From c057b7da49848d45a57b69269f5e7959a0957784 Mon Sep 17 00:00:00 2001
From: Federico Mandelli <federicomandelli@skywarder.eu>
Date: Mon, 31 Jul 2023 10:42:26 +0200
Subject: [PATCH] [CanProtocol] Fixed bug when calculating bus velocity
---
.../drivers/canbus/CanDriver/BusLoadEstimation.h | 4 ++--
.../drivers/canbus/CanProtocol/CanProtocol.cpp | 5 +++++
.../drivers/canbus/CanDriver/test-can-2way.cpp | 11 +++++------
.../canbus/CanProtocol/test-can-protocol-2way.cpp | 6 +-----
.../CanProtocol/test-can-protocol-loopback.cpp | 15 ---------------
5 files changed, 13 insertions(+), 28 deletions(-)
diff --git a/src/shared/drivers/canbus/CanDriver/BusLoadEstimation.h b/src/shared/drivers/canbus/CanDriver/BusLoadEstimation.h
index a68da6aeb..1a0d00366 100644
--- a/src/shared/drivers/canbus/CanDriver/BusLoadEstimation.h
+++ b/src/shared/drivers/canbus/CanDriver/BusLoadEstimation.h
@@ -46,7 +46,7 @@ struct BusLoadInfo
};
class BusLoadEstimation
{
- static constexpr uint16_t BUFFER_LEN = 20;
+ static constexpr uint16_t BUFFER_LEN = 50;
public:
BusLoadEstimation(uint32_t baudRate) : baudRate(baudRate) {}
@@ -90,7 +90,7 @@ private:
};
CircularBuffer<PacketInfo, BUFFER_LEN> c;
- mutable FastMutex mutex;
+ FastMutex mutex;
uint32_t baudRate;
};
diff --git a/src/shared/drivers/canbus/CanProtocol/CanProtocol.cpp b/src/shared/drivers/canbus/CanProtocol/CanProtocol.cpp
index 546d5879b..2884c27a4 100644
--- a/src/shared/drivers/canbus/CanProtocol/CanProtocol.cpp
+++ b/src/shared/drivers/canbus/CanProtocol/CanProtocol.cpp
@@ -22,6 +22,8 @@
#include "CanProtocol.h"
+#include <drivers/timer/TimestampTimer.h>
+
using namespace miosix;
namespace Boardcore
@@ -134,6 +136,8 @@ void CanProtocol::sendMessage(const CanMessage& msg)
static_cast<uint32_t>(CanProtocolIdMask::LEFT_TO_SEND));
packet.length = byteForUint64(msg.payload[0]);
+ packet.timestamp = Boardcore::TimestampTimer::getTimestamp();
+
// Splits payload[0] in the right number of uint8_t
for (int i = 0; i < packet.length; i++)
packet.data[i] = msg.payload[0] >> (8 * i);
@@ -262,6 +266,7 @@ void CanProtocol::runReceiver()
// Add the data to the message
msg.payload[msg.length - leftToReceive - 1] = payload;
+ loadEstimator->addPacket(pkt);
nReceived++;
}
}
diff --git a/src/tests/drivers/canbus/CanDriver/test-can-2way.cpp b/src/tests/drivers/canbus/CanDriver/test-can-2way.cpp
index 1bcb2e3e7..56be5fefd 100644
--- a/src/tests/drivers/canbus/CanDriver/test-can-2way.cpp
+++ b/src/tests/drivers/canbus/CanDriver/test-can-2way.cpp
@@ -195,11 +195,10 @@ int main()
CanbusDriver::CanbusConfig cfg{};
CanbusDriver::AutoBitTiming bt;
- bt.baudRate = BAUD_RATE;
- bt.samplePoint = SAMPLE_POINT;
- CanbusDriver* c1 = new CanbusDriver(CAN1, cfg, bt);
- CanbusDriver* c = new CanbusDriver(CAN2, cfg, bt);
- canManager = new SimpleCanManager(*c, BAUD_RATE, handleCanMessage);
+ bt.baudRate = BAUD_RATE;
+ bt.samplePoint = SAMPLE_POINT;
+ CanbusDriver* c = new CanbusDriver(CAN2, cfg, bt);
+ canManager = new SimpleCanManager(*c, BAUD_RATE, handleCanMessage);
// Allow every message
Mask32FilterBank f2(0, 0, 0, 0, 0, 0, 0);
@@ -208,7 +207,7 @@ int main()
canManager->start();
mc.start();
- const int slp = 5;
+ const int slp = 100;
for (;;)
{
sendNewRequest();
diff --git a/src/tests/drivers/canbus/CanProtocol/test-can-protocol-2way.cpp b/src/tests/drivers/canbus/CanProtocol/test-can-protocol-2way.cpp
index 1d62c6ec7..37d4b9e86 100644
--- a/src/tests/drivers/canbus/CanProtocol/test-can-protocol-2way.cpp
+++ b/src/tests/drivers/canbus/CanProtocol/test-can-protocol-2way.cpp
@@ -202,10 +202,6 @@ int main()
bt.baudRate = BAUD_RATE;
bt.samplePoint = SAMPLE_POINT;
- CanbusDriver* c1 = new CanbusDriver(CAN1, cfg, bt);
- if (false && c1)
- {
- }
CanbusDriver* c = new CanbusDriver(CAN2, cfg, bt);
protocol = new CanProtocol(c, bind(&handleCanMessage, _1), BAUD_RATE);
@@ -216,7 +212,7 @@ int main()
protocol->start();
mc.start();
- const int slp = 20;
+ const int slp = 10;
for (;;)
{
sendNewRequest();
diff --git a/src/tests/drivers/canbus/CanProtocol/test-can-protocol-loopback.cpp b/src/tests/drivers/canbus/CanProtocol/test-can-protocol-loopback.cpp
index 686ebd184..e245245af 100644
--- a/src/tests/drivers/canbus/CanProtocol/test-can-protocol-loopback.cpp
+++ b/src/tests/drivers/canbus/CanProtocol/test-can-protocol-loopback.cpp
@@ -42,21 +42,6 @@ void print(const CanMessage& msg)
int main()
{
- GpioPin canA{GPIOB_BASE, 8};
- GpioPin canB{GPIOB_BASE, 9};
-
- canA.mode(Mode::ALTERNATE);
- canB.mode(Mode::ALTERNATE);
- canA.alternateFunction(9);
- canB.alternateFunction(9);
-
- GpioPin can2A{GPIOB_BASE, 12};
- GpioPin can2B{GPIOB_BASE, 13};
-
- can2A.mode(Mode::ALTERNATE);
- can2B.mode(Mode::ALTERNATE);
- can2A.alternateFunction(9);
- can2B.alternateFunction(9);
printf("provolone fritto\n");
--
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