diff options
| author | Torbjørn Ludvigsen <tobben@fastmail.fm> | 2021-11-11 00:23:50 +0300 |
|---|---|---|
| committer | GitHub <noreply@github.com> | 2021-11-11 00:23:50 +0300 |
| commit | 17b427e8cd030aa585b4c3c5e5868647ba253fc0 (patch) | |
| tree | f8acc368466ebdff7762acb5ae4dca4629b20d3f /src/Movement | |
| parent | e7795870eb998db2cd4b4fdee703111812be84c0 (diff) | |
Don't fill buffer when flushing CAN receive hw (#550)
* Don't fill buffer when flushing CAN receive hw
* Use nullptr when flushing CAN receive hw
* Don't flush CAN receive hardware unless we expect an answer
Diffstat (limited to 'src/Movement')
| -rw-r--r-- | src/Movement/Kinematics/HangprinterKinematics.cpp | 18 |
1 files changed, 13 insertions, 5 deletions
diff --git a/src/Movement/Kinematics/HangprinterKinematics.cpp b/src/Movement/Kinematics/HangprinterKinematics.cpp index 41fe3464..54a035bf 100644 --- a/src/Movement/Kinematics/HangprinterKinematics.cpp +++ b/src/Movement/Kinematics/HangprinterKinematics.cpp @@ -580,12 +580,16 @@ HangprinterKinematics::ODriveAnswer HangprinterKinematics::GetODrive3EncoderEsti } } - CanMessageBuffer * buf = CanInterface::ODrive::PrepareSimpleMessage(driver, cmd, reply); + CanMessageBuffer * buf = CanInterface::ODrive::PrepareSimpleMessage(driver, reply); if (buf == nullptr) { return {}; } + buf->id = CanInterface::ODrive::ArbitrationId(driver, cmd); + buf->remote = true; // Indicates that we expect an answer + CanInterface::ODrive::FlushCanReceiveHardware(); + CanInterface::SendPlainMessageNoFree(buf); bool ok = CanInterface::ODrive::GetExpectedSimpleMessage(buf, driver, cmd, reply); @@ -612,6 +616,7 @@ HangprinterKinematics::ODriveAnswer HangprinterKinematics::GetODrive3EncoderEsti reply.printf("Unexpected response length: %d", buf->dataLength); } } + CanMessageBuffer::Free(buf); if (newOne && !ok) { @@ -619,7 +624,6 @@ HangprinterKinematics::ODriveAnswer HangprinterKinematics::GetODrive3EncoderEsti numSeenDrives--; } - CanMessageBuffer::Free(buf); if (ok) { return {true, encoderEstimate}; @@ -650,12 +654,15 @@ GCodeResult HangprinterKinematics::ReadODrive3Encoder(DriverId const driver, GCo #if DUAL_CAN GCodeResult HangprinterKinematics::SetODrive3TorqueModeInner(DriverId const driver, float const torque, const StringRef& reply) noexcept { - // Set the right target torque - CanMessageBuffer * buf = CanInterface::ODrive::PrepareSimpleMessage(driver, CANSimple::MSG_SET_INPUT_TORQUE, reply); + // Get a buffer + CanMessageBuffer * buf = CanInterface::ODrive::PrepareSimpleMessage(driver, reply); if (buf == nullptr) { return GCodeResult::error; } + + // Set the right target torque + buf->id = CanInterface::ODrive::ArbitrationId(driver, CANSimple::MSG_SET_INPUT_TORQUE); buf->dataLength = 4; buf->remote = false; memcpy(buf->msg.raw, &torque, sizeof(torque)); @@ -681,11 +688,12 @@ GCodeResult HangprinterKinematics::SetODrive3PosMode(DriverId const driver, cons if (estimate.valid) { float const desiredPos = estimate.value; - CanMessageBuffer * buf = CanInterface::ODrive::PrepareSimpleMessage(driver, CANSimple::MSG_SET_INPUT_POS, reply); + CanMessageBuffer * buf = CanInterface::ODrive::PrepareSimpleMessage(driver, reply); if (buf == nullptr) { return GCodeResult::error; } + buf->id = CanInterface::ODrive::ArbitrationId(driver, CANSimple::MSG_SET_INPUT_POS); buf->dataLength = 8; buf->remote = false; memset(buf->msg.raw32, 0, buf->dataLength); // four last bytes are velocity and torque setpoints. Zero them. |