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finally find the problem of code disappearing

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This commit is contained in:
Johnny Hsu 2024-11-03 13:57:26 +01:00
parent 0dc3b33b6f
commit d49401d262
20 changed files with 472 additions and 630 deletions
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4
Software/.vscode/settings.json vendored
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@ -1,4 +1,4 @@
{ {
"cortex-debug.armToolchainPath": "/home/chiangni/.config/VSCodium/User/globalStorage/bmd.stm32-for-vscode/@xpack-dev-tools/arm-none-eabi-gcc/13.2.1-1.1.1/.content/bin", "cortex-debug.armToolchainPath": "/home/chiangni/.config/Code/User/globalStorage/bmd.stm32-for-vscode/@xpack-dev-tools/arm-none-eabi-gcc/13.3.1-1.1.1/.content/bin",
"cortex-debug.openocdPath": "/home/chiangni/Documents/STM32/OpenOCD/xpacks/@xpack-dev-tools/openocd/.content/bin/openocd" "cortex-debug.openocdPath": "/home/chiangni/.config/Code/User/globalStorage/bmd.stm32-for-vscode/@xpack-dev-tools/openocd/0.12.0-4.1/.content/bin/openocd"
} }

9
Software/Core/Inc/adc.h Normal file
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#ifndef INC_ADC
#define INC_ADC
#include "stm32f0xx_hal_adc.h"
void adc_init(ADC_HandleTypeDef* hadc);
void adc_loop(ADC_HandleTypeDef* hadc);
void HAL_ADC_ConvCpltCallback(ADC_HandleTypeDef* hadc);
#endif

2
Software/Core/Inc/stm32f0xx_hal_conf.h
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@ -73,7 +73,7 @@
* (when HSE is used as system clock source, directly or through the PLL). * (when HSE is used as system clock source, directly or through the PLL).
*/ */
#if !defined (HSE_VALUE) #if !defined (HSE_VALUE)
#define HSE_VALUE ((uint32_t)12000000) /*!< Value of the External oscillator in Hz */ #define HSE_VALUE ((uint32_t)8000000) /*!< Value of the External oscillator in Hz */
#endif /* HSE_VALUE */ #endif /* HSE_VALUE */
/** /**

1
Software/Core/Inc/stm32f0xx_it.h
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@ -51,7 +51,6 @@ void HardFault_Handler(void);
void SVC_Handler(void); void SVC_Handler(void);
void PendSV_Handler(void); void PendSV_Handler(void);
void SysTick_Handler(void); void SysTick_Handler(void);
void ADC1_IRQHandler(void);
/* USER CODE BEGIN EFP */ /* USER CODE BEGIN EFP */
/* USER CODE END EFP */ /* USER CODE END EFP */

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Software/Core/Lib/can-halal/README.md Normal file
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# FaSTTUBe CAN HAL Abstraction Layer
This repository contains an abstraction layer to provide a simplified & unified
interface to the STM32 bxCAN and FDCAN peripherals.
## Installation
Simply add the repository to your `Core/Lib` directory. You can also add it as a
git submodule:
mkdir -p Core/Lib
cd Core/Lib
git submodule add ssh://git@git.fasttube.de:313/FaSTTUBe/can-halal.git
The library needs to be told what STM family you're using, so make sure one of
the following symbols is defined when `can-halal.c` is compiled or `can-halal.h`
is included:
- `STM32F3`
- `STM32H7`
When using the FDCAN peripheral (H7 series), you also need to define
`FTCAN_NUM_FILTERS` (and set it to the value of "Std Filters Nbr" you configured
in your `.ioc`).
If you use
[VSCode with the stm-32-for-vscode extension](https://podio.com/fasttubede/modulubergreifend/apps/tech-tutorials/items/57),
you can add these definitions in the `STM32-for-VSCode-config.yaml` file, e.g.:
```yaml
# Compiler definitions. The -D prefix for the compiler will be automatically added.
cDefinitions:
- STM32H7
- FTCAN_NUM_FILTERS=32
```
## Usage
1. Include `can-halal.h`
2. Call `ftcan_init()` with the appropriate handle
3. Call `ftcan_add_filter()` with all your filters
4. To transmit messages, call `ftcan_transmit()`
5. When a message is received, `ftcan_msg_received_cb()` is called. It has a
default empty implementation, which you can simply override.
## Enabling CAN in STM32CubeMX
This isn't specific to `can-halal`, but for completeness sake is included here.
### bxCAN (e.g. STM32F3xx)
1. Enable the CAN peripheral
![Connectivity -> CAN -> Activated](doc/bxcan-activate.png)
2. Setup the [bit timings](http://bittiming.can-wiki.info/).
**Note:** the baud rate depends on your system clock, so make sure that is
setup correctly first!
![Connectivity -> CAN -> Parameter Settings -> Bit Timings Parameters](doc/bxcan-bittimings.png)
3. Make sure the CAN_RX0 interrupt is enabled
![Connectivity -> CAN -> NVIC Settings -> CAN_RX0 interrupt](doc/bxcan-interrupt.png)
### FDCAN (e.g. STM32H7xx)
1. Enable the CAN peripheral
![Connectivity -> FDCAN(1)](doc/fdcan-activate.png)
2. Setup the frame format, nominal SJW, filters, and FIFOs. The numbers for
filters/FIFOs in the screenshot are examples.
**Note:** You need to tell `can-halal` about the number of filters by
defining `FTCAN_NUM_FILTERS` (see above).
![Connectivity -> FDCAN(1) -> Parameter Settings -> Basic Parameters](doc/fdcan-basic.png)
3. Setup the [bit timings](http://bittiming.can-wiki.info/). We only use CAN in
classic mode, not FD mode, so we only need to worry about the nominal bit
timings
**Note:** the baud rate depends on your system clock, so make sure that is
setup correctly first!
![Connectivity -> FDCAN(1) -> Parameter Settings -> Bit Timings Parameters](doc/fdcan-bittimings.png)
4. Make sure the interrupts are enabled
![Connectivity -> FDCAN(1) -> NVIC Settings](doc/fdcan-interrupt.png)

546
Software/Core/Lib/can-halal.c → Software/Core/Lib/can-halal/can-halal.c
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#include "can-halal.h" #include "can-halal.h"
#include <string.h> #include <string.h>
#if defined(FTCAN_IS_BXCAN) #if defined(FTCAN_IS_BXCAN)
static CAN_HandleTypeDef *hcan; static CAN_HandleTypeDef *hcan;
HAL_StatusTypeDef ftcan_init(CAN_HandleTypeDef *handle) { HAL_StatusTypeDef ftcan_init(CAN_HandleTypeDef *handle) {
hcan = handle; hcan = handle;
HAL_StatusTypeDef status = HAL_StatusTypeDef status =
HAL_CAN_ActivateNotification(hcan, CAN_IT_RX_FIFO0_MSG_PENDING); HAL_CAN_ActivateNotification(hcan, CAN_IT_RX_FIFO0_MSG_PENDING);
if (status != HAL_OK) { if (status != HAL_OK) {
return status; return status;
} }
return HAL_CAN_Start(hcan); return HAL_CAN_Start(hcan);
} }
HAL_StatusTypeDef ftcan_transmit(uint16_t id, const uint8_t *data, HAL_StatusTypeDef ftcan_transmit(uint16_t id, const uint8_t *data,
size_t datalen) { size_t datalen) {
static CAN_TxHeaderTypeDef header; static CAN_TxHeaderTypeDef header;
header.StdId = id; header.StdId = id;
header.IDE = CAN_ID_STD; header.IDE = CAN_ID_STD;
header.RTR = CAN_RTR_DATA; header.RTR = CAN_RTR_DATA;
header.DLC = datalen; header.DLC = datalen;
uint32_t mailbox; uint32_t mailbox;
return HAL_CAN_AddTxMessage(hcan, &header, data, &mailbox); return HAL_CAN_AddTxMessage(hcan, &header, data, &mailbox);
} }
HAL_StatusTypeDef ftcan_add_filter(uint16_t id, uint16_t mask) { HAL_StatusTypeDef ftcan_add_filter(uint16_t id, uint16_t mask) {
static uint32_t next_filter_no = 0; static uint32_t next_filter_no = 0;
static CAN_FilterTypeDef filter; static CAN_FilterTypeDef filter;
if (next_filter_no % 2 == 0) { if (next_filter_no % 2 == 0) {
filter.FilterIdHigh = id << 5; filter.FilterIdHigh = id << 5;
filter.FilterMaskIdHigh = mask << 5; filter.FilterMaskIdHigh = mask << 5;
filter.FilterIdLow = id << 5; filter.FilterIdLow = id << 5;
filter.FilterMaskIdLow = mask << 5; filter.FilterMaskIdLow = mask << 5;
} else { } else {
// Leave high filter untouched from the last configuration // Leave high filter untouched from the last configuration
filter.FilterIdLow = id << 5; filter.FilterIdLow = id << 5;
filter.FilterMaskIdLow = mask << 5; filter.FilterMaskIdLow = mask << 5;
} }
filter.FilterFIFOAssignment = CAN_FILTER_FIFO0; filter.FilterFIFOAssignment = CAN_FILTER_FIFO0;
filter.FilterBank = next_filter_no / 2; filter.FilterBank = next_filter_no / 2;
if (filter.FilterBank > FTCAN_NUM_FILTERS + 1) { if (filter.FilterBank > FTCAN_NUM_FILTERS + 1) {
return HAL_ERROR; return HAL_ERROR;
} }
filter.FilterMode = CAN_FILTERMODE_IDMASK; filter.FilterMode = CAN_FILTERMODE_IDMASK;
filter.FilterScale = CAN_FILTERSCALE_16BIT; filter.FilterScale = CAN_FILTERSCALE_16BIT;
filter.FilterActivation = CAN_FILTER_ENABLE; filter.FilterActivation = CAN_FILTER_ENABLE;
// Disable slave filters // Disable slave filters
// TODO: Some STM32 have multiple CAN peripherals, and one uses the slave // TODO: Some STM32 have multiple CAN peripherals, and one uses the slave
// filter bank // filter bank
filter.SlaveStartFilterBank = FTCAN_NUM_FILTERS; filter.SlaveStartFilterBank = FTCAN_NUM_FILTERS;
HAL_StatusTypeDef status = HAL_CAN_ConfigFilter(hcan, &filter); HAL_StatusTypeDef status = HAL_CAN_ConfigFilter(hcan, &filter);
if (status == HAL_OK) { if (status == HAL_OK) {
next_filter_no++; next_filter_no++;
} }
return status; return status;
} }
void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *handle) { void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *handle) {
if (handle != hcan) { if (handle != hcan) {
return; return;
} }
CAN_RxHeaderTypeDef header; CAN_RxHeaderTypeDef header;
uint8_t data[8]; uint8_t data[8];
if (HAL_CAN_GetRxMessage(hcan, CAN_RX_FIFO0, &header, data) != HAL_OK) { if (HAL_CAN_GetRxMessage(hcan, CAN_RX_FIFO0, &header, data) != HAL_OK) {
return; return;
} }
if (header.IDE != CAN_ID_STD) { if (header.IDE != CAN_ID_STD) {
return; return;
} }
ftcan_msg_received_cb(header.StdId, header.DLC, data); ftcan_msg_received_cb(header.StdId, header.DLC, data);
} }
#elif defined(FTCAN_IS_FDCAN) #elif defined(FTCAN_IS_FDCAN)
static FDCAN_HandleTypeDef *hcan; static FDCAN_HandleTypeDef *hcan;
HAL_StatusTypeDef ftcan_init(FDCAN_HandleTypeDef *handle) { HAL_StatusTypeDef ftcan_init(FDCAN_HandleTypeDef *handle) {
hcan = handle; hcan = handle;
HAL_StatusTypeDef status = HAL_StatusTypeDef status =
HAL_FDCAN_ActivateNotification(hcan, FDCAN_IT_RX_FIFO0_NEW_MESSAGE, 0); HAL_FDCAN_ActivateNotification(hcan, FDCAN_IT_RX_FIFO0_NEW_MESSAGE, 0);
if (status != HAL_OK) { if (status != HAL_OK) {
return status; return status;
} }
// Reject non-matching messages // Reject non-matching messages
status = status =
HAL_FDCAN_ConfigGlobalFilter(hcan, FDCAN_REJECT, FDCAN_REJECT, HAL_FDCAN_ConfigGlobalFilter(hcan, FDCAN_REJECT, FDCAN_REJECT,
FDCAN_REJECT_REMOTE, FDCAN_REJECT_REMOTE); FDCAN_REJECT_REMOTE, FDCAN_REJECT_REMOTE);
if (status != HAL_OK) { if (status != HAL_OK) {
return status; return status;
} }
return HAL_FDCAN_Start(hcan); return HAL_FDCAN_Start(hcan);
} }
HAL_StatusTypeDef ftcan_transmit(uint16_t id, const uint8_t *data, HAL_StatusTypeDef ftcan_transmit(uint16_t id, const uint8_t *data,
size_t datalen) { size_t datalen) {
static FDCAN_TxHeaderTypeDef header; static FDCAN_TxHeaderTypeDef header;
header.Identifier = id; header.Identifier = id;
header.IdType = FDCAN_STANDARD_ID; header.IdType = FDCAN_STANDARD_ID;
header.TxFrameType = FDCAN_DATA_FRAME; header.TxFrameType = FDCAN_DATA_FRAME;
switch (datalen) { switch (datalen) {
case 0: case 0:
header.DataLength = FDCAN_DLC_BYTES_0; header.DataLength = FDCAN_DLC_BYTES_0;
break; break;
case 1: case 1:
header.DataLength = FDCAN_DLC_BYTES_1; header.DataLength = FDCAN_DLC_BYTES_1;
break; break;
case 2: case 2:
header.DataLength = FDCAN_DLC_BYTES_2; header.DataLength = FDCAN_DLC_BYTES_2;
break; break;
case 3: case 3:
header.DataLength = FDCAN_DLC_BYTES_3; header.DataLength = FDCAN_DLC_BYTES_3;
break; break;
case 4: case 4:
header.DataLength = FDCAN_DLC_BYTES_4; header.DataLength = FDCAN_DLC_BYTES_4;
break; break;
case 5: case 5:
header.DataLength = FDCAN_DLC_BYTES_5; header.DataLength = FDCAN_DLC_BYTES_5;
break; break;
case 6: case 6:
header.DataLength = FDCAN_DLC_BYTES_6; header.DataLength = FDCAN_DLC_BYTES_6;
break; break;
case 7: case 7:
header.DataLength = FDCAN_DLC_BYTES_7; header.DataLength = FDCAN_DLC_BYTES_7;
break; break;
case 8: case 8:
default: default:
header.DataLength = FDCAN_DLC_BYTES_8; header.DataLength = FDCAN_DLC_BYTES_8;
break; break;
} }
header.ErrorStateIndicator = FDCAN_ESI_PASSIVE; header.ErrorStateIndicator = FDCAN_ESI_PASSIVE;
header.BitRateSwitch = FDCAN_BRS_OFF; header.BitRateSwitch = FDCAN_BRS_OFF;
header.FDFormat = FDCAN_CLASSIC_CAN; header.FDFormat = FDCAN_CLASSIC_CAN;
header.TxEventFifoControl = FDCAN_NO_TX_EVENTS; header.TxEventFifoControl = FDCAN_NO_TX_EVENTS;
// HAL_FDCAN_AddMessageToTxFifoQ doesn't modify the data, but it's not marked // HAL_FDCAN_AddMessageToTxFifoQ doesn't modify the data, but it's not marked
// as const for some reason. // as const for some reason.
uint8_t *data_nonconst = (uint8_t *)data; uint8_t *data_nonconst = (uint8_t *)data;
return HAL_FDCAN_AddMessageToTxFifoQ(hcan, &header, data_nonconst); return HAL_FDCAN_AddMessageToTxFifoQ(hcan, &header, data_nonconst);
} }
HAL_StatusTypeDef ftcan_add_filter(uint16_t id, uint16_t mask) { HAL_StatusTypeDef ftcan_add_filter(uint16_t id, uint16_t mask) {
static uint32_t next_filter_no = 0; static uint32_t next_filter_no = 0;
static FDCAN_FilterTypeDef filter; static FDCAN_FilterTypeDef filter;
filter.IdType = FDCAN_STANDARD_ID; filter.IdType = FDCAN_STANDARD_ID;
filter.FilterIndex = next_filter_no; filter.FilterIndex = next_filter_no;
if (filter.FilterIndex > FTCAN_NUM_FILTERS + 1) { if (filter.FilterIndex > FTCAN_NUM_FILTERS + 1) {
return HAL_ERROR; return HAL_ERROR;
} }
filter.FilterType = FDCAN_FILTER_MASK; filter.FilterType = FDCAN_FILTER_MASK;
filter.FilterConfig = FDCAN_FILTER_TO_RXFIFO0; filter.FilterConfig = FDCAN_FILTER_TO_RXFIFO0;
filter.FilterID1 = id; filter.FilterID1 = id;
filter.FilterID2 = mask; filter.FilterID2 = mask;
HAL_StatusTypeDef status = HAL_FDCAN_ConfigFilter(hcan, &filter); HAL_StatusTypeDef status = HAL_FDCAN_ConfigFilter(hcan, &filter);
if (status == HAL_OK) { if (status == HAL_OK) {
next_filter_no++; next_filter_no++;
} }
return status; return status;
} }
void HAL_FDCAN_RxFifo0Callback(FDCAN_HandleTypeDef *handle, void HAL_FDCAN_RxFifo0Callback(FDCAN_HandleTypeDef *handle,
uint32_t RxFifo0ITs) { uint32_t RxFifo0ITs) {
if (handle != hcan || (RxFifo0ITs & FDCAN_IT_RX_FIFO0_NEW_MESSAGE) == RESET) { if (handle != hcan || (RxFifo0ITs & FDCAN_IT_RX_FIFO0_NEW_MESSAGE) == RESET) {
return; return;
} }
static FDCAN_RxHeaderTypeDef header; static FDCAN_RxHeaderTypeDef header;
static uint8_t data[8]; static uint8_t data[8];
if (HAL_FDCAN_GetRxMessage(hcan, FDCAN_RX_FIFO0, &header, data) != HAL_OK) { if (HAL_FDCAN_GetRxMessage(hcan, FDCAN_RX_FIFO0, &header, data) != HAL_OK) {
return; return;
} }
if (header.FDFormat != FDCAN_CLASSIC_CAN || if (header.FDFormat != FDCAN_CLASSIC_CAN ||
header.RxFrameType != FDCAN_DATA_FRAME || header.RxFrameType != FDCAN_DATA_FRAME ||
header.IdType != FDCAN_STANDARD_ID) { header.IdType != FDCAN_STANDARD_ID) {
return; return;
} }
size_t datalen; size_t datalen;
switch (header.DataLength) { switch (header.DataLength) {
case FDCAN_DLC_BYTES_0: case FDCAN_DLC_BYTES_0:
datalen = 0; datalen = 0;
break; break;
case FDCAN_DLC_BYTES_1: case FDCAN_DLC_BYTES_1:
datalen = 1; datalen = 1;
break; break;
case FDCAN_DLC_BYTES_2: case FDCAN_DLC_BYTES_2:
datalen = 2; datalen = 2;
break; break;
case FDCAN_DLC_BYTES_3: case FDCAN_DLC_BYTES_3:
datalen = 3; datalen = 3;
break; break;
case FDCAN_DLC_BYTES_4: case FDCAN_DLC_BYTES_4:
datalen = 4; datalen = 4;
break; break;
case FDCAN_DLC_BYTES_5: case FDCAN_DLC_BYTES_5:
datalen = 5; datalen = 5;
break; break;
case FDCAN_DLC_BYTES_6: case FDCAN_DLC_BYTES_6:
datalen = 6; datalen = 6;
break; break;
case FDCAN_DLC_BYTES_7: case FDCAN_DLC_BYTES_7:
datalen = 7; datalen = 7;
break; break;
case FDCAN_DLC_BYTES_8: case FDCAN_DLC_BYTES_8:
datalen = 8; datalen = 8;
break; break;
default: default:
return; return;
} }
ftcan_msg_received_cb(header.Identifier, datalen, data); ftcan_msg_received_cb(header.Identifier, datalen, data);
} }
#endif #endif
__weak void ftcan_msg_received_cb(uint16_t id, size_t datalen, __weak void ftcan_msg_received_cb(uint16_t id, size_t datalen,
const uint8_t *data) {} const uint8_t *data) {}
uint64_t ftcan_unmarshal_unsigned(const uint8_t **data_ptr, size_t num_bytes) { uint64_t ftcan_unmarshal_unsigned(const uint8_t **data_ptr, size_t num_bytes) {
if (num_bytes > 8) { if (num_bytes > 8) {
num_bytes = 8; num_bytes = 8;
} }
const uint8_t *data = *data_ptr; const uint8_t *data = *data_ptr;
uint64_t result = 0; uint64_t result = 0;
for (size_t i = 0; i < num_bytes; i++) { for (size_t i = 0; i < num_bytes; i++) {
result <<= 8; result <<= 8;
result |= data[i]; result |= data[i];
} }
*data_ptr += num_bytes; *data_ptr += num_bytes;
return result; return result;
} }
int64_t ftcan_unmarshal_signed(const uint8_t **data_ptr, size_t num_bytes) { int64_t ftcan_unmarshal_signed(const uint8_t **data_ptr, size_t num_bytes) {
if (num_bytes > 8) { if (num_bytes > 8) {
num_bytes = 8; num_bytes = 8;
} }
uint64_t result_unsigned = ftcan_unmarshal_unsigned(data_ptr, num_bytes); uint64_t result_unsigned = ftcan_unmarshal_unsigned(data_ptr, num_bytes);
// Sign extend by shifting left, then copying to a signed int and shifting // Sign extend by shifting left, then copying to a signed int and shifting
// back to the right // back to the right
size_t diff_to_64 = 64 - num_bytes * 8; size_t diff_to_64 = 64 - num_bytes * 8;
result_unsigned <<= diff_to_64; result_unsigned <<= diff_to_64;
int64_t result; int64_t result;
memcpy(&result, &result_unsigned, 8); memcpy(&result, &result_unsigned, 8);
return result >> diff_to_64; return result >> diff_to_64;
} }
uint8_t *ftcan_marshal_unsigned(uint8_t *data, uint64_t val, size_t num_bytes) { uint8_t *ftcan_marshal_unsigned(uint8_t *data, uint64_t val, size_t num_bytes) {
if (num_bytes > 8) { if (num_bytes > 8) {
num_bytes = 8; num_bytes = 8;
} }
for (int i = num_bytes - 1; i >= 0; i--) { for (int i = num_bytes - 1; i >= 0; i--) {
data[i] = val & 0xFF; data[i] = val & 0xFF;
val >>= 8; val >>= 8;
} }
return data + num_bytes; return data + num_bytes;
} }
uint8_t *ftcan_marshal_signed(uint8_t *data, int64_t val, size_t num_bytes) { uint8_t *ftcan_marshal_signed(uint8_t *data, int64_t val, size_t num_bytes) {
return ftcan_marshal_unsigned(data, val, num_bytes); return ftcan_marshal_unsigned(data, val, num_bytes);
} }

132
Software/Core/Lib/can-halal.h → Software/Core/Lib/can-halal/can-halal.h
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@ -1,61 +1,71 @@
#ifndef CAN_HALAL_H #ifndef CAN_HALAL_H
#define CAN_HALAL_H #define CAN_HALAL_H
// Define family macros if none are defined and we recognize a chip macro // Define family macros if none are defined and we recognize a chip macro
#if !defined(STM32F3) && !defined(STM32H7) #if !defined(STM32F3) && !defined(STM32H7) && !defined(STM32F0)
#if defined(STM32F302x6) || defined(STM32F302x8) || defined(STM32F302xB) || \ #if defined(STM32F302x6) || defined(STM32F302x8) || defined(STM32F302xB) || \
defined(STM32F302xC) defined(STM32F302xC)
#define STM32F3 #define STM32F3
#endif #endif
#if defined(STM32H7A3xx) #if defined(STM32H7A3xx)
#define STM32H7 #define STM32H7
#endif #endif
#endif #if defined(STM32F042x6)
#define STM32F0
#if defined(STM32F3) #endif
#include "stm32f3xx_hal.h" #endif
#define FTCAN_IS_BXCAN
#define FTCAN_NUM_FILTERS 13 #if defined(STM32F3)
#elif defined(STM32H7) #include "stm32f3xx_hal.h"
#include "stm32h7xx_hal.h" #define FTCAN_IS_BXCAN
#define FTCAN_IS_FDCAN #define FTCAN_NUM_FILTERS 13
#else #elif defined(STM32H7)
#error "Couldn't detect STM family" #include "stm32h7xx_hal.h"
#endif #define FTCAN_IS_FDCAN
#ifndef FTCAN_NUM_FILTERS
#if defined(FTCAN_IS_BXCAN) #error "Please configure the number of filters in CubeMX, and then add a compiler define for FTCAN_NUM_FILTERS"
HAL_StatusTypeDef ftcan_init(CAN_HandleTypeDef *handle); #endif
#elif defined(FTCAN_IS_FDCAN) #elif defined(STM32F0)
HAL_StatusTypeDef ftcan_init(FDCAN_HandleTypeDef *handle); #include "stm32f0xx_hal.h"
#else #define FTCAN_IS_BXCAN
#error "Unknown CAN peripheral" #define FTCAN_NUM_FILTERS 13
#endif #else
#error "Couldn't detect STM family"
HAL_StatusTypeDef ftcan_transmit(uint16_t id, const uint8_t *data, #endif
size_t datalen);
#if defined(FTCAN_IS_BXCAN)
HAL_StatusTypeDef ftcan_add_filter(uint16_t id, uint16_t mask); HAL_StatusTypeDef ftcan_init(CAN_HandleTypeDef *handle);
#elif defined(FTCAN_IS_FDCAN)
/** HAL_StatusTypeDef ftcan_init(FDCAN_HandleTypeDef *handle);
* Define this function to be notified of incoming CAN messages #else
*/ #error "Unknown CAN peripheral"
void ftcan_msg_received_cb(uint16_t id, size_t datalen, const uint8_t *data); #endif
/** HAL_StatusTypeDef ftcan_transmit(uint16_t id, const uint8_t *data,
* Read num_bytes bytes from a message (unmarshalled network byte order). The size_t datalen);
* msg pointer is advanced by the corresponding number of bytes.
* HAL_StatusTypeDef ftcan_add_filter(uint16_t id, uint16_t mask);
* Both methods return a 64-bit integer, but you can safely cast it to a smaller
* integer type. /**
*/ * Define this function to be notified of incoming CAN messages
uint64_t ftcan_unmarshal_unsigned(const uint8_t **data, size_t num_bytes); */
int64_t ftcan_unmarshal_signed(const uint8_t **data, size_t num_bytes); void ftcan_msg_received_cb(uint16_t id, size_t datalen, const uint8_t *data);
/** /**
* Write num_bytes to a message (marshalled in network byte order). The pointer * Read num_bytes bytes from a message (unmarshalled network byte order). The
* is advanced by the corresponding number of bytes and returned. * msg pointer is advanced by the corresponding number of bytes.
*/ *
uint8_t *ftcan_marshal_unsigned(uint8_t *data, uint64_t val, size_t num_bytes); * Both methods return a 64-bit integer, but you can safely cast it to a smaller
uint8_t *ftcan_marshal_signed(uint8_t *data, int64_t val, size_t num_bytes); * integer type.
*/
#endif // CAN_HALAL_H uint64_t ftcan_unmarshal_unsigned(const uint8_t **data, size_t num_bytes);
int64_t ftcan_unmarshal_signed(const uint8_t **data, size_t num_bytes);
/**
* Write num_bytes to a message (marshalled in network byte order). The pointer
* is advanced by the corresponding number of bytes and returned.
*/
uint8_t *ftcan_marshal_unsigned(uint8_t *data, uint64_t val, size_t num_bytes);
uint8_t *ftcan_marshal_signed(uint8_t *data, int64_t val, size_t num_bytes);
#endif // CAN_HALAL_H

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24
Software/Core/Src/adc.c
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@ -0,0 +1,24 @@
#include <stdint.h>
#include "can-halal.h"
#include "stm32f0xx_hal_adc.h"
int16_t id = 0x200;
int32_t adcRes = 0;
void adc_init(ADC_HandleTypeDef* hadc){
HAL_ADCEx_Calibration_Start(hadc);
}
void adc_loop(ADC_HandleTypeDef* hadc){
HAL_ADC_Start_IT(hadc);
static uint8_t data[8];
ftcan_marshal_unsigned(data, adcRes, 4);
ftcan_transmit(id, data, sizeof(data));
HAL_Delay(5);
//testing gitignore
}
void HAL_ADC_ConvCpltCallback(ADC_HandleTypeDef* hadc){
adcRes = HAL_ADC_GetValue(hadc);
}

29
Software/Core/Src/main.c
View File

@ -21,7 +21,7 @@
/* Private includes ----------------------------------------------------------*/ /* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */ /* USER CODE BEGIN Includes */
#include "adc.h"
/* USER CODE END Includes */ /* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/ /* Private typedef -----------------------------------------------------------*/
@ -71,7 +71,6 @@ static void MX_TIM2_Init(void);
*/ */
int main(void) int main(void)
{ {
/* USER CODE BEGIN 1 */ /* USER CODE BEGIN 1 */
/* USER CODE END 1 */ /* USER CODE END 1 */
@ -98,7 +97,7 @@ int main(void)
MX_CAN_Init(); MX_CAN_Init();
MX_TIM2_Init(); MX_TIM2_Init();
/* USER CODE BEGIN 2 */ /* USER CODE BEGIN 2 */
adc_init(&hadc);
/* USER CODE END 2 */ /* USER CODE END 2 */
/* Infinite loop */ /* Infinite loop */
@ -108,7 +107,7 @@ int main(void)
/* USER CODE END WHILE */ /* USER CODE END WHILE */
/* USER CODE BEGIN 3 */ /* USER CODE BEGIN 3 */
ADCMeasureLooooop(); adc_loop(&hadc);
} }
/* USER CODE END 3 */ /* USER CODE END 3 */
} }
@ -125,14 +124,12 @@ void SystemClock_Config(void)
/** Initializes the RCC Oscillators according to the specified parameters /** Initializes the RCC Oscillators according to the specified parameters
* in the RCC_OscInitTypeDef structure. * in the RCC_OscInitTypeDef structure.
*/ */
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI14|RCC_OSCILLATORTYPE_HSE; RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI|RCC_OSCILLATORTYPE_HSI14;
RCC_OscInitStruct.HSEState = RCC_HSE_ON; RCC_OscInitStruct.HSIState = RCC_HSI_ON;
RCC_OscInitStruct.HSI14State = RCC_HSI14_ON; RCC_OscInitStruct.HSI14State = RCC_HSI14_ON;
RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
RCC_OscInitStruct.HSI14CalibrationValue = 16; RCC_OscInitStruct.HSI14CalibrationValue = 16;
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON; RCC_OscInitStruct.PLL.PLLState = RCC_PLL_NONE;
RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL4;
RCC_OscInitStruct.PLL.PREDIV = RCC_PREDIV_DIV3;
if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK) if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
{ {
Error_Handler(); Error_Handler();
@ -142,7 +139,7 @@ void SystemClock_Config(void)
*/ */
RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
|RCC_CLOCKTYPE_PCLK1; |RCC_CLOCKTYPE_PCLK1;
RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK; RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_HSI;
RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1; RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1; RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1;
@ -230,15 +227,15 @@ static void MX_CAN_Init(void)
/* USER CODE END CAN_Init 1 */ /* USER CODE END CAN_Init 1 */
hcan.Instance = CAN; hcan.Instance = CAN;
hcan.Init.Prescaler = 2; hcan.Init.Prescaler = 16;
hcan.Init.Mode = CAN_MODE_NORMAL; hcan.Init.Mode = CAN_MODE_NORMAL;
hcan.Init.SyncJumpWidth = CAN_SJW_1TQ; hcan.Init.SyncJumpWidth = CAN_SJW_1TQ;
hcan.Init.TimeSeg1 = CAN_BS1_13TQ; hcan.Init.TimeSeg1 = CAN_BS1_1TQ;
hcan.Init.TimeSeg2 = CAN_BS2_2TQ; hcan.Init.TimeSeg2 = CAN_BS2_1TQ;
hcan.Init.TimeTriggeredMode = DISABLE; hcan.Init.TimeTriggeredMode = DISABLE;
hcan.Init.AutoBusOff = ENABLE; hcan.Init.AutoBusOff = DISABLE;
hcan.Init.AutoWakeUp = DISABLE; hcan.Init.AutoWakeUp = DISABLE;
hcan.Init.AutoRetransmission = ENABLE; hcan.Init.AutoRetransmission = DISABLE;
hcan.Init.ReceiveFifoLocked = DISABLE; hcan.Init.ReceiveFifoLocked = DISABLE;
hcan.Init.TransmitFifoPriority = DISABLE; hcan.Init.TransmitFifoPriority = DISABLE;
if (HAL_CAN_Init(&hcan) != HAL_OK) if (HAL_CAN_Init(&hcan) != HAL_OK)

7
Software/Core/Src/stm32f0xx_hal_msp.c
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@ -20,6 +20,7 @@
/* Includes ------------------------------------------------------------------*/ /* Includes ------------------------------------------------------------------*/
#include "main.h" #include "main.h"
/* USER CODE BEGIN Includes */ /* USER CODE BEGIN Includes */
/* USER CODE END Includes */ /* USER CODE END Includes */
@ -64,7 +65,6 @@ void HAL_TIM_MspPostInit(TIM_HandleTypeDef *htim);
*/ */
void HAL_MspInit(void) void HAL_MspInit(void)
{ {
/* USER CODE BEGIN MspInit 0 */ /* USER CODE BEGIN MspInit 0 */
/* USER CODE END MspInit 0 */ /* USER CODE END MspInit 0 */
@ -106,9 +106,6 @@ void HAL_ADC_MspInit(ADC_HandleTypeDef* hadc)
GPIO_InitStruct.Pull = GPIO_NOPULL; GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct); HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/* ADC1 interrupt Init */
HAL_NVIC_SetPriority(ADC1_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(ADC1_IRQn);
/* USER CODE BEGIN ADC1_MspInit 1 */ /* USER CODE BEGIN ADC1_MspInit 1 */
/* USER CODE END ADC1_MspInit 1 */ /* USER CODE END ADC1_MspInit 1 */
@ -138,8 +135,6 @@ void HAL_ADC_MspDeInit(ADC_HandleTypeDef* hadc)
*/ */
HAL_GPIO_DeInit(GPIOA, GPIO_PIN_0|GPIO_PIN_1); HAL_GPIO_DeInit(GPIOA, GPIO_PIN_0|GPIO_PIN_1);
/* ADC1 interrupt DeInit */
HAL_NVIC_DisableIRQ(ADC1_IRQn);
/* USER CODE BEGIN ADC1_MspDeInit 1 */ /* USER CODE BEGIN ADC1_MspDeInit 1 */
/* USER CODE END ADC1_MspDeInit 1 */ /* USER CODE END ADC1_MspDeInit 1 */

16
Software/Core/Src/stm32f0xx_it.c
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@ -55,7 +55,7 @@
/* USER CODE END 0 */ /* USER CODE END 0 */
/* External variables --------------------------------------------------------*/ /* External variables --------------------------------------------------------*/
extern ADC_HandleTypeDef hadc;
/* USER CODE BEGIN EV */ /* USER CODE BEGIN EV */
/* USER CODE END EV */ /* USER CODE END EV */
@ -140,20 +140,6 @@ void SysTick_Handler(void)
/* please refer to the startup file (startup_stm32f0xx.s). */ /* please refer to the startup file (startup_stm32f0xx.s). */
/******************************************************************************/ /******************************************************************************/
/**
* @brief This function handles ADC interrupt.
*/
void ADC1_IRQHandler(void)
{
/* USER CODE BEGIN ADC1_IRQn 0 */
/* USER CODE END ADC1_IRQn 0 */
HAL_ADC_IRQHandler(&hadc);
/* USER CODE BEGIN ADC1_IRQn 1 */
/* USER CODE END ADC1_IRQn 1 */
}
/* USER CODE BEGIN 1 */ /* USER CODE BEGIN 1 */
/* USER CODE END 1 */ /* USER CODE END 1 */

176
Software/Core/Src/syscalls.c
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@ -1,176 +0,0 @@
/**
******************************************************************************
* @file syscalls.c
* @author Auto-generated by STM32CubeMX
* @brief Minimal System calls file
*
* For more information about which c-functions
* need which of these lowlevel functions
* please consult the Newlib libc-manual
******************************************************************************
* @attention
*
* Copyright (c) 2020-2024 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS.
*
******************************************************************************
*/
/* Includes */
#include <sys/stat.h>
#include <stdlib.h>
#include <errno.h>
#include <stdio.h>
#include <signal.h>
#include <time.h>
#include <sys/time.h>
#include <sys/times.h>
/* Variables */
extern int __io_putchar(int ch) __attribute__((weak));
extern int __io_getchar(void) __attribute__((weak));
char *__env[1] = { 0 };
char **environ = __env;
/* Functions */
void initialise_monitor_handles()
{
}
int _getpid(void)
{
return 1;
}
int _kill(int pid, int sig)
{
(void)pid;
(void)sig;
errno = EINVAL;
return -1;
}
void _exit (int status)
{
_kill(status, -1);
while (1) {} /* Make sure we hang here */
}
__attribute__((weak)) int _read(int file, char *ptr, int len)
{
(void)file;
int DataIdx;
for (DataIdx = 0; DataIdx < len; DataIdx++)
{
*ptr++ = __io_getchar();
}
return len;
}
__attribute__((weak)) int _write(int file, char *ptr, int len)
{
(void)file;
int DataIdx;
for (DataIdx = 0; DataIdx < len; DataIdx++)
{
__io_putchar(*ptr++);
}
return len;
}
int _close(int file)
{
(void)file;
return -1;
}
int _fstat(int file, struct stat *st)
{
(void)file;
st->st_mode = S_IFCHR;
return 0;
}
int _isatty(int file)
{
(void)file;
return 1;
}
int _lseek(int file, int ptr, int dir)
{
(void)file;
(void)ptr;
(void)dir;
return 0;
}
int _open(char *path, int flags, ...)
{
(void)path;
(void)flags;
/* Pretend like we always fail */
return -1;
}
int _wait(int *status)
{
(void)status;
errno = ECHILD;
return -1;
}
int _unlink(char *name)
{
(void)name;
errno = ENOENT;
return -1;
}
int _times(struct tms *buf)
{
(void)buf;
return -1;
}
int _stat(char *file, struct stat *st)
{
(void)file;
st->st_mode = S_IFCHR;
return 0;
}
int _link(char *old, char *new)
{
(void)old;
(void)new;
errno = EMLINK;
return -1;
}
int _fork(void)
{
errno = EAGAIN;
return -1;
}
int _execve(char *name, char **argv, char **env)
{
(void)name;
(void)argv;
(void)env;
errno = ENOMEM;
return -1;
}

79
Software/Core/Src/sysmem.c
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@ -1,79 +0,0 @@
/**
******************************************************************************
* @file sysmem.c
* @author Generated by STM32CubeMX
* @brief System Memory calls file
*
* For more information about which C functions
* need which of these lowlevel functions
* please consult the newlib libc manual
******************************************************************************
* @attention
*
* Copyright (c) 2024 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS.
*
******************************************************************************
*/
/* Includes */
#include <errno.h>
#include <stdint.h>
/**
* Pointer to the current high watermark of the heap usage
*/
static uint8_t *__sbrk_heap_end = NULL;
/**
* @brief _sbrk() allocates memory to the newlib heap and is used by malloc
* and others from the C library
*
* @verbatim
* ############################################################################
* # .data # .bss # newlib heap # MSP stack #
* # # # # Reserved by _Min_Stack_Size #
* ############################################################################
* ^-- RAM start ^-- _end _estack, RAM end --^
* @endverbatim
*
* This implementation starts allocating at the '_end' linker symbol
* The '_Min_Stack_Size' linker symbol reserves a memory for the MSP stack
* The implementation considers '_estack' linker symbol to be RAM end
* NOTE: If the MSP stack, at any point during execution, grows larger than the
* reserved size, please increase the '_Min_Stack_Size'.
*
* @param incr Memory size
* @return Pointer to allocated memory
*/
void *_sbrk(ptrdiff_t incr)
{
extern uint8_t _end; /* Symbol defined in the linker script */
extern uint8_t _estack; /* Symbol defined in the linker script */
extern uint32_t _Min_Stack_Size; /* Symbol defined in the linker script */
const uint32_t stack_limit = (uint32_t)&_estack - (uint32_t)&_Min_Stack_Size;
const uint8_t *max_heap = (uint8_t *)stack_limit;
uint8_t *prev_heap_end;
/* Initialize heap end at first call */
if (NULL == __sbrk_heap_end)
{
__sbrk_heap_end = &_end;
}
/* Protect heap from growing into the reserved MSP stack */
if (__sbrk_heap_end + incr > max_heap)
{
errno = ENOMEM;
return (void *)-1;
}
prev_heap_end = __sbrk_heap_end;
__sbrk_heap_end += incr;
return (void *)prev_heap_end;
}