Create test app to test odrive can messages

CMakeLists.txt

@@ -116,6 +116,7 @@ add_app_subdirectory(${TEST_APPS_DIR}/test-quadrature64cpr)
 add_app_subdirectory(${TEST_APPS_DIR}/test-stress-can)
 add_app_subdirectory(${TEST_APPS_DIR}/test-units)
 add_app_subdirectory(${TEST_APPS_DIR}/test-watchdog)
+add_app_subdirectory(${TEST_APPS_DIR}/test-odrive-can)
 
 # Ensure APP was specified
 if ("$ENV{APP}" STREQUAL "")

supported_build_configurations.yaml

@@ -106,4 +106,7 @@ test-stress-can:
   - GIMBAL_REV2_2021
   - PDB_REV2_2021
   - SCIENCE_REV2_2021
-  - UWRT_NUCLEO
+  - UWRT_NUCLEO
+
+test-odrive-can:
+  - UWRT_NUCLEO

test-apps/test-odrive-can/CMakeLists.txt

@@ -0,0 +1,13 @@
+add_executable(test-odrive-can)
+target_sources(test-odrive-can PRIVATE src/main.cpp)
+target_include_directories(test-odrive-can PUBLIC include)
+target_link_libraries(test-odrive-can
+	PRIVATE
+	mbed-os
+	CANInterface
+	CANBus
+	CANMsg
+	uwrt-mars-rover-hw-bridge
+	Logger
+	)
+mbed_set_post_build(test-odrive-can)

test-apps/test-odrive-can/include/CANConfig.h

@@ -0,0 +1,67 @@
+#pragma once
+
+#include "CANInterface.h"
+#include "CANMsg.h"
+#include "hw_bridge.h"
+
+static mbed_error_status_t handle_test_msg_one_shot(void);
+
+namespace CANConfig {
+
+using namespace HWBRIDGE;
+
+static CANMsgMap rxMsgMap = {
+    // Msg 1
+    {CANID::ODRIVE_SET_INPUT_POS_AXIS0,
+     {
+         {CANSIGNAL::ODRIVE_INPUT_POS_AXIS0, 0},
+         {CANSIGNAL::ODRIVE_VEL_FF_AXIS0, 0}, 
+         {CANSIGNAL::ODRIVE_TORQUE_FF_POS_AXIS0, 0}
+     }},
+
+     {CANID::ODRIVE_SET_AXIS_REQUESTED_STATE_AXIS0,
+     {
+         {CANSIGNAL::ODRIVE_AXIS_REQUESTED_STATE_AXIS0,8}
+     }},
+
+    // Msg 2
+    /*{CANID::COMMON_DEBUG_MESSAGE3,
+     {
+         {CANSIGNAL::COMMON_DEBUG_SIGNAL3, 0},
+     }},*/
+};
+
+static CANMsgMap txMsgMap = {
+    // Msg 1
+
+    // Msg 2*/
+
+    {CANID::ODRIVE_HEARTBEAT_MESSAGE_AXIS0,
+     {
+        //  {CANSIGNAL::ODRIVE_AXIS_ERROR_AXIS0, (CANSignalValue_t)ODRIVE_AXIS_ERROR_AXIS0_VALUES},
+        //  {CANSIGNAL::ODRIVE_AXIS_CURRENT_STATE_AXIS0, (CANSignalValue_t)ODRIVE_AXIS_CURRENT_STATE_AXIS0_VALUES},
+        //  {CANSIGNAL::ODRIVE_CONTROLLER_STATUS_AXIS0, (CANSignalValue_t)ODRIVE_CONTROLLER_STATUS_AXIS0_VALUES},
+         {CANSIGNAL::ODRIVE_AXIS_ERROR_AXIS0, 0},
+         {CANSIGNAL::ODRIVE_AXIS_CURRENT_STATE_AXIS0, 0},
+         {CANSIGNAL::ODRIVE_CONTROLLER_STATUS_AXIS0, 0},
+     }},
+};
+
+/*const static CANMsg::CANMsgHandlerMap rxOneShotMsgHandler = {
+    {CANID::COMMON_DEBUG_MESSAGE3, &handle_test_msg_one_shot},
+};*/
+
+CANInterface::Config config = {
+    // CAN bus pins
+    .can1_RX = CAN1_RX,
+    .can1_TX = CAN1_TX,
+    .can2_RX = CAN2_RX,
+    .can2_TX = CAN2_TX,
+
+    // Message maps and handlers
+    .rxMsgMap            = &rxMsgMap,
+    .txMsgMap            = &txMsgMap,
+    //.rxOneShotMsgHandler = &rxOneShotMsgHandler,
+};
+
+}  // namespace CANConfig