Merge pull request #70 from xrobot-org/dev

fix topic name & add can remote pack support && rewite cap && add omn…
xrobot-org · May 19, 2024 · 95a7a9f · 95a7a9f
2 parents 198da2e + 8b6e4af
commit 95a7a9f
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Showing 45 changed files with 2,412 additions and 325 deletions.
diff --git a/hw/bsp/c-mini/drivers/bsp_can.c b/hw/bsp/c-mini/drivers/bsp_can.c
@@ -269,6 +269,9 @@ bsp_status_t bsp_can_register_callback(
 
 bsp_status_t bsp_ext_can_trans_packet(bsp_can_t can, bsp_can_format_t format,
                                       uint32_t id, uint8_t *data) {
+  if (format == CAN_FORMAT_EXT_REMOTE || format == CAN_FORMAT_STD_REMOTE) {
+    return BSP_ERR;
+  }
   tx_ext_buff[can - BSP_CAN_BASE_NUM].id = id;
   tx_ext_buff[can - BSP_CAN_BASE_NUM].type = format;
   memcpy(tx_ext_buff[can - BSP_CAN_BASE_NUM].data, data, 8);
@@ -285,22 +288,40 @@ bsp_status_t bsp_ext_can_trans_packet(bsp_can_t can, bsp_can_format_t format,
 
 bsp_status_t bsp_can_trans_packet(bsp_can_t can, bsp_can_format_t format,
                                   uint32_t id, uint8_t *data) {
+  CAN_TxHeaderTypeDef header;
   if (can >= BSP_CAN_BASE_NUM) {
     return bsp_ext_can_trans_packet(can, format, id, data);
   }
 
-  if (format == CAN_FORMAT_STD) {
-    tx_buff[can].StdId = id;
-    tx_buff[can].IDE = CAN_ID_STD;
-  } else {
-    tx_buff[can].ExtId = id;
-    tx_buff[can].IDE = CAN_ID_EXT;
+  switch (format) {
+    case CAN_FORMAT_STD_DATA:
+      header.StdId = id;
+      header.IDE = CAN_ID_STD;
+      header.RTR = CAN_RTR_DATA;
+      header.TransmitGlobalTime = DISABLE;
+      header.DLC = 8;
+      break;
+    case CAN_FORMAT_EXT_DATA:
+      header.ExtId = id;
+      header.IDE = CAN_ID_EXT;
+      header.RTR = CAN_RTR_DATA;
+      header.TransmitGlobalTime = DISABLE;
+      header.DLC = 8;
+      break;
+    case CAN_FORMAT_STD_REMOTE:
+      header.StdId = id;
+      header.IDE = CAN_ID_STD;
+      header.RTR = CAN_RTR_REMOTE;
+      header.TransmitGlobalTime = DISABLE;
+      header.DLC = 8;
+      break;
+    case CAN_FORMAT_EXT_REMOTE:
+      header.ExtId = id;
+      header.IDE = CAN_ID_EXT;
+      header.RTR = CAN_RTR_REMOTE;
+      header.TransmitGlobalTime = DISABLE;
+      header.DLC = 8;
   }
-
-  tx_buff[can].RTR = CAN_RTR_DATA;
-  tx_buff[can].TransmitGlobalTime = DISABLE;
-  tx_buff[can].DLC = 8;
-
   uint32_t tsr = READ_REG(bsp_can_get_handle(can)->Instance->TSR);
 
   while (((tsr & CAN_TSR_TME0) == 0U) && ((tsr & CAN_TSR_TME1) == 0U) &&

diff --git a/hw/bsp/c-mini/drivers/bsp_can.h b/hw/bsp/c-mini/drivers/bsp_can.h
@@ -25,8 +25,10 @@ typedef enum {
 } bsp_can_callback_t;
 
 typedef enum {
-  CAN_FORMAT_STD,
-  CAN_FORMAT_EXT,
+  CAN_FORMAT_STD_DATA,
+  CAN_FORMAT_EXT_DATA,
+  CAN_FORMAT_STD_REMOTE,
+  CAN_FORMAT_EXT_REMOTE,
 } bsp_can_format_t;
 
 void bsp_can_init(void);

diff --git a/hw/bsp/esp32-c3-arduino/sdkconfig b/hw/bsp/esp32-c3-arduino/sdkconfig
@@ -241,10 +241,7 @@ CONFIG_BT_CTRL_HCI_MODE_VHCI=y
 # CONFIG_BT_CTRL_HCI_MODE_UART_H4 is not set
 CONFIG_BT_CTRL_HCI_TL=1
 CONFIG_BT_CTRL_ADV_DUP_FILT_MAX=30
-CONFIG_BT_BLE_CCA_MODE_NONE=y
-# CONFIG_BT_BLE_CCA_MODE_HW is not set
-# CONFIG_BT_BLE_CCA_MODE_SW is not set
-CONFIG_BT_BLE_CCA_MODE=0
+# CONFIG_BT_CTRL_HW_CCA is not set
 CONFIG_BT_CTRL_HW_CCA_VAL=20
 CONFIG_BT_CTRL_HW_CCA_EFF=0
 CONFIG_BT_CTRL_CE_LENGTH_TYPE_ORIG=y
@@ -283,7 +280,6 @@ CONFIG_BT_CTRL_SCAN_DUPL_TYPE_DEVICE=y
 # CONFIG_BT_CTRL_SCAN_DUPL_TYPE_DATA_DEVICE is not set
 CONFIG_BT_CTRL_SCAN_DUPL_TYPE=0
 CONFIG_BT_CTRL_SCAN_DUPL_CACHE_SIZE=100
-CONFIG_BT_CTRL_DUPL_SCAN_CACHE_REFRESH_PERIOD=0
 # CONFIG_BT_CTRL_BLE_MESH_SCAN_DUPL_EN is not set
 # CONFIG_BT_CTRL_COEX_PHY_CODED_TX_RX_TLIM_EN is not set
 CONFIG_BT_CTRL_COEX_PHY_CODED_TX_RX_TLIM_DIS=y
@@ -322,9 +318,6 @@ CONFIG_BT_GATT_MAX_SR_ATTRIBUTES=100
 # CONFIG_BT_GATTS_SEND_SERVICE_CHANGE_MANUAL is not set
 CONFIG_BT_GATTS_SEND_SERVICE_CHANGE_AUTO=y
 CONFIG_BT_GATTS_SEND_SERVICE_CHANGE_MODE=0
-# CONFIG_BT_GATTS_ROBUST_CACHING_ENABLED is not set
-# CONFIG_BT_GATTS_DEVICE_NAME_WRITABLE is not set
-# CONFIG_BT_GATTS_APPEARANCE_WRITABLE is not set
 CONFIG_BT_GATTC_ENABLE=y
 CONFIG_BT_GATTC_MAX_CACHE_CHAR=40
 # CONFIG_BT_GATTC_CACHE_NVS_FLASH is not set
@@ -515,10 +508,9 @@ CONFIG_BT_SMP_ENABLE=y
 # CONFIG_BT_BLE_ACT_SCAN_REP_ADV_SCAN is not set
 CONFIG_BT_BLE_ESTAB_LINK_CONN_TOUT=30
 CONFIG_BT_MAX_DEVICE_NAME_LEN=32
-CONFIG_BT_BLE_RPA_TIMEOUT=900
+CONFIG_BT_BLE_RPA_SUPPORTED=y
 CONFIG_BT_BLE_50_FEATURES_SUPPORTED=y
 CONFIG_BT_BLE_42_FEATURES_SUPPORTED=y
-# CONFIG_BT_BLE_HIGH_DUTY_ADV_INTERVAL is not set
 # end of Bluedroid Options
 # end of Bluetooth
 
@@ -533,8 +525,6 @@ CONFIG_BT_BLE_42_FEATURES_SUPPORTED=y
 #
 # CONFIG_ADC_FORCE_XPD_FSM is not set
 CONFIG_ADC_DISABLE_DAC=y
-# CONFIG_ADC_CONTINUOUS_FORCE_USE_ADC2_ON_C3_S3 is not set
-# CONFIG_ADC_ONESHOT_FORCE_USE_ADC2_ON_C3 is not set
 # end of ADC configuration
 
 #
@@ -556,7 +546,6 @@ CONFIG_SPI_SLAVE_ISR_IN_IRAM=y
 # TWAI configuration
 #
 # CONFIG_TWAI_ISR_IN_IRAM is not set
-# CONFIG_TWAI_ERRATA_FIX_LISTEN_ONLY_DOM is not set
 # end of TWAI configuration
 
 #
@@ -604,11 +593,6 @@ CONFIG_ESP32C3_DEFAULT_CPU_FREQ_MHZ=160
 CONFIG_ESP32C3_REV_MIN_3=y
 # CONFIG_ESP32C3_REV_MIN_4 is not set
 CONFIG_ESP32C3_REV_MIN=3
-CONFIG_ESP32C3_REV_MIN_FULL=3
-CONFIG_ESP_REV_MIN_FULL=3
-CONFIG_ESP32C3_REV_MAX_FULL_STR_OPT=y
-CONFIG_ESP32C3_REV_MAX_FULL=99
-CONFIG_ESP_REV_MAX_FULL=99
 CONFIG_ESP32C3_DEBUG_OCDAWARE=y
 CONFIG_ESP32C3_BROWNOUT_DET=y
 CONFIG_ESP32C3_BROWNOUT_DET_LVL_SEL_7=y
@@ -714,8 +698,6 @@ CONFIG_ESP_SLEEP_FLASH_LEAKAGE_WORKAROUND=y
 # CONFIG_ESP_SLEEP_MSPI_NEED_ALL_IO_PU is not set
 # end of Sleep Config
 
-CONFIG_ESP_SLEEP_SYSTIMER_STALL_WORKAROUND=y
-
 #
 # RTC Clock Config
 #
@@ -745,12 +727,7 @@ CONFIG_ESP_PHY_CALIBRATION_AND_DATA_STORAGE=y
 # CONFIG_ESP_PHY_INIT_DATA_IN_PARTITION is not set
 CONFIG_ESP_PHY_MAX_WIFI_TX_POWER=20
 CONFIG_ESP_PHY_MAX_TX_POWER=20
-# CONFIG_ESP_PHY_REDUCE_TX_POWER is not set
 CONFIG_ESP_PHY_ENABLE_USB=y
-CONFIG_ESP_PHY_RF_CAL_PARTIAL=y
-# CONFIG_ESP_PHY_RF_CAL_NONE is not set
-# CONFIG_ESP_PHY_RF_CAL_FULL is not set
-CONFIG_ESP_PHY_CALIBRATION_MODE=0
 # end of PHY
 
 #
@@ -992,7 +969,6 @@ CONFIG_LOG_TIMESTAMP_SOURCE_RTOS=y
 CONFIG_LWIP_LOCAL_HOSTNAME="espressif"
 # CONFIG_LWIP_NETIF_API is not set
 # CONFIG_LWIP_TCPIP_CORE_LOCKING is not set
-# CONFIG_LWIP_CHECK_THREAD_SAFETY is not set
 CONFIG_LWIP_DNS_SUPPORT_MDNS_QUERIES=y
 # CONFIG_LWIP_L2_TO_L3_COPY is not set
 # CONFIG_LWIP_IRAM_OPTIMIZATION is not set
@@ -1013,15 +989,12 @@ CONFIG_LWIP_IP6_FRAG=y
 # CONFIG_LWIP_ETHARP_TRUST_IP_MAC is not set
 CONFIG_LWIP_ESP_GRATUITOUS_ARP=y
 CONFIG_LWIP_GARP_TMR_INTERVAL=60
-CONFIG_LWIP_ESP_MLDV6_REPORT=y
-CONFIG_LWIP_MLDV6_TMR_INTERVAL=40
 CONFIG_LWIP_TCPIP_RECVMBOX_SIZE=32
 CONFIG_LWIP_DHCP_DOES_ARP_CHECK=y
 # CONFIG_LWIP_DHCP_DISABLE_CLIENT_ID is not set
 CONFIG_LWIP_DHCP_DISABLE_VENDOR_CLASS_ID=y
 # CONFIG_LWIP_DHCP_RESTORE_LAST_IP is not set
 CONFIG_LWIP_DHCP_OPTIONS_LEN=68
-CONFIG_LWIP_DHCP_COARSE_TIMER_SECS=1
 
 #
 # DHCP server
@@ -1695,7 +1668,6 @@ CONFIG_ESP32_PHY_CALIBRATION_AND_DATA_STORAGE=y
 # CONFIG_ESP32_PHY_INIT_DATA_IN_PARTITION is not set
 CONFIG_ESP32_PHY_MAX_WIFI_TX_POWER=20
 CONFIG_ESP32_PHY_MAX_TX_POWER=20
-# CONFIG_ESP32_REDUCE_PHY_TX_POWER is not set
 CONFIG_ESP_SYSTEM_PM_POWER_DOWN_CPU=y
 CONFIG_ESP32S2_PANIC_PRINT_HALT=y
 # CONFIG_ESP32S2_PANIC_PRINT_REBOOT is not set

diff --git a/hw/bsp/esp32-c3-idf/sdkconfig b/hw/bsp/esp32-c3-idf/sdkconfig
@@ -197,10 +197,7 @@ CONFIG_BT_CTRL_HCI_MODE_VHCI=y
 # CONFIG_BT_CTRL_HCI_MODE_UART_H4 is not set
 CONFIG_BT_CTRL_HCI_TL=1
 CONFIG_BT_CTRL_ADV_DUP_FILT_MAX=30
-CONFIG_BT_BLE_CCA_MODE_NONE=y
-# CONFIG_BT_BLE_CCA_MODE_HW is not set
-# CONFIG_BT_BLE_CCA_MODE_SW is not set
-CONFIG_BT_BLE_CCA_MODE=0
+# CONFIG_BT_CTRL_HW_CCA is not set
 CONFIG_BT_CTRL_HW_CCA_VAL=20
 CONFIG_BT_CTRL_HW_CCA_EFF=0
 CONFIG_BT_CTRL_CE_LENGTH_TYPE_ORIG=y
@@ -239,7 +236,6 @@ CONFIG_BT_CTRL_SCAN_DUPL_TYPE_DEVICE=y
 # CONFIG_BT_CTRL_SCAN_DUPL_TYPE_DATA_DEVICE is not set
 CONFIG_BT_CTRL_SCAN_DUPL_TYPE=0
 CONFIG_BT_CTRL_SCAN_DUPL_CACHE_SIZE=100
-CONFIG_BT_CTRL_DUPL_SCAN_CACHE_REFRESH_PERIOD=0
 # CONFIG_BT_CTRL_BLE_MESH_SCAN_DUPL_EN is not set
 # CONFIG_BT_CTRL_COEX_PHY_CODED_TX_RX_TLIM_EN is not set
 CONFIG_BT_CTRL_COEX_PHY_CODED_TX_RX_TLIM_DIS=y
@@ -278,9 +274,6 @@ CONFIG_BT_GATT_MAX_SR_ATTRIBUTES=100
 # CONFIG_BT_GATTS_SEND_SERVICE_CHANGE_MANUAL is not set
 CONFIG_BT_GATTS_SEND_SERVICE_CHANGE_AUTO=y
 CONFIG_BT_GATTS_SEND_SERVICE_CHANGE_MODE=0
-# CONFIG_BT_GATTS_ROBUST_CACHING_ENABLED is not set
-# CONFIG_BT_GATTS_DEVICE_NAME_WRITABLE is not set
-# CONFIG_BT_GATTS_APPEARANCE_WRITABLE is not set
 CONFIG_BT_GATTC_ENABLE=y
 CONFIG_BT_GATTC_MAX_CACHE_CHAR=40
 # CONFIG_BT_GATTC_CACHE_NVS_FLASH is not set
@@ -471,10 +464,9 @@ CONFIG_BT_SMP_ENABLE=y
 # CONFIG_BT_BLE_ACT_SCAN_REP_ADV_SCAN is not set
 CONFIG_BT_BLE_ESTAB_LINK_CONN_TOUT=30
 CONFIG_BT_MAX_DEVICE_NAME_LEN=32
-CONFIG_BT_BLE_RPA_TIMEOUT=900
+CONFIG_BT_BLE_RPA_SUPPORTED=y
 CONFIG_BT_BLE_50_FEATURES_SUPPORTED=y
 CONFIG_BT_BLE_42_FEATURES_SUPPORTED=y
-# CONFIG_BT_BLE_HIGH_DUTY_ADV_INTERVAL is not set
 # end of Bluedroid Options
 # end of Bluetooth
 
@@ -489,8 +481,6 @@ CONFIG_BT_BLE_42_FEATURES_SUPPORTED=y
 #
 # CONFIG_ADC_FORCE_XPD_FSM is not set
 CONFIG_ADC_DISABLE_DAC=y
-# CONFIG_ADC_CONTINUOUS_FORCE_USE_ADC2_ON_C3_S3 is not set
-# CONFIG_ADC_ONESHOT_FORCE_USE_ADC2_ON_C3 is not set
 # end of ADC configuration
 
 #
@@ -512,7 +502,6 @@ CONFIG_SPI_SLAVE_ISR_IN_IRAM=y
 # TWAI configuration
 #
 # CONFIG_TWAI_ISR_IN_IRAM is not set
-CONFIG_TWAI_ERRATA_FIX_LISTEN_ONLY_DOM=y
 # end of TWAI configuration
 
 #
@@ -549,11 +538,6 @@ CONFIG_ESP32C3_DEFAULT_CPU_FREQ_MHZ=160
 CONFIG_ESP32C3_REV_MIN_3=y
 # CONFIG_ESP32C3_REV_MIN_4 is not set
 CONFIG_ESP32C3_REV_MIN=3
-CONFIG_ESP32C3_REV_MIN_FULL=3
-CONFIG_ESP_REV_MIN_FULL=3
-CONFIG_ESP32C3_REV_MAX_FULL_STR_OPT=y
-CONFIG_ESP32C3_REV_MAX_FULL=99
-CONFIG_ESP_REV_MAX_FULL=99
 CONFIG_ESP32C3_DEBUG_OCDAWARE=y
 CONFIG_ESP32C3_BROWNOUT_DET=y
 CONFIG_ESP32C3_BROWNOUT_DET_LVL_SEL_7=y
@@ -629,8 +613,6 @@ CONFIG_ESP_SLEEP_FLASH_LEAKAGE_WORKAROUND=y
 # CONFIG_ESP_SLEEP_MSPI_NEED_ALL_IO_PU is not set
 # end of Sleep Config
 
-CONFIG_ESP_SLEEP_SYSTIMER_STALL_WORKAROUND=y
-
 #
 # RTC Clock Config
 #
@@ -660,12 +642,7 @@ CONFIG_ESP_PHY_CALIBRATION_AND_DATA_STORAGE=y
 # CONFIG_ESP_PHY_INIT_DATA_IN_PARTITION is not set
 CONFIG_ESP_PHY_MAX_WIFI_TX_POWER=20
 CONFIG_ESP_PHY_MAX_TX_POWER=20
-# CONFIG_ESP_PHY_REDUCE_TX_POWER is not set
 CONFIG_ESP_PHY_ENABLE_USB=y
-CONFIG_ESP_PHY_RF_CAL_PARTIAL=y
-# CONFIG_ESP_PHY_RF_CAL_NONE is not set
-# CONFIG_ESP_PHY_RF_CAL_FULL is not set
-CONFIG_ESP_PHY_CALIBRATION_MODE=0
 # end of PHY
 
 #
@@ -872,7 +849,6 @@ CONFIG_LOG_TIMESTAMP_SOURCE_RTOS=y
 CONFIG_LWIP_LOCAL_HOSTNAME="espressif"
 # CONFIG_LWIP_NETIF_API is not set
 # CONFIG_LWIP_TCPIP_CORE_LOCKING is not set
-# CONFIG_LWIP_CHECK_THREAD_SAFETY is not set
 CONFIG_LWIP_DNS_SUPPORT_MDNS_QUERIES=y
 # CONFIG_LWIP_L2_TO_L3_COPY is not set
 # CONFIG_LWIP_IRAM_OPTIMIZATION is not set
@@ -893,15 +869,12 @@ CONFIG_LWIP_IP6_FRAG=y
 # CONFIG_LWIP_ETHARP_TRUST_IP_MAC is not set
 CONFIG_LWIP_ESP_GRATUITOUS_ARP=y
 CONFIG_LWIP_GARP_TMR_INTERVAL=60
-CONFIG_LWIP_ESP_MLDV6_REPORT=y
-CONFIG_LWIP_MLDV6_TMR_INTERVAL=40
 CONFIG_LWIP_TCPIP_RECVMBOX_SIZE=32
 CONFIG_LWIP_DHCP_DOES_ARP_CHECK=y
 # CONFIG_LWIP_DHCP_DISABLE_CLIENT_ID is not set
 CONFIG_LWIP_DHCP_DISABLE_VENDOR_CLASS_ID=y
 # CONFIG_LWIP_DHCP_RESTORE_LAST_IP is not set
 CONFIG_LWIP_DHCP_OPTIONS_LEN=68
-CONFIG_LWIP_DHCP_COARSE_TIMER_SECS=1
 
 #
 # DHCP server
@@ -1480,7 +1453,6 @@ CONFIG_ESP32_PHY_CALIBRATION_AND_DATA_STORAGE=y
 # CONFIG_ESP32_PHY_INIT_DATA_IN_PARTITION is not set
 CONFIG_ESP32_PHY_MAX_WIFI_TX_POWER=20
 CONFIG_ESP32_PHY_MAX_TX_POWER=20
-# CONFIG_ESP32_REDUCE_PHY_TX_POWER is not set
 CONFIG_ESP_SYSTEM_PM_POWER_DOWN_CPU=y
 CONFIG_ESP32S2_PANIC_PRINT_HALT=y
 # CONFIG_ESP32S2_PANIC_PRINT_REBOOT is not set

diff --git a/hw/bsp/f103_can/drivers/bsp_can.c b/hw/bsp/f103_can/drivers/bsp_can.c
@@ -109,12 +109,34 @@ bsp_status_t bsp_can_trans_packet(bsp_can_t can, bsp_can_format_t format,
                                   uint32_t id, uint8_t *data) {
   CAN_TxHeaderTypeDef header;
 
-  if (format == CAN_FORMAT_STD) {
-    header.StdId = id;
-    header.IDE = CAN_ID_STD;
-  } else {
-    header.ExtId = id;
-    header.IDE = CAN_ID_EXT;
+  switch (format) {
+    case CAN_FORMAT_STD_DATA:
+      header.StdId = id;
+      header.IDE = CAN_ID_STD;
+      header.RTR = CAN_RTR_DATA;
+      header.TransmitGlobalTime = DISABLE;
+      header.DLC = 8;
+      break;
+    case CAN_FORMAT_EXT_DATA:
+      header.ExtId = id;
+      header.IDE = CAN_ID_EXT;
+      header.RTR = CAN_RTR_DATA;
+      header.TransmitGlobalTime = DISABLE;
+      header.DLC = 8;
+      break;
+    case CAN_FORMAT_STD_REMOTE:
+      header.StdId = id;
+      header.IDE = CAN_ID_STD;
+      header.RTR = CAN_RTR_REMOTE;
+      header.TransmitGlobalTime = DISABLE;
+      header.DLC = 8;
+      break;
+    case CAN_FORMAT_EXT_REMOTE:
+      header.ExtId = id;
+      header.IDE = CAN_ID_EXT;
+      header.RTR = CAN_RTR_REMOTE;
+      header.TransmitGlobalTime = DISABLE;
+      header.DLC = 8;
   }
 
   header.RTR = CAN_RTR_DATA;

diff --git a/hw/bsp/f103_can/drivers/bsp_can.h b/hw/bsp/f103_can/drivers/bsp_can.h
@@ -19,8 +19,10 @@ typedef enum {
 } bsp_can_callback_t;
 
 typedef enum {
-  CAN_FORMAT_STD,
-  CAN_FORMAT_EXT,
+  CAN_FORMAT_STD_DATA,
+  CAN_FORMAT_EXT_DATA,
+  CAN_FORMAT_STD_REMOTE,
+  CAN_FORMAT_EXT_REMOTE,
 } bsp_can_format_t;
 
 void bsp_can_init(void);