Replace hard WD with soft one and figure out headless toolchain

Core/Src/CAN_Communication.c

@@ -13,8 +13,9 @@ volatile uint8_t canmsg_received = 0;
 extern PortExtenderGPIO EN_Ports;
 extern CurrentMeasurements current_measurements_adc_val;
 
+//extern IWDG_HandleTypeDef hiwdg;
+extern uint32_t lastheartbeat;
 extern int inhibit_SDC;
-extern IWDG_HandleTypeDef hiwdg;
 
 void can_init(CAN_HandleTypeDef* hcan) {
   ftcan_init(hcan);
@@ -31,7 +32,7 @@ void can_sendloop() {
   status_data[3] = rxstate.radiatorfans;
   status_data[4] = rxstate.pwmaggregat;
   status_data[5] = rxstate.cooling_pump;
-  status_data[6] = 0xFF ^ rxstate.checksum;
+  status_data[6] = !inhibit_SDC; // Now means "WD Okay". TODO: Change DBC
   ftcan_transmit(TX_STATUS_MSG_ID, status_data, 7);
 
   uint8_t data[8];
@@ -100,17 +101,22 @@ return;
 }
 
 void ftcan_msg_received_cb(uint16_t id, size_t datalen, const uint8_t* data) {
+
   canmsg_received = 1;
+
   if ((id == RX_STATUS_MSG_ID) && (datalen == 7)) {
-    rxstate.iostatus.porta.porta = data[0];
+    rxstate.iostatus.porta.porta    = data[0];
-    rxstate.iostatus.portb.portb = data[1];
+    rxstate.iostatus.portb.portb    = data[1];
-    rxstate.radiatorfans = data[2];
+    rxstate.radiatorfans            = data[2];
-    rxstate.tsacfans = data[3];
+    rxstate.tsacfans                = data[3];
-    rxstate.pwmaggregat = data[4];
+    rxstate.pwmaggregat             = data[4];
-    rxstate.cooling_pump = data[5];
+    rxstate.cooling_pump            = data[5];
-    rxstate.checksum = data[6];
+    rxstate.checksum                = data[6];
+  }
+
+  if (id == RX_STATUS_HEARTBEAT) {
+    lastheartbeat = HAL_GetTick();
+    inhibit_SDC = 0;
   }
 
-  if (id == RX_STATUS_HEARTBEAT)
-	  HAL_IWDG_Refresh(&hiwdg);
 }

Core/Src/main.c

@@ -75,7 +75,7 @@ static void MX_TIM3_Init(void);
 static void MX_I2C1_Init(void);
 static void MX_USART1_UART_Init(void);
 static void MX_TIM6_Init(void);
-static void MX_IWDG_Init(void);
+//static void MX_IWDG_Init(void);
 /* USER CODE BEGIN PFP */
 
 /* USER CODE END PFP */
@@ -83,11 +83,12 @@ static void MX_IWDG_Init(void);
 /* Private user code ---------------------------------------------------------*/
 /* USER CODE BEGIN 0 */
 uint16_t adc1_buffer[7];
-uint16_t adc2_buffer[7];  // data type specific to 16 bit integer with no sign ( vorzeichen ) 
+uint16_t adc2_buffer[7];  // data type specific to 16 bit integer with no sign ( vorzeichen )
 
 extern rx_status_frame rxstate;
 extern volatile uint8_t canmsg_received;
 
+uint32_t lastheartbeat;
 int inhibit_SDC;
 /* USER CODE END 0 */
 
@@ -101,7 +102,7 @@ int main(void)
   /* USER CODE BEGIN 1 */
 
   // Freeze WDG when debugging
-  __HAL_DBGMCU_FREEZE_IWDG();
+  //__HAL_DBGMCU_FREEZE_IWDG();
 
   /* USER CODE END 1 */
 
@@ -135,7 +136,7 @@ int main(void)
   //MX_IWDG_Init();
   /* USER CODE BEGIN 2 */
   // REMINDER: Comment out the IWDG Init above!!!
-  
+
   HAL_GPIO_WritePin(STATUS_LED1_GPIO_Port , STATUS_LED1_Pin , GPIO_PIN_SET);
   HAL_GPIO_WritePin(GSS_GPIO_GPIO_Port, GSS_GPIO_Pin, GPIO_PIN_SET);
 
@@ -150,27 +151,26 @@ int main(void)
   HAL_TIM_Base_Start(&htim3);
 
   // Prevent closing of SDC (esp. after WDG reset)
-  inhibit_SDC = 1;
+  //inhibit_SDC = 1;
 
   // Wait 1s to prevent bus error state while ABX is starting up
   // Wait 5s for the discharge of the DC link (so AMS can't restart)
-  HAL_Delay(5000);
+  //HAL_Delay(1000);
 
   // SDC can now be closed
   inhibit_SDC = 0;
   // PDU will reset if it doesn't receive a heartbeat every 120ms
-  MX_IWDG_Init();
+  //MX_IWDG_Init();
 
   /* USER CODE END 2 */
 
   /* Infinite loop */
   /* USER CODE BEGIN WHILE */
-while(1)
+  while(1) {
-{
     /* USER CODE END WHILE */
 
     /* USER CODE BEGIN 3 */
-    if (canmsg_received) { // USB zu CAN wandler , und dann CAN testen , validieren ob der code macht was es soll , red mit oskar/jasper 
+    if (canmsg_received) { // USB zu CAN wandler , und dann CAN testen , validieren ob der code macht was es soll , red mit oskar/jasper
       canmsg_received = 0;
       ChannelControl_UpdateGPIOs(rxstate.iostatus);
       ChannelControl_UpdatePWMs(
@@ -186,7 +186,14 @@ while(1)
       can_sendloop();
     }
 
-    currentMonitor_checklimits(); // ob irgnwo ueberstrom getreten ist 
+    // nominal WD time is 100ms, plus a bit of tolerance
+    // only trigger after 1s to allow for ABX bootup
+    if (((HAL_GetTick() - lastheartbeat) > 125U) && (HAL_GetTick() > 1000U)) {
+      // force open SDC, only resettable by power cycle
+      inhibit_SDC = 1;
+    }
+
+    currentMonitor_checklimits(); // ob irgnwo ueberstrom getreten ist
   }
   /* USER CODE END 3 */
 }
@@ -467,6 +474,12 @@ static void MX_IWDG_Init(void)
 
   /* USER CODE BEGIN IWDG_Init 1 */
 
+  //
+  // CALC:
+  //
+  // 1000 × 1/(32 kHz / 4)
+  //
+
   /* USER CODE END IWDG_Init 1 */
   hiwdg.Instance = IWDG;
   hiwdg.Init.Prescaler = IWDG_PRESCALER_4;

STM32Make.make

@@ -86,7 +86,7 @@ PREFIX = arm-none-eabi-
 POSTFIX = "
 # The gcc compiler bin path can be either defined in make command via GCC_PATH variable (> make GCC_PATH=xxx)
 # either it can be added to the PATH environment variable.
-GCC_PATH="c:/Users/nived/AppData/Roaming/Code/User/globalStorage/bmd.stm32-for-vscode/@xpack-dev-tools/arm-none-eabi-gcc/12.3.1-1.2.1/.content/bin
+#GCC_PATH="c:/Users/nived/AppData/Roaming/Code/User/globalStorage/bmd.stm32-for-vscode/@xpack-dev-tools/arm-none-eabi-gcc/12.3.1-1.2.1/.content/bin
 ifdef GCC_PATH
 CXX = $(GCC_PATH)/$(PREFIX)g++$(POSTFIX)
 CC = $(GCC_PATH)/$(PREFIX)gcc$(POSTFIX)
@@ -120,7 +120,7 @@ MCU = $(CPU) -mthumb $(FPU) $(FLOAT-ABI)
 
 # macros for gcc
 # AS defines
-AS_DEFS = 
+AS_DEFS =
 
 # C defines
 C_DEFS =  \
@@ -160,9 +160,9 @@ CXXFLAGS += -g -gdwarf -ggdb
 endif
 
 # Add additional flags
-CFLAGS += -Wall -fdata-sections -ffunction-sections 
+CFLAGS += -Wall -fdata-sections -ffunction-sections
-ASFLAGS += -Wall -fdata-sections -ffunction-sections 
+ASFLAGS += -Wall -fdata-sections -ffunction-sections
-CXXFLAGS += 
+CXXFLAGS +=
 
 # Generate dependency information
 CFLAGS += -MMD -MP -MF"$(@:%.o=%.d)"
@@ -175,12 +175,12 @@ CXXFLAGS += -MMD -MP -MF"$(@:%.o=%.d)"
 LDSCRIPT = STM32F302RBTx_FLASH.ld
 
 # libraries
-LIBS = -lc -lm -lnosys 
+LIBS = -lc -lm -lnosys
 LIBDIR = \
 
 
 # Additional LD Flags from config file
-ADDITIONALLDFLAGS = -specs=nano.specs 
+ADDITIONALLDFLAGS = -specs=nano.specs
 
 LDFLAGS = $(MCU) $(ADDITIONALLDFLAGS) -T$(LDSCRIPT) $(LIBDIR) $(LIBS) -Wl,-Map=$(BUILD_DIR)/$(TARGET).map,--cref -Wl,--gc-sections
 
@@ -207,13 +207,13 @@ OBJECTS += $(addprefix $(BUILD_DIR)/,$(notdir $(UPPER_CASE_ASM_SOURCES:.S=.o)))
 OBJECTS += $(addprefix $(BUILD_DIR)/,$(notdir $(LOWER_CASE_ASM_SOURCES:.s=.o)))
 vpath %.s $(sort $(dir $(ASM_SOURCES)))
 
-$(BUILD_DIR)/%.o: %.cpp STM32Make.make | $(BUILD_DIR) 
+$(BUILD_DIR)/%.o: %.cpp STM32Make.make | $(BUILD_DIR)
 	$(CXX) -c $(CXXFLAGS) -Wa,-a,-ad,-alms=$(BUILD_DIR)/$(notdir $(<:.cpp=.lst)) $< -o $@
 
-$(BUILD_DIR)/%.o: %.cxx STM32Make.make | $(BUILD_DIR) 
+$(BUILD_DIR)/%.o: %.cxx STM32Make.make | $(BUILD_DIR)
 	$(CXX) -c $(CXXFLAGS) -Wa,-a,-ad,-alms=$(BUILD_DIR)/$(notdir $(<:.cxx=.lst)) $< -o $@
 
-$(BUILD_DIR)/%.o: %.c STM32Make.make | $(BUILD_DIR) 
+$(BUILD_DIR)/%.o: %.c STM32Make.make | $(BUILD_DIR)
 	$(CC) -c $(CFLAGS) -Wa,-a,-ad,-alms=$(BUILD_DIR)/$(notdir $(<:.c=.lst)) $< -o $@
 
 $(BUILD_DIR)/%.o: %.s STM32Make.make | $(BUILD_DIR)
@@ -239,29 +239,29 @@ $(BUILD_DIR):
 # flash
 #######################################
 flash: $(BUILD_DIR)/$(TARGET).elf
-	"C:/USERS/NIVED/APPDATA/ROAMING/CODE/USER/GLOBALSTORAGE/BMD.STM32-FOR-VSCODE/@XPACK-DEV-TOOLS/OPENOCD/0.12.0-2.1/.CONTENT/BIN/OPENOCD.EXE" -f ./openocd.cfg -c "program $(BUILD_DIR)/$(TARGET).elf verify reset exit"
+	openocd -f ./openocd.cfg -c "program $(BUILD_DIR)/$(TARGET).elf verify reset exit"
 
 #######################################
 # erase
 #######################################
 erase: $(BUILD_DIR)/$(TARGET).elf
-	"C:/USERS/NIVED/APPDATA/ROAMING/CODE/USER/GLOBALSTORAGE/BMD.STM32-FOR-VSCODE/@XPACK-DEV-TOOLS/OPENOCD/0.12.0-2.1/.CONTENT/BIN/OPENOCD.EXE" -f ./openocd.cfg -c "init; reset halt; stm32f3x mass_erase 0; exit"
+	openocd -f ./openocd.cfg -c "init; reset halt; stm32f3x mass_erase 0; exit"
 
 #######################################
 # clean up
 #######################################
 clean:
-	cmd /c rd /s /q $(BUILD_DIR)
+	rm -r $(BUILD_DIR)
 
 #######################################
 # custom makefile rules
 #######################################
 
 
-	
+
 #######################################
 # dependencies
 #######################################
 -include $(wildcard $(BUILD_DIR)/*.d)
 
-# *** EOF ***
+# *** EOF ***