FaSTTUBe/SDCL
55
2
Fork 0
Code Issues Pull Requests Releases Activity

random changes i found on my laptop

Browse Source
This commit is contained in:
Jasper Blanckenburg 2025-04-17 21:51:15 +02:00
parent f97daa8df3
commit 98fcfdfec0
1 changed files with 92 additions and 68 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

160
sdcl-firmware/Core/Src/main.c
View File

@ -48,6 +48,15 @@ typedef enum {
M_MANUAL = 7 M_MANUAL = 7
} mission_t; } mission_t;
typedef enum {
AS_OFF = 0,
AS_MANUAL = 1,
AS_READY = 2,
AS_DRIVING = 3,
AS_FINISHED = 4,
AS_EMERGENCY = 5,
} as_state_t;
/* /*
* BO_ 15 SDCL_rx: 3 ABX * BO_ 15 SDCL_rx: 3 ABX
* SG_ as_close_sdc : 0|1@1+ (1,0) [0|1] "" SDCL * SG_ as_close_sdc : 0|1@1+ (1,0) [0|1] "" SDCL
@ -112,6 +121,7 @@ typedef union {
#define CAN_ID_RX 0x00F #define CAN_ID_RX 0x00F
#define CAN_ID_TX 0x010 #define CAN_ID_TX 0x010
#define CAN_ID_JETSON_RX 0x0E0
// Defined in DBC? // Defined in DBC?
#define TX_UPDATE_PERIOD 100 #define TX_UPDATE_PERIOD 100
@ -140,6 +150,7 @@ const uint16_t mission2led[] = {0 , AMI_ACCEL_Pin , AMI_SKIDPAD_Pin , AMI_AUTO
const mission_t mission2next[] = {M_MANUAL , M_SKIDPAD , M_AUTOX , M_EBSTEST , M_INSPECTION , M_MANUAL , M_TRACKDRIVE , M_ACCEL }; const mission_t mission2next[] = {M_MANUAL , M_SKIDPAD , M_AUTOX , M_EBSTEST , M_INSPECTION , M_MANUAL , M_TRACKDRIVE , M_ACCEL };
mission_t mission = M_NONE; mission_t mission = M_NONE;
as_state_t state = AS_OFF;
bool setup_done = false; bool setup_done = false;
@ -228,7 +239,11 @@ int main(void)
canfilterconfig.FilterMode = CAN_FILTERMODE_IDMASK; canfilterconfig.FilterMode = CAN_FILTERMODE_IDMASK;
canfilterconfig.FilterScale = CAN_FILTERSCALE_32BIT; canfilterconfig.FilterScale = CAN_FILTERSCALE_32BIT;
canfilterconfig.SlaveStartFilterBank = 14; canfilterconfig.SlaveStartFilterBank = 14;
if (HAL_CAN_ConfigFilter(&hcan, &canfilterconfig) != HAL_OK) {
Error_Handler();
}
canfilterconfig.FilterBank = 1;
canfilterconfig.FilterIdHigh = CAN_ID_JETSON_RX << (16 -11);
if (HAL_CAN_ConfigFilter(&hcan, &canfilterconfig) != HAL_OK) { if (HAL_CAN_ConfigFilter(&hcan, &canfilterconfig) != HAL_OK) {
Error_Handler(); Error_Handler();
} }
@ -271,6 +286,7 @@ int main(void)
} }
setup_done = true; setup_done = true;
uint32_t last_msg = 0;
while (true) { while (true) {
@ -289,48 +305,53 @@ int main(void)
bool CLOSED = HAL_GPIO_ReadPin(CLOSED_GPIO_Port, CLOSED_Pin) == GPIO_PIN_RESET; bool CLOSED = HAL_GPIO_ReadPin(CLOSED_GPIO_Port, CLOSED_Pin) == GPIO_PIN_RESET;
bool REOPENED = HAL_GPIO_ReadPin(REOPENED_GPIO_Port, REOPENED_Pin) == GPIO_PIN_RESET; bool REOPENED = HAL_GPIO_ReadPin(REOPENED_GPIO_Port, REOPENED_Pin) == GPIO_PIN_RESET;
bool AMC = HAL_GPIO_ReadPin(AMC_GPIO_Port, AMC_Pin) == GPIO_PIN_SET; if (HAL_GetTick() - last_msg >= TX_UPDATE_PERIOD) {
// On signal edge. Debouncing usually not needed at these polling rates (10Hz) last_msg = HAL_GetTick();
if (AMC < pAMC) { bool AMC = HAL_GPIO_ReadPin(AMC_GPIO_Port, AMC_Pin) == GPIO_PIN_SET;
// On signal edge. Debouncing usually not needed at these polling rates (10Hz)
if (AMC < pAMC) {
// Reset LED to indicate transaction / mission change in progress // Reset LED to indicate transaction / mission change in progress
setMissionLED(mission, GPIO_PIN_RESET); setMissionLED(mission, GPIO_PIN_RESET);
new_mission = mission2next[mission]; new_mission = mission2next[mission];
// New LED will be set once response from ABX is received // New LED will be set once response from ABX is received
}
// TEMP: Only enable WD if in autonomous mode because EMI currently messes it up during R2D
if (ASMS > pASMS) {
MX_IWDG_Init();
WD_initialized = true;
}
txData = (tx_data_t) {
.signals = {
.asms_state = ASMS,
.sdc_state_1 = LV_SENSE_1,
.sdc_state_2 = LV_SENSE_2,
.sdc_state_3 = SDC_in_3V3,
.heartbeat_ok = WD_OK,
.sdc_ready = SDC_is_ready,
.ts_start_muxed = TS_activate_MUXed,
.latch_init_open = INITIAL_OPEN,
.latch_closed = CLOSED,
.latch_reopened = REOPENED,
.as_mission = new_mission
} }
};
if (HAL_CAN_AddTxMessage(&hcan, &txHeader, txData.raw, &txMailbox) != HAL_OK) // TEMP: Only enable WD if in autonomous mode because EMI currently messes it up during R2D
Error_Handler(); if (ASMS > pASMS) {
MX_IWDG_Init();
WD_initialized = true;
}
// Store previous button value to detect signal edges txData = (tx_data_t) {
pAMC = AMC; .signals = {
pASMS = ASMS; .asms_state = ASMS,
.sdc_state_1 = LV_SENSE_1,
.sdc_state_2 = LV_SENSE_2,
.sdc_state_3 = SDC_in_3V3,
.heartbeat_ok = WD_OK,
.sdc_ready = SDC_is_ready,
.ts_start_muxed = TS_activate_MUXed,
.latch_init_open = INITIAL_OPEN,
.latch_closed = CLOSED,
.latch_reopened = REOPENED,
.as_mission = new_mission
}
};
HAL_Delay(TX_UPDATE_PERIOD); if (HAL_CAN_AddTxMessage(&hcan, &txHeader, txData.raw, &txMailbox) != HAL_OK)
Error_Handler();
// Store previous button value to detect signal edges
pAMC = AMC;
pASMS = ASMS;
}
if (state != AS_OFF && state != AS_MANUAL && WD_initialized) {
HAL_IWDG_Refresh(&hiwdg);
WD_OK = true;
}
/* USER CODE END WHILE */ /* USER CODE END WHILE */
@ -512,43 +533,46 @@ void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan) {
Error_Handler(); Error_Handler();
// Discard if it's not for us (shouldn't happen thanks to filter, but just to be sure) // Discard if it's not for us (shouldn't happen thanks to filter, but just to be sure)
if (rxHeader.StdId != CAN_ID_RX) if (rxHeader.StdId == CAN_ID_RX) {
return; // return;
#ifdef WATCHDOG_STM #ifdef WATCHDOG_STM
if (rxData.signals.heartbeat != pHeartbeat) { if (rxData.signals.heartbeat != pHeartbeat) {
if (WD_initialized) if (WD_initialized)
HAL_IWDG_Refresh(&hiwdg); HAL_IWDG_Refresh(&hiwdg);
if (heartbeat_received) { if (heartbeat_received) {
WD_OK = true; WD_OK = true;
}
heartbeat_received = true;
//HAL_GPIO_WritePin(Watchdog_GPIO_Port, Watchdog_Pin, GPIO_PIN_SET);
} }
heartbeat_received = true; pHeartbeat = rxData.signals.heartbeat;
//HAL_GPIO_WritePin(Watchdog_GPIO_Port, Watchdog_Pin, GPIO_PIN_SET);
bool close_sdc = setup_done && rxData.signals.as_close_sdc && WD_OK;
#endif
#ifdef WATCHDOG_UCC
HAL_GPIO_WritePin(Watchdog_GPIO_Port, Watchdog_Pin, rxData.signals.heartbeat);
bool close_sdc = rxData.signals.as_close_sdc;
#endif
// Set whether to close the relay. The port is inverted due to multiple bodges
GPIO_PinState close_sdc_val = close_sdc ? GPIO_PIN_RESET : GPIO_PIN_SET;
HAL_GPIO_WritePin(AS_close_SDC_GPIO_Port, AS_close_SDC_Pin, close_sdc_val);
// Reset old mission LED
setMissionLED(mission, GPIO_PIN_RESET);
mission = rxData.signals.as_mission;
setMissionLED(mission, GPIO_PIN_SET);
// Set ASB Error status
HAL_GPIO_WritePin(ASB_Error_GPIO_Port, ASB_Error_Pin, rxData.signals.asb_error);
} else if (rxHeader.StdId == CAN_ID_JETSON_RX) {
state = (rxData.raw[0] >> 3) & 0b111;
} }
pHeartbeat = rxData.signals.heartbeat;
bool close_sdc = setup_done && rxData.signals.as_close_sdc && WD_OK;
#endif
#ifdef WATCHDOG_UCC
HAL_GPIO_WritePin(Watchdog_GPIO_Port, Watchdog_Pin, rxData.signals.heartbeat);
bool close_sdc = rxData.signals.as_close_sdc;
#endif
// Set whether to close the relay. The port is inverted due to multiple bodges
GPIO_PinState close_sdc_val = close_sdc ? GPIO_PIN_RESET : GPIO_PIN_SET;
HAL_GPIO_WritePin(AS_close_SDC_GPIO_Port, AS_close_SDC_Pin, close_sdc_val);
// Reset old mission LED
setMissionLED(mission, GPIO_PIN_RESET);
mission = rxData.signals.as_mission;
setMissionLED(mission, GPIO_PIN_SET);
// Set ASB Error status
HAL_GPIO_WritePin(ASB_Error_GPIO_Port, ASB_Error_Pin, rxData.signals.asb_error);
} }