FaSTTUBe/SDCL
50
2
Fork 0
Code Issues Pull Requests Releases Activity

Add CAN Filter and Watchdog functionality, theoretically complete

Browse Source
This commit is contained in:
Oskar Winkels
2023-04-26 21:41:43 +02:00
parent 933f9dd64b
commit 8f23be6be1
6 changed files with 612 additions and 34 deletions
Download Patch File Download Diff File Expand all files Collapse all files

91
sdcl-firmware/Core/Src/main.c
View File

@ -57,7 +57,7 @@ typedef enum {
*/
typedef union {
uint8_t raw[1];
uint8_t raw[8]; // Must be 8 bytes because HAL always writes 8 bytes
struct {
// BITFIELDS ARE LSB FIRST!
bool as_close_sdc : 1;
@ -118,6 +118,9 @@ typedef union {
#define AMI_GPIO_Port GPIOB
//#define WATCHDOG_UCC
#define WATCHDOG_STM
/* USER CODE END PD */
/* Private macro -------------------------------------------------------------*/
@ -128,6 +131,8 @@ typedef union {
/* Private variables ---------------------------------------------------------*/
CAN_HandleTypeDef hcan;
IWDG_HandleTypeDef hiwdg;
/* USER CODE BEGIN PV */
// Mission Maps: NONE ACCEL SKIDPAD TRACKDRIVE EBSTEST INSPECTION AUTOX MANUAL
@ -136,12 +141,18 @@ const mission_t mission2next[] = {M_MANUAL , M_SKIDPAD , M_AUTOX , M_EBSTEST
mission_t mission = M_NONE;
#ifdef WATCHDOG_STM
bool pHeartbeat = false;
bool WD_OK = false;
#endif
/* USER CODE END PV */
/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
static void MX_GPIO_Init(void);
static void MX_CAN_Init(void);
static void MX_IWDG_Init(void);
/* USER CODE BEGIN PFP */
/* USER CODE END PFP */
@ -184,20 +195,23 @@ int main(void)
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_CAN_Init();
MX_IWDG_Init();
/* USER CODE BEGIN 2 */
// Ensure we start with SDC disabled
HAL_GPIO_WritePin(Watchdog_GPIO_Port, Watchdog_Pin, GPIO_PIN_RESET);
if (HAL_CAN_Start(&hcan) != HAL_OK)
Error_Handler();
// TODO: Use Filter
CAN_FilterTypeDef canfilterconfig;
canfilterconfig.FilterActivation = CAN_FILTER_ENABLE;
canfilterconfig.FilterBank = 0;
canfilterconfig.FilterFIFOAssignment = CAN_FILTER_FIFO0;
canfilterconfig.FilterIdHigh = 0;
canfilterconfig.FilterIdHigh = 0 << (16 - 11);
canfilterconfig.FilterIdLow = 0;
canfilterconfig.FilterMaskIdHigh = 0;
canfilterconfig.FilterMaskIdHigh = 0x7FF << (16 - 11);
canfilterconfig.FilterMaskIdLow = 0;
canfilterconfig.FilterMode = CAN_FILTERMODE_IDMASK;
canfilterconfig.FilterScale = CAN_FILTERSCALE_32BIT;
@ -230,13 +244,16 @@ int main(void)
bool pAMC = false;
mission_t new_mission = mission; // By default, don't change mission
// Important to prevent bus error state while ABX is starting up
HAL_Delay(1000);
while (true) {
bool TS_activate_MUXed = HAL_GPIO_ReadPin(TS_activate_MUXed_GPIO_Port, TS_activate_MUXed_Pin) == GPIO_PIN_RESET;
bool ASMS = HAL_GPIO_ReadPin(ASMS_GPIO_Port, ASMS_Pin) == GPIO_PIN_RESET;
//bool WD_OK = HAL_GPIO_ReadPin(WD_OK_GPIO_Port, WD_OK_Pin) == GPIO_PIN_RESET;
#ifdef WATCHDOG_UCC
bool WD_OK = HAL_GPIO_ReadPin(WD_OK_GPIO_Port, WD_OK_Pin) == GPIO_PIN_RESET;
#endif
bool SDC_is_ready = HAL_GPIO_ReadPin(SDC_is_ready_GPIO_Port, SDC_is_ready_Pin) == GPIO_PIN_SET;
bool SDC_in_3V3 = HAL_GPIO_ReadPin(SDC_in_3V3_GPIO_Port, SDC_in_3V3_Pin) == GPIO_PIN_SET;
bool LV_SENSE_1 = HAL_GPIO_ReadPin(LV_SENSE_1_GPIO_Port, LV_SENSE_1_Pin) == GPIO_PIN_SET;
@ -258,9 +275,6 @@ int main(void)
}
// TODO: Depends on STM watchdog
bool WD_OK = true;
txData = (tx_data_t) {
.signals = {
.asms_state = ASMS,
@ -304,9 +318,10 @@ void SystemClock_Config(void)
/** Initializes the RCC Oscillators according to the specified parameters
* in the RCC_OscInitTypeDef structure.
*/
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI|RCC_OSCILLATORTYPE_LSI;
RCC_OscInitStruct.HSIState = RCC_HSI_ON;
RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
RCC_OscInitStruct.LSIState = RCC_LSI_ON;
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_NONE;
if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
{
@ -365,6 +380,35 @@ static void MX_CAN_Init(void)
}
/**
* @brief IWDG Initialization Function
* @param None
* @retval None
*/
static void MX_IWDG_Init(void)
{
/* USER CODE BEGIN IWDG_Init 0 */
/* USER CODE END IWDG_Init 0 */
/* USER CODE BEGIN IWDG_Init 1 */
/* USER CODE END IWDG_Init 1 */
hiwdg.Instance = IWDG;
hiwdg.Init.Prescaler = IWDG_PRESCALER_4;
hiwdg.Init.Window = 1000;
hiwdg.Init.Reload = 1000;
if (HAL_IWDG_Init(&hiwdg) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN IWDG_Init 2 */
/* USER CODE END IWDG_Init 2 */
}
/**
* @brief GPIO Initialization Function
* @param None
@ -425,32 +469,33 @@ static void MX_GPIO_Init(void)
void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan) {
CAN_RxHeaderTypeDef rxHeader;
// TODO: Remove buffer once filter is implemented?
uint8_t rxBuffer[8];
rx_data_t rxData;
// Read frame from HW into buffer
if (HAL_CAN_GetRxMessage(hcan, CAN_RX_FIFO0, &rxHeader, rxBuffer) != HAL_OK)
if (HAL_CAN_GetRxMessage(hcan, CAN_RX_FIFO0, &rxHeader, rxData.raw) != HAL_OK)
Error_Handler();
// Discard if it's not for us
// Discard if it's not for us (shouldn't happen thanks to filter, but just to be sure)
if (rxHeader.StdId != CAN_ID_RX)
return;
// copy to bitfield
rxData.raw[0] = rxBuffer[0];
HAL_GPIO_WritePin(ASB_Error_GPIO_Port, ASB_Error_Pin, rxData.signals.asb_error);
HAL_GPIO_WritePin(AS_close_SDC_GPIO_Port, AS_close_SDC_Pin, rxData.signals.as_close_sdc);
/*
* TODO: Heartbeat -> Watchdog via STM Watchdog
* Also alternative implementation for UCC? With ifdefs?
* rxData.signals.heartbeat
*/
#ifdef WATCHDOG_STM
// TODO: TEMP!
HAL_GPIO_WritePin(Watchdog_GPIO_Port, Watchdog_Pin, true);
if (rxData.signals.heartbeat != pHeartbeat) {
HAL_IWDG_Refresh(&hiwdg);
WD_OK = true;
HAL_GPIO_WritePin(Watchdog_GPIO_Port, Watchdog_Pin, GPIO_PIN_SET);
}
pHeartbeat = rxData.signals.heartbeat;
#endif
#ifdef WATCHDOG_UCC
HAL_GPIO_WritePin(Watchdog_GPIO_Port, Watchdog_Pin, rxData.signals.heartbeat);
#endif
// Reset old mission LED
setMissionLED(mission, GPIO_PIN_RESET);