The amc2c binary moves a motor using CAN communication

emBODY/eBcode/arch-arm/board/amc2c/application/src/app-board-amc2c/embot_app_board_amc2c_info.cpp

@@ -28,13 +28,13 @@ namespace embot::app::board::amc2c::info {
 
     constexpr embot::prot::can::applicationInfo applInfo 
     {   
-        embot::prot::can::versionOfAPPLICATION {100, 100, 0},    
+        embot::prot::can::versionOfAPPLICATION {2, 0, 4},    
         embot::prot::can::versionOfCANPROTOCOL {2, 0}    
     };
 
     constexpr embot::app::eth::Date date
     {
-        2023, embot::app::eth::Month::Apr, embot::app::eth::Day::fourteen, 16, 54
+        2023, embot::app::eth::Month::Oct, embot::app::eth::Day::sixteen, 15, 51
     };
 
     constexpr embot::hw::FLASHpartitionID codePartition 
@@ -46,10 +46,19 @@ namespace embot::app::board::amc2c::info {
     {
         embot::hw::CAN::two
     };
+
+    constexpr uint8_t canaddress {3};
+
+    // marco.accame: i use the macro INFO32 just because ... i want to init eEmoduleExtendedInfo_t::userdefined with the same string 
+    // and i dont know how to fit it inside otherwise
+
+                 // 0123456789abcde0123456789abcde
+    #define INFO32 "hi, i am an amc2c on CAN2:3"
 
-    static const char *info32  
+    constexpr const char *info32  
     { // 0123456789abcde0123456789abcde
-        "hi, i am an amc2c can"
+      //"hi, i am an amc2c CAN2:3"
+        INFO32
     };
 
 } // embot::app::board::amc2c::info {
@@ -74,7 +83,7 @@ namespace embot::app::board::amc2c::info {
         if(!initted)
         {
             force_placement_of_moduleinfo();
-            embot::app::board::amc2c::theCANagentCORE::getInstance().initialise({applInfo, canBus, info32});
+            embot::app::board::amc2c::theCANagentCORE::getInstance().initialise({applInfo, canBus, canaddress, info32});
             initted = true;
         }
         return &embot::app::board::amc2c::theCANagentCORE::getInstance();
@@ -139,22 +148,23 @@ constexpr eEmoduleExtendedInfo_t s_cm4app_info_extended __attribute__((section(E
                 .size   = 0,
                 .addr   = 0
             },
-            .communication  = ee_commtype_none,
+            .communication  = ee_commtype_can2,
             .name           = "eOther01"
         },
         .protocols  =
         {
             .udpprotversion  = { .major = 0, .minor = 0},
             .can1protversion = { .major = 0, .minor = 0},
-            .can2protversion = { .major = 0, .minor = 0},
+            .can2protversion = { .major = 2, .minor = 0},
             .gtwprotversion  = { .major = 0, .minor = 0}
         },
         .extra      = {"EXT"}
     },
     .compilationdatetime    = __DATE__ " " __TIME__,
-    .userdefined            = {0}
+    .userdefined            = {INFO32}
 };
 
+
 #include <cstring>
 
 eEmoduleExtendedInfo_t ss {};

emBODY/eBcode/arch-arm/board/amc2c/application/src/app-board-amc2c/embot_app_board_amc2c_theCANagentCORE.cpp

@@ -85,8 +85,10 @@ bool embot::app::board::amc2c::theCANagentCORE::Impl::initialise(const Config &c
 
     std::memmove(_storedinfo.info32, _config.boardinfo, sizeof(_storedinfo.info32)); 
 
+    _storedinfo.canaddress = _config.canaddress;
+
     _board = static_cast<embot::prot::can::Board>(_storedinfo.boardtype);
-//        _address = _storedinfo.canaddress;
+
     _applicationinfo.version.major = _storedinfo.applicationVmajor;
     _applicationinfo.version.minor = _storedinfo.applicationVminor;
     _applicationinfo.version.build = _storedinfo.applicationVbuild;

emBODY/eBcode/arch-arm/board/amc2c/application/src/app-board-amc2c/embot_app_board_amc2c_theCANagentCORE.h

@@ -28,10 +28,11 @@ namespace embot::app::board::amc2c {
         {
             embot::prot::can::applicationInfo applicationinfo {{0,0,1}, {2,0}};
             embot::hw::CAN canbus {embot::hw::CAN::one};
+            uint8_t canaddress {3};
             const char *boardinfo {"hello, i am an amc2c"};            
             constexpr Config() = default;
-            constexpr Config(const embot::prot::can::applicationInfo& ai, embot::hw::CAN b, const char *bi) 
-                : applicationinfo(ai), canbus(b), boardinfo(bi) {}
+            constexpr Config(const embot::prot::can::applicationInfo& ai, embot::hw::CAN b, uint8_t ca, const char *bi) 
+                : applicationinfo(ai), canbus(b), canaddress(ca), boardinfo(bi) {}
         };
 
         bool initialise(const Config &config);   

emBODY/eBcode/arch-arm/board/amc2c/application/src/app-board-amc2c/embot_app_board_amc2c_theMBD.cpp

@@ -520,23 +520,17 @@ dbgFOCvalues dbgFOC {};
 
 void embot::app::board::amc2c::theMBD::Impl::onCurrents_FOC_innerloop(void *owner, const embot::hw::motor::Currents * const currents)
 {
-    embot::hw::testpoint::on(tp2);
-
-    //embot::hw::testpoint::on(tp2);
     Impl * impl = reinterpret_cast<Impl*>(owner);
     if((nullptr == impl) || (nullptr == currents))
     {
         return;
     }    
 
-    impl->measureFOC->start();
+//    impl->measureFOC->start();
 
     // 1. copy currents straight away, so that we can use them
     embot::hw::motor::Currents currs = *currents;
 
-#if defined(TEST_DURATION_FOC)        
-    embot::hw::sys::delay(25);
-#else
 
     // remember to manage impl->EXTFAULTisPRESSED ............
 
@@ -568,78 +562,24 @@ void embot::app::board::amc2c::theMBD::Impl::onCurrents_FOC_innerloop(void *owne
     AMC_BLDC_U.SensorsData_p.motorsensors.Iabc[2] = 0.001f*currs.w;
 
     // -----------------------------------------------------------------------------
-    // FOC Step Function (~26.6 KHz)
+    // FOC Step Function (~16.6 KHz)
     // -----------------------------------------------------------------------------
 
-    AMC_BLDC_step_FOC();
+    AMC_BLDC_step1();
 
     // -----------------------------------------------------------------------------
 
     AMC_BLDC_U.SensorsData_p.jointpositions.position = static_cast<real32_T>(position) * 0.0054931640625f; // iCubDegree -> deg
-    //constexpr float coneversion2pwmvalue (163.83F);
-    constexpr float coneversion2pwmvalue (12.19F);
-
-    // Set the voltages
-    int32_T Vabc0 = static_cast<int32_T>(AMC_BLDC_Y.ControlOutputs_p.Vabc[0] * coneversion2pwmvalue);
-    int32_T Vabc1 = static_cast<int32_T>(AMC_BLDC_Y.ControlOutputs_p.Vabc[1] * coneversion2pwmvalue);
-    int32_T Vabc2 = static_cast<int32_T>(AMC_BLDC_Y.ControlOutputs_p.Vabc[2] * coneversion2pwmvalue);
-
-#if defined(TEST_FOC_logvalues)
 
-    dbgFOC.currents = currs;
-    dbgFOC.hall = hall;
-    dbgFOC.electricalangle = electricalAngle;
-    dbgFOC.position = position;
-    dbgFOC.jointangle = static_cast<float>(position) * 0.0054931640625f;
-    dbgFOC.pwms = {Vabc0, Vabc1, Vabc2};
-
-#endif
-    // TODO: Remove, used only for debug
-    //  0% PWM value on phase Vabc2 = 0,0,0
-    // 10% PWM value on phase Vabc2 = 0,0,122
-    // 20% PWM value on phase Vabc2 = 0,0,244
-    // 30% PWM value on phase Vabc2 = 0,0,366
-
-    embot::hw::motor::setpwm(embot::hw::MOTOR::one, 0, 0, 122);
-
-
-//#define DEBUG_PARAMS
-#ifdef DEBUG_PARAMS
-
-    static char msg2[64];
-    static uint32_t counter;
-    if(counter % 10 == 0)
+    embot::hw::motor::PWMperc pwmperc 
     {
-        sprintf(msg2, "%d,%d,%d,%.3f,%.3f,%.3f,%.3f,%.3f,%.3f,%.3f,%.3f", \
-                                 Vabc0,  \
-                                 Vabc1,  \
-                                 Vabc2,  \
-                                 AMC_BLDC_U.SensorsData_p.motorsensors.Iabc[0],       \
-                                 AMC_BLDC_U.SensorsData_p.motorsensors.Iabc[1],       \
-                                 AMC_BLDC_U.SensorsData_p.motorsensors.Iabc[2],       \
-                                 AMC_BLDC_U.SensorsData_p.motorsensors.angle,         \
-                                 AMC_BLDC_Y.EstimatedData_p.jointvelocities.velocity, \
-                                 AMC_BLDC_B.Targets_n.motorcurrent.current,           \
-                                 AMC_BLDC_Y.ControlOutputs_p.Iq_fbk.current,          \
-                                 AMC_BLDC_Y.ControlOutputs_p.Vq);
-
-//        sprintf(msg2, "%d,%d,%d,%.3f,%.3f,%.3f", \
-//                                 Vabc0,  \
-//                                 Vabc1,  \
-//                                 Vabc2,  \
-//                                 AMC_BLDC_U.SensorsData_p.motorsensors.Iabc[0],       \
-//                                 AMC_BLDC_U.SensorsData_p.motorsensors.Iabc[1],       \
-//                                 AMC_BLDC_U.SensorsData_p.motorsensors.Iabc[2]);
-        embot::core::print(msg2);
-        counter = 0;
-    }
-    counter++;
-#endif
+        AMC_BLDC_Y.ControlOutputs_p.Vabc[0], AMC_BLDC_Y.ControlOutputs_p.Vabc[1], AMC_BLDC_Y.ControlOutputs_p.Vabc[2]
+    };
+    embot::hw::motor::setPWM(embot::hw::MOTOR::one, pwmperc);
+
 
-#endif // #if defined(TEST_DURATION_FOC) 
 
-    impl->measureFOC->stop();
-    embot::hw::testpoint::off(tp2);
+//    impl->measureFOC->stop();
 }
 
 #ifdef PRINT_HISTO_DEBUG