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Add most core functionality, should be drivable

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This commit is contained in:
Oskar Winkels
2023-04-19 15:57:53 +02:00
parent 4a5bcc4046
commit c11c0291c0
10 changed files with 93 additions and 24147 deletions
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227
sdcl-firmware/Core/Src/main.c
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@ -48,23 +48,46 @@ typedef enum {
M_MANUAL = 7
} mission_t;
// BITFIELDS ARE LSB FIRST!
/*
* BO_ 15 SDCL_rx: 3 ABX
* SG_ as_close_sdc : 0|1@1+ (1,0) [0|1] "" SDCL
* SG_ sdcl_heartbeat : 1|1@1+ (1,0) [0|1] "" SDCL
* SG_ asb_error : 2|1@1+ (1,0) [0|1] "" SDCL
* SG_ as_mission : 4|3@1+ (1,0) [0|7] "" SDCL
*/
typedef union {
uint8_t raw[1];
struct {
// BITFIELDS ARE LSB FIRST!
bool as_close_sdc : 1;
bool heartbeat : 1;
bool asb_error : 1;
bool as_driving_mode : 1;
unsigned int _padding1 : 1;
mission_t as_mission : 3;
unsigned int _padding : 1;
unsigned int _padding2 : 1;
} __attribute__((packed)) signals;
} rx_data_t;
/*
* BO_ 16 SDCL_tx: 4 SDCL
* SG_ asms_state : 0|1@1+ (1,0) [0|1] "" ABX
* SG_ sdc_state_1 : 1|1@1+ (1,0) [0|1] "" ABX
* SG_ sdc_state_2 : 2|1@1+ (1,0) [0|1] "" ABX
* SG_ sdc_state_3 : 3|1@1+ (1,0) [0|1] "" ABX
* SG_ heartbeat_ok : 4|1@1+ (1,0) [0|1] "" ABX
* SG_ sdcl_sdc_ready : 5|1@1+ (1,0) [0|1] "" ABX
* SG_ ts_start_muxed : 6|1@1+ (1,0) [0|1] "" ABX
* SG_ latch_init_open : 8|1@1+ (1,0) [0|1] "" ABX
* SG_ latch_closed : 9|1@1+ (1,0) [0|1] "" ABX
* SG_ latch_reopened : 10|1@1+ (1,0) [0|1] "" ABX
* SG_ as_mission : 11|3@1+ (1,0) [0|7] "" ABX
*/
typedef union {
uint8_t raw[2];
struct {
// BITFIELDS ARE LSB FIRST!
bool asms_state : 1;
bool sdc_state_1 : 1;
bool sdc_state_2 : 1;
@ -72,13 +95,13 @@ typedef union {
bool heartbeat_ok : 1;
bool sdc_ready : 1;
bool ts_start_muxed : 1;
bool sdc_in : 1;
unsigned int _padding1 : 1;
// -- byte border
bool latch_init_open : 1;
bool latch_closed : 1;
bool latch_reopened : 1;
mission_t as_mission : 3;
unsigned int _padding : 2;
unsigned int _padding2 : 2;
} __attribute__((packed)) signals;
} tx_data_t;
@ -93,6 +116,8 @@ typedef union {
// Defined in DBC?
#define TX_UPDATE_PERIOD 100
#define AMI_GPIO_Port GPIOB
/* USER CODE END PD */
/* Private macro -------------------------------------------------------------*/
@ -101,13 +126,15 @@ typedef union {
/* USER CODE END PM */
/* Private variables ---------------------------------------------------------*/
ADC_HandleTypeDef hadc1;
CAN_HandleTypeDef hcan;
/* USER CODE BEGIN PV */
rx_data_t rxData;
// Mission Maps: NONE ACCEL SKIDPAD TRACKDRIVE EBSTEST INSPECTION AUTOX MANUAL
const uint16_t mission2led[] = {0 , AMI_ACCEL_Pin , AMI_SKIDPAD_Pin , AMI_TRACKDRIVE_Pin, AMI_EBSTEST_Pin , AMI_INSPECTION_Pin, AMI_AUTOX_Pin , AMI_MANUAL_Pin};
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;
/* USER CODE END PV */
@ -115,14 +142,17 @@ rx_data_t rxData;
void SystemClock_Config(void);
static void MX_GPIO_Init(void);
static void MX_CAN_Init(void);
static void MX_ADC1_Init(void);
/* USER CODE BEGIN PFP */
/* USER CODE END PFP */
/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
void setMissionLED(mission_t mission, GPIO_PinState state)
{
if (mission != M_NONE)
HAL_GPIO_WritePin(AMI_GPIO_Port, mission2led[mission], state);
}
/* USER CODE END 0 */
/**
@ -154,15 +184,12 @@ int main(void)
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_CAN_Init();
MX_ADC1_Init();
/* USER CODE BEGIN 2 */
// Init data as LOW
memset(&rxData, 0, sizeof(rx_data_t));
if (HAL_CAN_Start(&hcan) != HAL_OK)
Error_Handler();
// TODO: Use Filter
/*
CAN_FilterTypeDef canfilterconfig;
@ -202,63 +229,11 @@ int main(void)
/* Infinite loop */
/* USER CODE BEGIN WHILE */
//HAL_GPIO_TogglePin(AS_close_SDC_GPIO_Port, AS_close_SDC_Pin);
uint16_t mission2led[] = {ASB_Error_Pin, AMI_ACCEL_Pin, AMI_SKIDPAD_Pin, AMI_TRACKDRIVE_Pin, AMI_EBSTEST_Pin, AMI_INSPECTION_Pin, AMI_AUTOX_Pin, AMI_MANUAL_Pin};
unsigned int mission_order[] = {M_MANUAL, M_ACCEL, M_SKIDPAD, M_AUTOX, M_TRACKDRIVE, M_EBSTEST, M_INSPECTION};
unsigned int mission_idx = 0;
bool pAMC = false;
mission_t new_mission = mission; // By default, don't change mission
while (true) {
// Write out all values received via interrupt to the pins
/*
HAL_GPIO_WritePin(GPIOA, AS_driving_mode_Pin, RxData.signals.as_driving_mode);
HAL_GPIO_WritePin(GPIOA, AS_close_SDC_Pin, RxData.signals.as_close_sdc);
HAL_GPIO_WritePin(GPIOA, Watchdog_Pin, RxData.signals.watchdog);
// every nth rx, we tx¨
if (++counter >= (TX_UPDATE_PERIOD / RX_UPDATE_PERIOD)) {
// Read values to send
uint8_t s = HAL_GPIO_ReadPin(GPIOA, SDC_in_3V3_Pin) == GPIO_PIN_SET;
uint8_t r = HAL_GPIO_ReadPin(GPIOA, SDC_is_ready_Pin) == GPIO_PIN_SET;
uint8_t t = HAL_GPIO_ReadPin(GPIOA, TS_activate_MUXed_Pin) == GPIO_PIN_SET;
TxData.signals.sdc_in = s;
TxData.signals.sdc_ready = r;
TxData.signals.ts_start = t;
// Send out CAN message
if (HAL_CAN_AddTxMessage(&hcan, &TxHeader, TxData.raw, &TxMailbox) != HAL_OK)
Error_Handler();
counter = 0;
}
*/
/*
* Values to read:
* [ ] TSActivateMUXed
* [ ] ASMS
* [ ] INITIAL_OPEN
* [ ] CLOSED
* [ ] REOPENED
* [ ] WD_OK
* [ ] SDC_is_ready
* [ ] SDC_in_3V3
* [ ] LV_SENSE_1
* [ ] LV_SENSE_2
* [x] AMC
*
* Values to write:
* [ ] AS_close_SDC
* [ ] (Watchdog)
* [ ] ASB_Error
* [x] AMI_<Mission>
*/
bool TS_activate_MUXed = HAL_GPIO_ReadPin(TS_activate_MUXed_GPIO_Port, TS_activate_MUXed_Pin) == GPIO_PIN_SET;
bool ASMS = HAL_GPIO_ReadPin(ASMS_GPIO_Port, ASMS_Pin) == GPIO_PIN_SET;
bool WD_OK = HAL_GPIO_ReadPin(WD_OK_GPIO_Port, WD_OK_Pin) == GPIO_PIN_SET;
@ -272,17 +247,17 @@ int main(void)
bool REOPENED = HAL_GPIO_ReadPin(REOPENED_GPIO_Port, REOPENED_Pin) == GPIO_PIN_SET;
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) {
HAL_GPIO_WritePin(GPIOB, mission2led[mission_order[mission_idx]], GPIO_PIN_RESET);
// Reset LED to indicate transaction / mission change in progress
setMissionLED(mission, GPIO_PIN_RESET);
mission_idx++;
mission_idx %= 7;
new_mission = mission2next[mission];
// New LED will be set once response from ABX is received
}
HAL_GPIO_WritePin(GPIOB, mission2led[mission_order[mission_idx]], GPIO_PIN_SET);
tx_data_t txData = {
.signals = {
.asms_state = ASMS,
@ -291,17 +266,18 @@ int main(void)
.sdc_state_3 = SDC_in_3V3,
.heartbeat_ok = WD_OK,
.sdc_ready = SDC_is_ready,
.sdc_in = SDC_in_3V3,
.ts_start_muxed = TS_activate_MUXed,
.latch_init_open = INITIAL_OPEN,
.latch_closed = CLOSED,
.latch_reopened = REOPENED,
.as_mission = mission_order[mission_idx]
.as_mission = new_mission
}
};
if (HAL_CAN_AddTxMessage(&hcan, &txHeader, txData.raw, &txMailbox) != HAL_OK)
Error_Handler();
// Store previous button value to detect signal edges
pAMC = AMC;
HAL_Delay(TX_UPDATE_PERIOD);
@ -321,7 +297,6 @@ void SystemClock_Config(void)
{
RCC_OscInitTypeDef RCC_OscInitStruct = {0};
RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
RCC_PeriphCLKInitTypeDef PeriphClkInit = {0};
/** Initializes the RCC Oscillators according to the specified parameters
* in the RCC_OscInitTypeDef structure.
@ -329,9 +304,7 @@ void SystemClock_Config(void)
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
RCC_OscInitStruct.HSIState = RCC_HSI_ON;
RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL4;
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_NONE;
if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
{
Error_Handler();
@ -350,70 +323,6 @@ void SystemClock_Config(void)
{
Error_Handler();
}
PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_ADC1;
PeriphClkInit.Adc1ClockSelection = RCC_ADC1PLLCLK_DIV1;
if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK)
{
Error_Handler();
}
}
/**
* @brief ADC1 Initialization Function
* @param None
* @retval None
*/
static void MX_ADC1_Init(void)
{
/* USER CODE BEGIN ADC1_Init 0 */
/* USER CODE END ADC1_Init 0 */
ADC_ChannelConfTypeDef sConfig = {0};
/* USER CODE BEGIN ADC1_Init 1 */
/* USER CODE END ADC1_Init 1 */
/** Common config
*/
hadc1.Instance = ADC1;
hadc1.Init.ClockPrescaler = ADC_CLOCK_ASYNC_DIV1;
hadc1.Init.Resolution = ADC_RESOLUTION_12B;
hadc1.Init.ScanConvMode = ADC_SCAN_DISABLE;
hadc1.Init.ContinuousConvMode = DISABLE;
hadc1.Init.DiscontinuousConvMode = DISABLE;
hadc1.Init.ExternalTrigConvEdge = ADC_EXTERNALTRIGCONVEDGE_NONE;
hadc1.Init.ExternalTrigConv = ADC_SOFTWARE_START;
hadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT;
hadc1.Init.NbrOfConversion = 1;
hadc1.Init.DMAContinuousRequests = DISABLE;
hadc1.Init.EOCSelection = ADC_EOC_SINGLE_CONV;
hadc1.Init.LowPowerAutoWait = DISABLE;
hadc1.Init.Overrun = ADC_OVR_DATA_OVERWRITTEN;
if (HAL_ADC_Init(&hadc1) != HAL_OK)
{
Error_Handler();
}
/** Configure Regular Channel
*/
sConfig.Channel = ADC_CHANNEL_11;
sConfig.Rank = ADC_REGULAR_RANK_1;
sConfig.SingleDiff = ADC_DIFFERENTIAL_ENDED;
sConfig.SamplingTime = ADC_SAMPLETIME_1CYCLE_5;
sConfig.OffsetNumber = ADC_OFFSET_NONE;
sConfig.Offset = 0;
if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN ADC1_Init 2 */
/* USER CODE END ADC1_Init 2 */
}
/**
@ -483,6 +392,12 @@ static void MX_GPIO_Init(void)
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/*Configure GPIO pins : LV_SENSE_1_Pin LV_SENSE_2_Pin */
GPIO_InitStruct.Pin = LV_SENSE_1_Pin|LV_SENSE_2_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
/*Configure GPIO pins : AMI_EBSTEST_Pin AMI_INSPECTION_Pin ASB_Error_Pin AMI_TRACKDRIVE_Pin
AMI_AUTOX_Pin AMI_SKIDPAD_Pin AMI_ACCEL_Pin AMI_MANUAL_Pin */
GPIO_InitStruct.Pin = AMI_EBSTEST_Pin|AMI_INSPECTION_Pin|ASB_Error_Pin|AMI_TRACKDRIVE_Pin
@ -507,15 +422,37 @@ 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)
Error_Handler();
// Copy into the bitfield if it's for us
if (rxHeader.StdId == CAN_ID_RX)
rxData.raw[0] = rxBuffer[0];
// Discard if it's not for us
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
*/
// TODO: TEMP!
HAL_GPIO_WritePin(Watchdog_GPIO_Port, Watchdog_Pin, true);
// Reset old mission LED
setMissionLED(mission, GPIO_PIN_RESET);
mission = rxData.signals.as_mission;
setMissionLED(mission, GPIO_PIN_SET);
}

63
sdcl-firmware/Core/Src/stm32f3xx_hal_msp.c
View File

@ -76,69 +76,6 @@ void HAL_MspInit(void)
/* USER CODE END MspInit 1 */
}
/**
* @brief ADC MSP Initialization
* This function configures the hardware resources used in this example
* @param hadc: ADC handle pointer
* @retval None
*/
void HAL_ADC_MspInit(ADC_HandleTypeDef* hadc)
{
GPIO_InitTypeDef GPIO_InitStruct = {0};
if(hadc->Instance==ADC1)
{
/* USER CODE BEGIN ADC1_MspInit 0 */
/* USER CODE END ADC1_MspInit 0 */
/* Peripheral clock enable */
__HAL_RCC_ADC1_CLK_ENABLE();
__HAL_RCC_GPIOB_CLK_ENABLE();
/**ADC1 GPIO Configuration
PB0 ------> ADC1_IN11
PB1 ------> ADC1_IN12
*/
GPIO_InitStruct.Pin = LV_SENSE_1_Pin|LV_SENSE_2_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
/* USER CODE BEGIN ADC1_MspInit 1 */
/* USER CODE END ADC1_MspInit 1 */
}
}
/**
* @brief ADC MSP De-Initialization
* This function freeze the hardware resources used in this example
* @param hadc: ADC handle pointer
* @retval None
*/
void HAL_ADC_MspDeInit(ADC_HandleTypeDef* hadc)
{
if(hadc->Instance==ADC1)
{
/* USER CODE BEGIN ADC1_MspDeInit 0 */
/* USER CODE END ADC1_MspDeInit 0 */
/* Peripheral clock disable */
__HAL_RCC_ADC1_CLK_DISABLE();
/**ADC1 GPIO Configuration
PB0 ------> ADC1_IN11
PB1 ------> ADC1_IN12
*/
HAL_GPIO_DeInit(GPIOB, LV_SENSE_1_Pin|LV_SENSE_2_Pin);
/* USER CODE BEGIN ADC1_MspDeInit 1 */
/* USER CODE END ADC1_MspDeInit 1 */
}
}
/**
* @brief CAN MSP Initialization
* This function configures the hardware resources used in this example