can send test bætt við

platformio.ini

@@ -21,3 +21,9 @@ upload_flags =
 
 ; CSV-útprentun í Operational fyrir step/load response (sjá capture_serial.py)
 ; build_flags = -D LOG_CSV=1
+
+; Part 2.1: CAN bring-up test (src/can_send_test.c) instead of the motor app.
+; Build/upload: pio run -e can_test -t upload
+[env:can_test]
+extends = env:nucleo_l432kc
+build_flags = -D CAN_SEND_TEST=1

src/can_send_test.c

@@ -0,0 +1,61 @@
+// Part 2.1: CAN bring-up. Sends one frame every 100 ms so it can be seen
+// on the oscilloscope and with `candump can0` on the Raspberry Pi.
+// Built only with the can_test environment (-D CAN_SEND_TEST=1).
+
+#include <zephyr/device.h>
+#include <zephyr/drivers/can.h>
+#include <zephyr/kernel.h>
+#include <zephyr/sys/printk.h>
+
+// Change these to see the difference in candump.
+#define TEST_CAN_ID   0x123   // 11-bit standard id (0x000 - 0x7FF)
+#define TEST_CAN_DLC  8       // Number of data bytes (0 - 8)
+#define CAN_BITRATE   250000  // Must match the bitrate of can0 on the Pi
+
+static const struct device *const can_dev = DEVICE_DT_GET(DT_NODELABEL(can1));
+
+void can_send_test_main(void)
+{
+    if (!device_is_ready(can_dev)) {
+        printk("CAN device is not ready\n");
+        return;
+    }
+
+    int err = can_set_bitrate(can_dev, CAN_BITRATE);
+    if (err != 0) {
+        printk("can_set_bitrate failed: %d\n", err);
+        return;
+    }
+
+    err = can_start(can_dev);
+    if (err != 0) {
+        printk("can_start failed: %d\n", err);
+        return;
+    }
+
+    printk("CAN started at %d bit/s, sending id 0x%03X\n",
+           CAN_BITRATE, TEST_CAN_ID);
+
+    struct can_frame frame = {
+        .id = TEST_CAN_ID,
+        .dlc = TEST_CAN_DLC,
+        .flags = 0,           // Standard id, data frame
+    };
+    uint8_t counter = 0;
+
+    while (true) {
+        // Byte 0 counts up so you can see new frames arriving.
+        frame.data[0] = counter++;
+        for (int i = 1; i < TEST_CAN_DLC; i++) {
+            frame.data[i] = i;
+        }
+
+        // Blocks until the frame is sent (and acknowledged by another node).
+        err = can_send(can_dev, &frame, K_MSEC(100), NULL, NULL);
+        if (err != 0) {
+            printk("can_send failed: %d\n", err);
+        }
+
+        k_sleep(K_MSEC(100));
+    }
+}

src/main.c

@@ -1,9 +1,14 @@
 #include <zephyr/kernel.h>
 
 void motor_application_main(void);
+void can_send_test_main(void);
 
 int main(void)
 {
+#if CAN_SEND_TEST
+    can_send_test_main();
+#else
     motor_application_main();
+#endif
     return 0;
 }

src/rotary_encoder_driver.cpp

@@ -6,11 +6,6 @@
 #include <zephyr/devicetree.h>
 #include <zephyr/drivers/gpio.h>
 
-//#define ISR_PROBE_NODE DT_PATH(zephyr_user)
-
-static const struct gpio_dt_spec isr_probe =
-    GPIO_DT_SPEC_GET(DT_ALIAS(encoder_isr_probe), gpios);
-
 RotaryEncoderDriver::RotaryEncoderDriver()
     : count(0),
       delta(0),

zephyr/boards/nucleo_l432kc.overlay

@@ -45,11 +45,6 @@
             gpios = <&gpioa 1 GPIO_ACTIVE_HIGH>; /* A1, PA1 */
             label = "Motor sleep";
         };
-
-        encoder_isr_probe: encoder_isr_probe {
-            gpios = <&gpioa 12 GPIO_ACTIVE_HIGH>; /* D2, PA12 */
-            label = "Encoder ISR probe";
-        };
     };
 
     motor_pwm_outputs {
@@ -68,9 +63,6 @@
             label = "Motor BIN2 PWM";
         };
     };
-        zephyr,user {
-        encoder-isr-probe-gpios = <&gpioa 12 GPIO_ACTIVE_HIGH>; /* D2, PA12 */
-    };
 };
 
 &timers1 {
@@ -83,4 +75,12 @@
         pinctrl-0 = <&tim1_ch1_pa8 &tim1_ch3n_pb1>;
         pinctrl-names = "default";
     };
-};
+};
+
+/* CAN1 to the transceiver: RX on D10 (PA11), TX on D2 (PA12).
+ * The bitrate is set in the code with can_set_bitrate(). */
+&can1 {
+    pinctrl-0 = <&can1_rx_pa11 &can1_tx_pa12>;
+    pinctrl-names = "default";
+    status = "okay";
+};

zephyr/prj.conf

@@ -8,4 +8,5 @@ CONFIG_CONSOLE=y
 CONFIG_UART_CONSOLE=y
 CONFIG_UART_INTERRUPT_DRIVEN=y
 CONFIG_PRINTK=y
-CONFIG_CBPRINTF_FP_SUPPORT=y
+CONFIG_CBPRINTF_FP_SUPPORT=y
+CONFIG_CAN=y