Feature/86dregyk6/can driver

can/config.py

@@ -0,0 +1,123 @@
+import time
+import can
+from ctypes import c_uint8, c_uint16, c_uint32
+
+class BMS_DATA:
+    classifer  = "BMS_DATA"
+    can_id = 0
+    temperature   =   [c_uint8(0), c_uint8(0), c_uint8(0), c_uint8(0), c_uint8(0), c_uint8(0)] # def these are 8 bits each
+    error_code    =    0
+
+class SENSORS_BOARD_DATA:
+    classifer = "SENSORS_BOARD_DATA"
+    can_id = 0
+    temperature = [c_uint16(0), c_uint16(0)]
+    imu_data = c_uint16(0)
+    pressure_sensor_data = c_uint8(0)
+    error_code = c_uint8(0)
+
+class MOTOR_CONTROLLER_DATA:
+    classifier = "MOTOR_CONTROLLER_DATA"
+    can_id = 0
+    battery_voltage = c_uint16(0)
+    battery_current = c_uint16(0)
+    motor_speed = c_uint16(0)
+    motor_controller_temp = c_uint8(0)
+    driving_direction = c_uint16(0)
+    error_code = c_uint8(0)
+
+class KELLY_DATA_FRAME1:
+    classifier = "KELLY_DATA_FRAME_1"
+    driving_direction_kelly = c_uint8(0)
+    motor_speed_kelly = c_uint16(0)
+    motor_error_code_kelly = c_uint8(0)
+
+class KELLY_DATA_FRAME2:
+    classifier = "KELLY_DATA_FRAME_2"
+    battery_voltage_kelly = c_uint16(0)
+    battery_current_kelly = c_uint16(0)
+    motor_temp_kelly = c_uint16(0)
+    motor_controller_temp_kelly = c_uint16(0)
+
+class GLOBAL:
+    def __init__(self):
+    # GENERAL DEFINES
+        MAX_CAN_PAYLOAD_BYTES = 8
+        BUFF_SIZE = 32
+        WARN_OFFSET = 0xFF
+
+        # MOTOR CONTROLLER
+        MOTOR_CONTROLLER_1 = 0x10F8109A
+        MOTOR_CONTROLLER_2 = 0x10F8108D
+        MOTOR_CONTROLLER = 0xFF
+        MOTOR_CONTROLLER_WARN = MOTOR_CONTROLLER - WARN_OFFSET
+
+        # BMS
+        BMS_BOARD = 0xFF
+        BMS_TEMP = BMS_BOARD
+        BMS_BOARD_WARN = BMS_TEMP - WARN_OFFSET
+
+        # SENSORS
+        SENSOR_BOARD = 0xFF
+        SENSOR_BOARD_WARN = SENSOR_BOARD - WARN_OFFSET
+
+# THIS IS CONFIG.H FOR CROSS REFERENCE
+
+# #pragma once
+# #include "can_driver.h"
+
+# // GENERAL DEFINES
+# #define MAX_CAN_PAYLOAD_BTYES   8
+# #define BUFF_SIZE               32
+# #define WARN_OFFSET             0xFF
+
+# // MOTOR CONTROLLER
+# #define MOTOR_CONTROLLER_1      0x10F8109A
+# #define MOTOR_CONTROLLER_2      0x10F8108D
+# #define MOTOR_CONTROLLER        0xFF
+# #define MOTOR_CONTROLLER_WARN   MOTOR_CONTROLLER - WARN_OFFSET
+# // BMS
+# #define BMS_BOARD               0xFF
+# #define BMS_BOARD_WARN          BMS_TEMP - WARN_OFFSET
+# // SENSORS
+# #define SENSOR_BOARD            0xFF
+# #define SENSOR_BOARD_WARN       SENSOR_BOARD - WARN_OFFSET
+
+# // BEGIN KELLY DEFS
+# // FRAME 1
+# const DataSegment DRIVING_DIRECTION_K       = {MOTOR_CONTROLLER_1, 1, 1};
+# const DataSegment MOTOR_SPEED_K             = {MOTOR_CONTROLLER_1, 2, 3};
+# const DataSegment MOTOR_ERROR_CODE_K        = {MOTOR_CONTROLLER_1, 4, 4}; 
+# // FRAME 2
+# const DataSegment BATTERY_VOLTAGE_K         = {MOTOR_CONTROLLER_2, 1, 2};
+# const DataSegment BATTERY_CURRENT_K         = {MOTOR_CONTROLLER_2, 3, 4};
+# const DataSegment MOTOR_TEMP_K              = {MOTOR_CONTROLLER_2, 5, 6};
+# const DataSegment MOTOR_CONTROLLER_TEMP_K   = {MOTOR_CONTROLLER_2, 7, 8};
+# // END KELLY DEFS
+
+# // BEGIN MOTOR CONTROLLER DEFS
+# const DataSegment BATTERY_VOLTAGE           = {MOTOR_CONTROLLER, 1, 2};
+# const DataSegment BATTERY_CURRENT           = {MOTOR_CONTROLLER, 3, 4};
+# const DataSegment MOTOR_SPEED               = {MOTOR_CONTROLLER, 5, 6};
+# const DataSegment MOTOR_CONTROLLER_TEMP     = {MOTOR_CONTROLLER, 7, 7};
+# const DataSegment DRIVING_DIRECTION         = {MOTOR_CONTROLLER, 8, 8};
+# const DataSegment MOTOR_ERROR_CODE          = {MOTOR_CONTROLLER, 8, 8};
+# // END MOTOR CONTROLLER DEFS
+
+# // BEGIN BMS DEFS
+# const DataSegment MUX1_TEMP                 = {BMS_BOARD, 1, 1};
+# const DataSegment MUX2_TEMP                 = {BMS_BOARD, 2, 2};
+# const DataSegment MUX3_TEMP                 = {BMS_BOARD, 3, 3};
+# const DataSegment MUX4_TEMP                 = {BMS_BOARD, 4, 4};
+# const DataSegment MUX5_TEMP                 = {BMS_BOARD, 5, 5};
+# const DataSegment MUX6_TEMP                 = {BMS_BOARD, 6, 6};
+# const DataSegment BMS_ERROR_CODE            = {BMS_BOARD, 7, 7};
+# // END BMS DEFS
+
+# // BEGIN SENSORS BOARD DEFS
+# const DataSegment PRESSURE_SENSOR_DATA      = {SENSOR_BOARD, 1, 1}; 
+# const DataSegment IMU_DATA                  = {SENSOR_BOARD, 2, 3};
+# const DataSegment LIM_ONE_TEMP              = {SENSOR_BOARD, 4, 5};
+# const DataSegment LIM_TWO_TEMP              = {SENSOR_BOARD, 6, 7};
+# const DataSegment SENSORS_ERROR_CODE        = {SENSOR_BOARD, 8, 8};
+# // END SENSORS BOARD DEFS

can/driver.py

@@ -0,0 +1,29 @@
+import time 
+import can
+import config
+from ctypes import  c_uint8, c_uint16, c_uint32
+import struct
+from config import GLOBAL, BMS_DATA, SENSORS_BOARD_DATA, MOTOR_CONTROLLER_DATA, KELLY_DATA_FRAME1, KELLY_DATA_FRAME2
+# struct justification
+# Python interpreter will sometimes add padding. we need to serialize into a string of bytes and then send to network
+
+bustype = 'socketcan_native'
+channel = 'can0'
+
+""""ID: the class of the data we are sending
+    This function sends a message over CAN with a specified class as labeled in config.py
+"""
+
+def SEND_MESSAGE(message_type):
+    # define data object 
+    send_data = []
+    if message_type.classifer=="BMS_DATA":
+        send_data = [message_type.temperature[0], message_type.temperature[1], message_type.temperature[2], message_type.temperature[3],message_type.temperature[4],message_type.temperature[5], error]
+    # continue else-if chain
+    bus=can.interface.Bus(channel=channel, bustype=bustype)
+    msg = can.Message(arbitration_id=message_type.arbitration_id, data=send_data)
+    bus.send(msg)
+    return True
+def RECIEVE_MESSAGE(message_type):
+    return True
+