Update for 2025 firmware

Mechanical-Advantage · Oct 31, 2024 · f340277 · f340277
1 parent 14cb34b
commit f340277
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Showing 4 changed files with 21 additions and 44 deletions.
diff --git a/README.md b/README.md
@@ -14,7 +14,9 @@ By default, this project builds against the latest WPILib development build. To
 
 ## Data Format
 
-### Revision 2
+### Revision 2/3
+
+Revision 2 = 2024, Revision 3 = 2025 (no model frames)
 
 - "Raw/Persistent"
   - Buffer Length, Not Published (uint32)

diff --git a/src/main/driver/cpp/URCLDriver.cpp b/src/main/driver/cpp/URCLDriver.cpp
@@ -21,20 +21,16 @@ extern "C" {
 constexpr HAL_CANManufacturer manufacturer = HAL_CAN_Man_kREV;
 constexpr HAL_CANDeviceType deviceType = HAL_CAN_Dev_kMotorController;
 
-constexpr int firmwareApi = 0x98;
+constexpr int firmwareApiClass = 9;
+constexpr int firmwareApiIndex = 8;
+constexpr int firmwareApi =
+    (firmwareApiClass & 0x3f) << 4 | (firmwareApiIndex & 0xf);
 constexpr int firmwareMessageId = ((deviceType & 0x1f) << 24) |
                                   ((manufacturer & 0xff) << 16) |
                                   ((firmwareApi & 0x3ff) << 6);
 constexpr int firmwareMessageIdMask = 0x1fffffc0;
 
-constexpr int modelApi =
-    0x300 | 155; // Parameter Access | Parameter Number (Device Model)
-constexpr int modelMessageId = ((deviceType & 0x1f) << 24) |
-                               ((manufacturer & 0xff) << 16) |
-                               ((modelApi & 0x3ff) << 6);
-constexpr int modelMessageIdMask = 0x1fffffc0;
-
-constexpr int periodicApiClass = 6; // Periodic Status
+constexpr int periodicApiClass = 46;
 constexpr int periodicMessageId = ((deviceType & 0x1f) << 24) |
                                   ((manufacturer & 0xff) << 16) |
                                   ((periodicApiClass & 0x3f) << 10);
@@ -46,14 +42,12 @@ char *periodicBuffer;
 int32_t halStatus;
 uint32_t timeOffsetMillis;
 uint32_t firmwareStreamHandle;
-uint32_t modelStreamHandle;
 uint32_t periodicStreamHandle;
 uint32_t persistentMessageCount = 0;
 
 uint32_t readCount = 0;
 uint64_t devicesFound = 0;
 uint64_t devicesFirmwareReceived = 0;
-uint64_t devicesModelReceived = 0;
 uint64_t devicesCANReady = 0;
 HAL_CANHandle devicesCANHandles[64];
 
@@ -68,9 +62,6 @@ void URCLDriver_start(void) {
   HAL_CAN_OpenStreamSession(&firmwareStreamHandle, firmwareMessageId,
                             firmwareMessageIdMask, maxPersistentMessages,
                             &halStatus);
-  HAL_CAN_OpenStreamSession(&modelStreamHandle, modelMessageId,
-                            modelMessageIdMask, maxPersistentMessages,
-                            &halStatus);
   HAL_CAN_OpenStreamSession(&periodicStreamHandle, periodicMessageId,
                             periodicMessageIdMask, maxPeriodicMessages,
                             &halStatus);
@@ -132,22 +123,16 @@ void URCLDriver_read(void) {
   if (readCount >= 20) {
     readCount = 0;
     uint64_t unknownFirmwareDevices = devicesFound & ~devicesFirmwareReceived;
-    uint64_t unknownModelDevices = devicesFound & ~devicesModelReceived;
     for (uint8_t i = 0; i < 64; i++) {
       bool unknownFirmware = (unknownFirmwareDevices >> i) & 1;
-      bool unknownModel = (unknownModelDevices >> i) & 1;
-      if ((unknownFirmware || unknownModel) &&
-          ((devicesCANReady >> i) & 1) == 0) {
+      if (unknownFirmware && ((devicesCANReady >> i) & 1) == 0) {
         devicesCANHandles[i] =
             HAL_InitializeCAN(manufacturer, i, deviceType, &halStatus);
         devicesCANReady |= (uint64_t)1 << i;
       }
       if (unknownFirmware) {
         HAL_WriteCANRTRFrame(devicesCANHandles[i], 0, firmwareApi, &halStatus);
       }
-      if (unknownModel) {
-        HAL_WriteCANRTRFrame(devicesCANHandles[i], 0, modelApi, &halStatus);
-      }
     }
   }
 
@@ -165,16 +150,6 @@ void URCLDriver_read(void) {
     devicesFirmwareReceived |= (uint64_t)1 << deviceId;
   }
 
-  // Read model messages
-  HAL_CAN_ReadStreamSession(modelStreamHandle, messages, maxPersistentMessages,
-                            &messageCount, &halStatus);
-  for (uint32_t i = 0; i < messageCount; i++) {
-    writeMessagePersistent(messages[i]);
-    uint8_t deviceId = messages[i].messageID & 0x3f;
-    devicesFound |= (uint64_t)1 << deviceId;
-    devicesModelReceived |= (uint64_t)1 << deviceId;
-  }
-
   // Read periodic messages
   HAL_CAN_ReadStreamSession(periodicStreamHandle, messages, maxPeriodicMessages,
                             &messageCount, &halStatus);

diff --git a/src/main/java/org/littletonrobotics/urcl/URCL.java b/src/main/java/org/littletonrobotics/urcl/URCL.java
@@ -94,13 +94,13 @@ public static void start(Map<Integer, String> aliases) {
     // Start publishers
     persistentPublisher = NetworkTableInstance.getDefault()
         .getRawTopic("/URCL/Raw/Persistent")
-        .publish("URCLr2_persistent");
+        .publish("URCLr3_persistent");
     periodicPublisher = NetworkTableInstance.getDefault()
         .getRawTopic("/URCL/Raw/Periodic")
-        .publish("URCLr2_periodic");
+        .publish("URCLr3_periodic");
     aliasesPublisher = NetworkTableInstance.getDefault()
         .getRawTopic("/URCL/Raw/Aliases")
-        .publish("URCLr2_aliases");
+        .publish("URCLr3_aliases");
     notifier = new Notifier(() -> {
       var data = getData();
       persistentPublisher.set(data[0]);
@@ -137,9 +137,9 @@ public static void start(Map<Integer, String> aliases, DataLog log) {
     periodicBuffer.order(ByteOrder.LITTLE_ENDIAN);
 
     persistentLogEntry = new RawLogEntry(log, "URCL/Raw/Persistent", "",
-        "URCLr2_persistent");
-    periodicLogEntry = new RawLogEntry(log, "/URCL/Raw/Periodic", "", "URCLr2_periodic");
-    aliasLogEntry = new RawLogEntry(log, "/URCL/Raw/Aliases", "", "URCLr2_aliases");
+        "URCLr3_persistent");
+    periodicLogEntry = new RawLogEntry(log, "/URCL/Raw/Periodic", "", "URCLr3_periodic");
+    aliasLogEntry = new RawLogEntry(log, "/URCL/Raw/Aliases", "", "URCLr3_aliases");
     notifier = new Notifier(() -> {
       var data = getData();
       persistentLogEntry.update(data[0]);

diff --git a/src/main/native/cpp/URCL.cpp b/src/main/native/cpp/URCL.cpp
@@ -80,13 +80,13 @@ void URCL::Start(std::map<int, std::string_view> aliases) {
   // Start publishers
   persistentPublisher = nt::NetworkTableInstance::GetDefault()
                             .GetRawTopic("/URCL/Raw/Persistent")
-                            .Publish("URCLr2_persistent");
+                            .Publish("URCLr3_persistent");
   periodicPublisher = nt::NetworkTableInstance::GetDefault()
                           .GetRawTopic("/URCL/Raw/Periodic")
-                          .Publish("URCLr2_periodic");
+                          .Publish("URCLr3_periodic");
   aliasesPublisher = nt::NetworkTableInstance::GetDefault()
                          .GetRawTopic("/URCL/Raw/Aliases")
-                         .Publish("URCLr2_aliases");
+                         .Publish("URCLr3_aliases");
 
   aliasesPublisher.Set(aliasesVector);
 
@@ -135,11 +135,11 @@ void URCL::Start(std::map<int, std::string_view> aliases,
   periodicBuffer = URCLDriver_getPeriodicBuffer();
 
   persistentLogEntry = wpi::log::RawLogEntry{log, "/URCL/Raw/Persistent", "",
-                                             "URCLr2_persistent"};
+                                             "URCLr3_persistent"};
   periodicLogEntry =
-      wpi::log::RawLogEntry{log, "/URCL/Raw/Periodic", "", "URCLr2_periodic"};
+      wpi::log::RawLogEntry{log, "/URCL/Raw/Periodic", "", "URCLr3_periodic"};
   aliasesLogEntry =
-      wpi::log::RawLogEntry{log, "/URCL/Raw/Aliases", "", "URCLr2_aliases"};
+      wpi::log::RawLogEntry{log, "/URCL/Raw/Aliases", "", "URCLr3_aliases"};
 
   aliasesLogEntry.Append(aliasesVector);