Added UAVCAN raw RPM command

Author: vedderb

confgenerator.c

@@ -204,6 +204,7 @@ int32_t confgenerator_serialize_appconf(uint8_t *buffer, const app_configuration
 	buffer[ind++] = conf->can_mode;
 	buffer[ind++] = (uint8_t)conf->uavcan_esc_index;
 	buffer[ind++] = conf->uavcan_raw_mode;
+	buffer_append_float32_auto(buffer, conf->uavcan_raw_rpm_max, &ind);
 	buffer[ind++] = conf->servo_out_enable;
 	buffer[ind++] = conf->kill_sw_mode;
 	buffer[ind++] = conf->app_to_use;
@@ -223,7 +224,7 @@ int32_t confgenerator_serialize_appconf(uint8_t *buffer, const app_configuration
 	buffer[ind++] = conf->app_ppm_conf.multi_esc;
 	buffer[ind++] = conf->app_ppm_conf.tc;
 	buffer_append_float32_auto(buffer, conf->app_ppm_conf.tc_max_diff, &ind);
-	buffer_append_float32_auto(buffer, conf->app_ppm_conf.max_erpm_for_dir, &ind);
+	buffer_append_float16(buffer, conf->app_ppm_conf.max_erpm_for_dir, 1, &ind);
 	buffer_append_float32_auto(buffer, conf->app_ppm_conf.smart_rev_max_duty, &ind);
 	buffer_append_float32_auto(buffer, conf->app_ppm_conf.smart_rev_ramp_time, &ind);
 	buffer[ind++] = conf->app_adc_conf.ctrl_type;
@@ -574,6 +575,7 @@ bool confgenerator_deserialize_appconf(const uint8_t *buffer, app_configuration
 	conf->can_mode = buffer[ind++];
 	conf->uavcan_esc_index = buffer[ind++];
 	conf->uavcan_raw_mode = buffer[ind++];
+	conf->uavcan_raw_rpm_max = buffer_get_float32_auto(buffer, &ind);
 	conf->servo_out_enable = buffer[ind++];
 	conf->kill_sw_mode = buffer[ind++];
 	conf->app_to_use = buffer[ind++];
@@ -593,7 +595,7 @@ bool confgenerator_deserialize_appconf(const uint8_t *buffer, app_configuration
 	conf->app_ppm_conf.multi_esc = buffer[ind++];
 	conf->app_ppm_conf.tc = buffer[ind++];
 	conf->app_ppm_conf.tc_max_diff = buffer_get_float32_auto(buffer, &ind);
-	conf->app_ppm_conf.max_erpm_for_dir = buffer_get_float32_auto(buffer, &ind);
+	conf->app_ppm_conf.max_erpm_for_dir = buffer_get_float16(buffer, 1, &ind);
 	conf->app_ppm_conf.smart_rev_max_duty = buffer_get_float32_auto(buffer, &ind);
 	conf->app_ppm_conf.smart_rev_ramp_time = buffer_get_float32_auto(buffer, &ind);
 	conf->app_adc_conf.ctrl_type = buffer[ind++];
@@ -928,6 +930,7 @@ void confgenerator_set_defaults_appconf(app_configuration *conf) {
 	conf->can_mode = APPCONF_CAN_MODE;
 	conf->uavcan_esc_index = APPCONF_UAVCAN_ESC_INDEX;
 	conf->uavcan_raw_mode = APPCONF_UAVCAN_RAW_MODE;
+	conf->uavcan_raw_rpm_max = APPCONF_UAVCAN_RAW_RPM_MAX;
 	conf->servo_out_enable = APPCONF_SERVO_OUT_ENABLE;
 	conf->kill_sw_mode = APPCONF_KILL_SW_MODE;
 	conf->app_to_use = APPCONF_APP_TO_USE;

confgenerator.h

@@ -9,7 +9,7 @@
 
 // Constants
 #define MCCONF_SIGNATURE		2686986464
-#define APPCONF_SIGNATURE		763356168
+#define APPCONF_SIGNATURE		3733512279
 
 // Functions
 int32_t confgenerator_serialize_mcconf(uint8_t *buffer, const mc_configuration *conf);

datatypes.h

@@ -854,7 +854,8 @@ typedef enum {
 typedef enum {
 	UAVCAN_RAW_MODE_CURRENT = 0,
 	UAVCAN_RAW_MODE_CURRENT_NO_REV_BRAKE,
-	UAVCAN_RAW_MODE_DUTY
+	UAVCAN_RAW_MODE_DUTY,
+	UAVCAN_RAW_MODE_RPM
 } UAVCAN_RAW_MODE;
 
 typedef enum {
@@ -883,6 +884,7 @@ typedef struct {
 	CAN_MODE can_mode;
 	uint8_t uavcan_esc_index;
 	UAVCAN_RAW_MODE uavcan_raw_mode;
+	float uavcan_raw_rpm_max;
 
 	// Application to use
 	app_use app_to_use;

libcanard/canard_driver.c

@@ -510,7 +510,9 @@ static void handle_esc_raw_command(CanardInstance* ins, CanardRxTransfer* transf
 		if (cmd.cmd.len > app_get_configuration()->uavcan_esc_index) {
 			float raw_val = ((float)cmd.cmd.data[app_get_configuration()->uavcan_esc_index]) / 8192.0;
 
-			switch (app_get_configuration()->uavcan_raw_mode) {
+			volatile const app_configuration *conf = app_get_configuration();
+
+			switch (conf->uavcan_raw_mode) {
 				case UAVCAN_RAW_MODE_CURRENT:
 					mc_interface_set_current_rel(raw_val);
 					break;
@@ -527,6 +529,10 @@ static void handle_esc_raw_command(CanardInstance* ins, CanardRxTransfer* transf
 					mc_interface_set_duty(raw_val);
 					break;
 
+				case UAVCAN_RAW_MODE_RPM:
+					mc_interface_set_pid_speed(raw_val * conf->uavcan_raw_rpm_max);
+					break;
+
 				default:
 					break;
 			}