", rxmsg.cm_data[2]);
      printf("Data3: %d\n", rxmsg.cm_data[3]);
      printf("Data4: %d\n", rxmsg.cm_data[4]);
      printf("Data5: %d\n", rxmsg.cm_data[5]);
      printf("Data6: %d\n", rxmsg.cm_data[6]);
      printf("Data7: %d\n", rxmsg.cm_data[7]);
    }

    // msgdlc = rxmsg.cm_hdr.ch_dlc;

  /* Now loop the appropriate number of times, performing one loopback test
   * on each pass.
   */

// #ifdef CONFIG_EXAMPLES_CAN_WRITE
//   msgdlc  = 1;
//   msgid   = minid;
//   msgdata = 0;
// #endif

//   for (msgno = 0; !nmsgs || msgno < nmsgs; msgno++)
//     {
//       /* Flush any output before the loop entered or from the previous pass
//        * through the loop.
//        */

//       fflush(stdout);

// #ifdef CONFIG_EXAMPLES_CAN_WRITE

//       /* Construct the next TX message */

//       txmsg.cm_hdr.ch_id     = msgid;
//       txmsg.cm_hdr.ch_rtr    = false;
//       txmsg.cm_hdr.ch_dlc    = msgdlc;
// #ifdef CONFIG_CAN_ERRORS
//       txmsg.cm_hdr.ch_error  = 0;
// #endif
// #ifdef CONFIG_CAN_EXTID
//       txmsg.cm_hdr.ch_extid  = extended;
// #endif
//       txmsg.cm_hdr.ch_unused = 0;

//       for (i = 0; i < msgdlc; i++)
//         {
//           txmsg.cm_data[i] = msgdata + i;
//         }

//       /* Send the TX message */

//       msgsize = CAN_MSGLEN(msgdlc);
//       nbytes = write(fd, &txmsg, msgsize);
//       if (nbytes != msgsize)
//         {
//           printf("ERROR: write(%ld) returned %ld\n",
//                  (long)msgsize, (long)nbytes);
//           errval = 3;
//           goto errout_with_dev;
//         }

//       printf("  ID: %4u DLC: %d\n", msgid, msgdlc);

// #endif

// #ifdef CONFIG_EXAMPLES_CAN_READ

//       /* Read the RX message */

//       msgsize = sizeof(struct can_msg_s);
//       nbytes = read(fd, &rxmsg, msgsize);
//       if (nbytes < CAN_MSGLEN(0) || nbytes > msgsize)
//         {
//           printf("ERROR: read(%ld) returned %ld\n",
//                  (long)msgsize, (long)nbytes);
//           errval = 4;
//           goto errout_with_dev;
//         }

//       printf("  ID: %4u DLC: %u\n",
//              rxmsg.cm_hdr.ch_id, rxmsg.cm_hdr.ch_dlc);

//       msgdlc = rxmsg.cm_hdr.ch_dlc;

// #ifdef CONFIG_CAN_ERRORS
//       /* Check for error reports */

//       if (rxmsg.cm_hdr.ch_error != 0)
//         {
//           printf("ERROR: CAN error report: [0x%04x]\n", rxmsg.cm_hdr.ch_id);
//           if ((rxmsg.cm_hdr.ch_id & CAN_ERROR_TXTIMEOUT) != 0)
//             {
//               printf("  TX timeout\n");
//             }

//           if ((rxmsg.cm_hdr.ch_id & CAN_ERROR_LOSTARB) != 0)
//             {
//               printf("  Lost arbitration: %02x\n", rxmsg.cm_data[0]);
//             }

//           if ((rxmsg.cm_hdr.ch_id & CAN_ERROR_CONTROLLER) != 0)
//             {
//               printf("  Controller error: %02x\n", rxmsg.cm_data[1]);
//             }

//           if ((rxmsg.cm_hdr.ch_id & CAN_ERROR_PROTOCOL) != 0)
//             {
//               printf("  Protocol error: %02x %02x\n", rxmsg.cm_data[2], rxmsg.cm_data[3]);
//             }

//           if ((rxmsg.cm_hdr.ch_id & CAN_ERROR_TRANSCEIVER) != 0)
//             {
//               printf("  Transceiver error: %02x\n", rxmsg.cm_data[4]);
//             }

//           if ((rxmsg.cm_hdr.ch_id & CAN_ERROR_NOACK) != 0)
//             {
//               printf("  No ACK received on transmission\n");
//             }

//           if ((rxmsg.cm_hdr.ch_id & CAN_ERROR_BUSOFF) != 0)
//             {
//               printf("  Bus off\n");
//             }

//           if ((rxmsg.cm_hdr.ch_id & CAN_ERROR_BUSERROR) != 0)
//             {
//               printf("  Bus error\n");
//             }

//           if ((rxmsg.cm_hdr.ch_id & CAN_ERROR_RESTARTED) != 0)
//             {
//               printf("  Controller restarted\n");
//             }
//         }
//       else
// #endif
//         {
// #if defined(CONFIG_EXAMPLES_CAN_WRITE) && defined(CONFIG_CAN_LOOPBACK)

//           /* Verify that the received messages are the same */

//           if (memcmp(&txmsg.cm_hdr, &rxmsg.cm_hdr, sizeof(struct can_hdr_s)) != 0)
//             {
//               printf("ERROR: Sent header does not match received header:\n");
//               lib_dumpbuffer("Sent header",
//                              (FAR const uint8_t *)&txmsg.cm_hdr,
//                              sizeof(struct can_hdr_s));
//               lib_dumpbuffer("Received header",
//                              (FAR const uint8_t *)&rxmsg.cm_hdr,
//                              sizeof(struct can_hdr_s));
//               errval = 4;
//               goto errout_with_dev;
//             }

//           if (memcmp(txmsg.cm_data, rxmsg.cm_data, msgdlc) != 0)
//             {
//               printf("ERROR: Data does not match. DLC=%d\n", msgdlc);
//               for (i = 0; i < msgdlc; i++)
//                 {
//                   printf("  %d: TX 0x%02x RX 0x%02x\n",
//                          i, txmsg.cm_data[i], rxmsg.cm_data[i]);
//                   errval = 5;
//                   goto errout_with_dev;
//                 }
//             }

//           /* Report success */

//           printf("  ID: %4u DLC: %d -- OK\n", msgid, msgdlc);

// #else

//           /* Print the data received */

//           printf("Data received:\n");
//           for (i = 0; i < msgdlc; i++)
//             {
//               printf("  %d: 0x%02x\n", i, rxmsg.cm_data[i]);
//             }
// #endif
//         }
// #endif

// #ifdef CONFIG_EXAMPLES_CAN_WRITE

//       /* Set up for the next pass */

//       msgdata += msgdlc;

//       if (++msgid > maxid)
//         {
//           msgid = minid;
//         }

//       if (++msgdlc > CAN_MAXDATALEN)
//         {
//           msgdlc = 1;
//         }
// #endif
//     }

errout_with_dev:
  close(fd);

  printf("Terminating!\n");
  fflush(stdout);
  return errval;
}

After running can -n 1 output looks like:

nmsgs: 1
min ID: 1 max ID: 2047
Bit timing:
      Baud:  1000000
   TSEG1:  6
   TSEG2:  7
       SJW:  1
    ID:     514  DLC:  8
Data0:  20
Data1:  168
Data2:  0
Data3:  0
Data4:  0
Data5:  12
Data6:  23
Data7:  0
Terminating!

[chengguizi]

@AndreWongZH Can you make the pull request on this?