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base: FaSTTUBe:bodgy-mcbodgeface-jasper
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FaSTTUBe:main FaSTTUBe:bodgy-mcbodgeface-jasper FaSTTUBe:bodgy-mcbodgeface FaSTTUBe:bodgy-mcbodgefaceV1.2
FaSTTUBe:SDCLv2-bodge1 FaSTTUBe:full-feature-complete FaSTTUBe:v1-FT22 FaSTTUBe:igrid
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compare: FaSTTUBe:bodgy-mcbodgeface
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FaSTTUBe:bodgy-mcbodgeface-jasper FaSTTUBe:bodgy-mcbodgeface FaSTTUBe:bodgy-mcbodgefaceV1.2 FaSTTUBe:main
FaSTTUBe:SDCLv2-bodge1 FaSTTUBe:full-feature-complete FaSTTUBe:v1-FT22 FaSTTUBe:igrid

2 Commits
bodgy-mcbo ... bodgy-mcbo

Author SHA1 Message Date
Oskar
a5f9f3019a Reduce startup delay to 1s 
because discharge SDC blocking is done via PDU now
 2023-08-04 23:00:57 +02:00
Oskar
e6f77a5e29 Show ASB Error by default 2023-08-04 22:56:27 +02:00
5 changed files with 83 additions and 120 deletions
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6
sdcl-firmware/.cproject
View File

@ -23,8 +23,7 @@
<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.fpu.1893121708" name="Floating-point unit" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.fpu" useByScannerDiscovery="true" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.fpu.value.fpv4-sp-d16" valueType="enumerated"/>
<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.floatabi.2104279709" name="Floating-point ABI" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.floatabi" useByScannerDiscovery="true" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.floatabi.value.hard" valueType="enumerated"/>
<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_board.77669292" name="Board" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_board" useByScannerDiscovery="false" value="genericBoard" valueType="string"/>
<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults.326360180" name="Defaults" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults" useByScannerDiscovery="false" value="com.st.stm32cube.ide.common.services.build.inputs.revA.1.0.6 || Debug || true || Executable || com.st.stm32cube.ide.mcu.gnu.managedbuild.option.toolchain.value.workspace || STM32F302C8Tx || 0 || 0 || arm-none-eabi- || ${gnu_tools_for_stm32_compiler_path} || ../Drivers/STM32F3xx_HAL_Driver/Inc | ../Drivers/CMSIS/Include | ../Core/Inc | ../Drivers/STM32F3xx_HAL_Driver/Inc/Legacy | ../Drivers/CMSIS/Device/ST/STM32F3xx/Include || || || USE_HAL_DRIVER | STM32F302x8 || || Drivers | Core/Startup | Core || || || ${workspace_loc:/${ProjName}/STM32F302C8TX_FLASH.ld} || true || NonSecure || || secure_nsclib.o || || None || || || " valueType="string"/>
<option id="com.st.stm32cube.ide.mcu.debug.option.cpuclock.164461163" superClass="com.st.stm32cube.ide.mcu.debug.option.cpuclock" value="8" valueType="string"/>
<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults.326360180" name="Defaults" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults" useByScannerDiscovery="false" value="com.st.stm32cube.ide.common.services.build.inputs.revA.1.0.5 || Debug || true || Executable || com.st.stm32cube.ide.mcu.gnu.managedbuild.option.toolchain.value.workspace || STM32F302C8Tx || 0 || 0 || arm-none-eabi- || ${gnu_tools_for_stm32_compiler_path} || ../Drivers/STM32F3xx_HAL_Driver/Inc | ../Drivers/CMSIS/Include | ../Core/Inc | ../Drivers/STM32F3xx_HAL_Driver/Inc/Legacy | ../Drivers/CMSIS/Device/ST/STM32F3xx/Include || || || USE_HAL_DRIVER | STM32F302x8 || || Drivers | Core/Startup | Core || || || ${workspace_loc:/${ProjName}/STM32F302C8TX_FLASH.ld} || true || NonSecure || || secure_nsclib.o || || None || " valueType="string"/>
<targetPlatform archList="all" binaryParser="org.eclipse.cdt.core.ELF" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.targetplatform.1970141959" isAbstract="false" osList="all" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.targetplatform"/>
<builder buildPath="${workspace_loc:/sdcl-firmware}/Debug" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.builder.1431370682" keepEnvironmentInBuildfile="false" managedBuildOn="true" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.builder"/>
<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.306874017" name="MCU GCC Assembler" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler">
@ -103,8 +102,7 @@
<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.fpu.385019979" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.fpu" useByScannerDiscovery="true" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.fpu.value.fpv4-sp-d16" valueType="enumerated"/>
<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.floatabi.860143386" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.floatabi" useByScannerDiscovery="true" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.floatabi.value.hard" valueType="enumerated"/>
<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_board.1618095123" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_board" useByScannerDiscovery="false" value="genericBoard" valueType="string"/>
<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults.1170098193" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults" useByScannerDiscovery="false" value="com.st.stm32cube.ide.common.services.build.inputs.revA.1.0.6 || Release || false || Executable || com.st.stm32cube.ide.mcu.gnu.managedbuild.option.toolchain.value.workspace || STM32F302C8Tx || 0 || 0 || arm-none-eabi- || ${gnu_tools_for_stm32_compiler_path} || ../Drivers/STM32F3xx_HAL_Driver/Inc | ../Drivers/CMSIS/Include | ../Core/Inc | ../Drivers/STM32F3xx_HAL_Driver/Inc/Legacy | ../Drivers/CMSIS/Device/ST/STM32F3xx/Include || || || USE_HAL_DRIVER | STM32F302x8 || || Drivers | Core/Startup | Core || || || ${workspace_loc:/${ProjName}/STM32F302C8TX_FLASH.ld} || true || NonSecure || || secure_nsclib.o || || None || || || " valueType="string"/>
<option id="com.st.stm32cube.ide.mcu.debug.option.cpuclock.1703375225" superClass="com.st.stm32cube.ide.mcu.debug.option.cpuclock" useByScannerDiscovery="false" value="8" valueType="string"/>
<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults.1170098193" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults" useByScannerDiscovery="false" value="com.st.stm32cube.ide.common.services.build.inputs.revA.1.0.5 || Release || false || Executable || com.st.stm32cube.ide.mcu.gnu.managedbuild.option.toolchain.value.workspace || STM32F302C8Tx || 0 || 0 || arm-none-eabi- || ${gnu_tools_for_stm32_compiler_path} || ../Drivers/STM32F3xx_HAL_Driver/Inc | ../Drivers/CMSIS/Include | ../Core/Inc | ../Drivers/STM32F3xx_HAL_Driver/Inc/Legacy | ../Drivers/CMSIS/Device/ST/STM32F3xx/Include || || || USE_HAL_DRIVER | STM32F302x8 || || Drivers | Core/Startup | Core || || || ${workspace_loc:/${ProjName}/STM32F302C8TX_FLASH.ld} || true || NonSecure || || secure_nsclib.o || || None || " valueType="string"/>
<targetPlatform archList="all" binaryParser="org.eclipse.cdt.core.ELF" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.targetplatform.2133501522" isAbstract="false" osList="all" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.targetplatform"/>
<builder buildPath="${workspace_loc:/sdcl-firmware}/Release" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.builder.1576103886" managedBuildOn="true" name="Gnu Make Builder.Release" parallelBuildOn="true" parallelizationNumber="optimal" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.builder"/>
<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.452758280" name="MCU GCC Assembler" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler">

2
sdcl-firmware/.mxproject
View File

File diff suppressed because one or more lines are too long

66
sdcl-firmware/Core/Src/main.c
View File

@ -48,15 +48,6 @@ typedef enum {
M_MANUAL = 7
} 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
* SG_ as_close_sdc : 0|1@1+ (1,0) [0|1] "" SDCL
@ -121,7 +112,6 @@ typedef union {
#define CAN_ID_RX 0x00F
#define CAN_ID_TX 0x010
#define CAN_ID_JETSON_RX 0x0E0
// Defined in DBC?
#define TX_UPDATE_PERIOD 100
@ -145,17 +135,15 @@ IWDG_HandleTypeDef hiwdg;
/* USER CODE BEGIN PV */
// Mission Maps: NONE ACCEL SKIDPAD AUTOX EBSTEST INSPECTION TRACKDRIVE MANUAL
const uint16_t mission2led[] = {0 , AMI_ACCEL_Pin , AMI_SKIDPAD_Pin , AMI_AUTOX_Pin , AMI_TRACKDRIVE_Pin, AMI_EBSTEST_Pin , AMI_INSPECTION_Pin, AMI_MANUAL_Pin};
// 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;
as_state_t state = AS_OFF;
bool setup_done = false;
#ifdef WATCHDOG_STM
bool heartbeat_received = false;
bool pHeartbeat = false;
bool WD_OK = false;
bool WD_initialized = false;
@ -210,7 +198,6 @@ int main(void)
#if false
/* USER CODE END SysInit */
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_CAN_Init();
@ -222,7 +209,10 @@ int main(void)
__HAL_DBGMCU_FREEZE_IWDG();
// Ensure we start with SDC disabled
HAL_GPIO_WritePin(AS_close_SDC_GPIO_Port, AS_close_SDC_Pin, GPIO_PIN_SET);
HAL_GPIO_WritePin(AS_close_SDC_GPIO_Port, AS_close_SDC_Pin, GPIO_PIN_RESET);
// Show ASB Error by default until we receive CAN
HAL_GPIO_WritePin(ASB_Error_GPIO_Port, ASB_Error_Pin, GPIO_PIN_SET);
if (HAL_CAN_Start(&hcan) != HAL_OK)
Error_Handler();
@ -239,11 +229,7 @@ int main(void)
canfilterconfig.FilterMode = CAN_FILTERMODE_IDMASK;
canfilterconfig.FilterScale = CAN_FILTERSCALE_32BIT;
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) {
Error_Handler();
}
@ -286,7 +272,6 @@ int main(void)
}
setup_done = true;
uint32_t last_msg = 0;
while (true) {
@ -305,8 +290,6 @@ int main(void)
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;
if (HAL_GetTick() - last_msg >= TX_UPDATE_PERIOD) {
last_msg = HAL_GetTick();
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) {
@ -347,11 +330,8 @@ int main(void)
// 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;
}
HAL_Delay(TX_UPDATE_PERIOD);
/* USER CODE END WHILE */
@ -481,10 +461,7 @@ static void MX_GPIO_Init(void)
|AMI_AUTOX_Pin|AMI_SKIDPAD_Pin|AMI_ACCEL_Pin|AMI_MANUAL_Pin, GPIO_PIN_RESET);
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(AS_close_SDC_GPIO_Port, AS_close_SDC_Pin, GPIO_PIN_SET);
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(Watchdog_GPIO_Port, Watchdog_Pin, GPIO_PIN_RESET);
HAL_GPIO_WritePin(GPIOA, AS_close_SDC_Pin|Watchdog_Pin, GPIO_PIN_RESET);
/*Configure GPIO pins : TS_activate_MUXed_Pin ASMS_Pin INITIAL_OPEN_Pin CLOSED_Pin
REOPENED_Pin WD_OK_Pin SDC_is_ready_Pin SDC_in_3V3_Pin
@ -533,35 +510,31 @@ void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan) {
Error_Handler();
// 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;
if (rxHeader.StdId != CAN_ID_RX)
return;
#ifdef WATCHDOG_STM
if (rxData.signals.heartbeat != pHeartbeat) {
if (WD_initialized)
HAL_IWDG_Refresh(&hiwdg);
if (heartbeat_received) {
WD_OK = true;
}
heartbeat_received = true;
//HAL_GPIO_WritePin(Watchdog_GPIO_Port, Watchdog_Pin, GPIO_PIN_SET);
}
pHeartbeat = rxData.signals.heartbeat;
bool close_sdc = setup_done && rxData.signals.as_close_sdc && WD_OK;
bool close_sdc = setup_done && rxData.signals.as_close_sdc;
#endif
#endif
#ifdef WATCHDOG_UCC
#ifdef WATCHDOG_UCC
HAL_GPIO_WritePin(Watchdog_GPIO_Port, Watchdog_Pin, rxData.signals.heartbeat);
bool close_sdc = rxData.signals.as_close_sdc;
#endif
#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);
// Set whether to close the relay
HAL_GPIO_WritePin(AS_close_SDC_GPIO_Port, AS_close_SDC_Pin, close_sdc);
// Reset old mission LED
setMissionLED(mission, GPIO_PIN_RESET);
@ -570,9 +543,6 @@ void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan) {
// 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;
}
}

4
sdcl-firmware/STM32F302C8TX_FLASH.ld
View File

@ -38,8 +38,8 @@ ENTRY(Reset_Handler)
/* Highest address of the user mode stack */
_estack = ORIGIN(RAM) + LENGTH(RAM); /* end of "RAM" Ram type memory */
_Min_Heap_Size = 0x200; /* required amount of heap */
_Min_Stack_Size = 0x400; /* required amount of stack */
_Min_Heap_Size = 0x200 ; /* required amount of heap */
_Min_Stack_Size = 0x400 ; /* required amount of stack */
/* Memories definition */
MEMORY

11
sdcl-firmware/sdcl-firmware.ioc
View File

@ -1,7 +1,4 @@
#MicroXplorer Configuration settings - do not modify
CAD.formats=
CAD.pinconfig=
CAD.provider=
CAN.ABOM=ENABLE
CAN.AWUM=ENABLE
CAN.BS1=CAN_BS1_13TQ
@ -125,10 +122,9 @@ PA7.GPIOParameters=GPIO_Label
PA7.GPIO_Label=SDC_in_3V3
PA7.Locked=true
PA7.Signal=GPIO_Input
PA9.GPIOParameters=PinState,GPIO_Label
PA9.GPIOParameters=GPIO_Label
PA9.GPIO_Label=AS_close_SDC
PA9.Locked=true
PA9.PinState=GPIO_PIN_SET
PA9.Signal=GPIO_Output
PB0.GPIOParameters=GPIO_Label
PB0.GPIO_Label=LV_SENSE_1
@ -255,7 +251,7 @@ ProjectManager.FreePins=false
ProjectManager.HalAssertFull=false
ProjectManager.HeapSize=0x200
ProjectManager.KeepUserCode=true
ProjectManager.LastFirmware=true
ProjectManager.LastFirmware=false
ProjectManager.LibraryCopy=1
ProjectManager.MainLocation=Core/Src
ProjectManager.NoMain=false
@ -263,13 +259,12 @@ ProjectManager.PreviousToolchain=STM32CubeIDE
ProjectManager.ProjectBuild=false
ProjectManager.ProjectFileName=sdcl-firmware.ioc
ProjectManager.ProjectName=sdcl-firmware
ProjectManager.ProjectStructure=
ProjectManager.RegisterCallBack=
ProjectManager.StackSize=0x400
ProjectManager.TargetToolchain=STM32CubeIDE
ProjectManager.ToolChainLocation=
ProjectManager.UnderRoot=true
ProjectManager.functionlistsort=1-MX_GPIO_Init-GPIO-false-HAL-true,2-SystemClock_Config-RCC-false-HAL-false,3-MX_CAN_Init-CAN-false-HAL-true,4-MX_IWDG_Init-IWDG-false-HAL-true
ProjectManager.functionlistsort=1-MX_GPIO_Init-GPIO-false-HAL-true,2-SystemClock_Config-RCC-false-HAL-false,3-MX_CAN_Init-CAN-false-HAL-true,4-MX_WWDG_Init-WWDG-false-HAL-true
RCC.ADC12outputFreq_Value=16000000
RCC.AHBFreq_Value=8000000
RCC.APB1Freq_Value=8000000