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added channel control and can communication (both are working)

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This commit is contained in:
Janek Herm
2025-03-12 19:56:15 +01:00
parent 35273b074c
commit f57eb4ccf4
151 changed files with 25182 additions and 124 deletions
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48
Software/Code/Core/Src/can_communication.c Normal file
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@ -0,0 +1,48 @@
/*
* can_communication.c
*
* Created on: Mar 12, 2025
* Author: janek
*/
#include "can_communication.h"
#include "channel_control.h"
//#include "current_monitoring.h"
rx_status_frame rxstate = {};
volatile uint8_t canmsg_received = 0;
extern enable_gpios update_ports;
extern uint32_t lastheartbeat;
extern int inhibit_SDC;
void can_init(CAN_HandleTypeDef* hcan){
ftcan_init(hcan);
ftcan_add_filter(0x00, 0x00); // no filter
}
void can_sendloop(){
//static uint8_t additionaltxcounter = 0;
uint8_t status_data[3];
status_data[0] = update_ports.porta.porta;
status_data[1] = update_ports.portb.portb;
status_data[2] = !inhibit_SDC;
ftcan_transmit(TX_STATUS_MSG_ID, status_data, 3);
// TODO: implement transmission of current and voltage measurements
}
void ftcan_msg_received_cb(uint16_t id, size_t datalen, const uint8_t* data){
canmsg_received = 1;
if((id == RX_STATUS_MSG_ID) && (datalen == 3)){
rxstate.iostatus.porta.porta = data[0];
rxstate.iostatus.portb.portb = data[1];
rxstate.checksum = data[2];
}
if (id == RX_STATUS_HEARTBEAT){
lastheartbeat = HAL_GetTick();
inhibit_SDC = 0;
}
}

273
Software/Code/Core/Src/can_halal.c Normal file
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@ -0,0 +1,273 @@
#include "can_halal.h"
#include <string.h>
#if defined(FTCAN_IS_BXCAN)
static CAN_HandleTypeDef *hcan;
HAL_StatusTypeDef ftcan_init(CAN_HandleTypeDef *handle) {
hcan = handle;
HAL_StatusTypeDef status =
HAL_CAN_ActivateNotification(hcan, CAN_IT_RX_FIFO0_MSG_PENDING);
if (status != HAL_OK) {
return status;
}
return HAL_CAN_Start(hcan);
}
HAL_StatusTypeDef ftcan_transmit(uint16_t id, const uint8_t *data,
size_t datalen) {
static CAN_TxHeaderTypeDef header;
header.StdId = id;
header.IDE = CAN_ID_STD;
header.RTR = CAN_RTR_DATA;
header.DLC = datalen;
uint32_t mailbox;
return HAL_CAN_AddTxMessage(hcan, &header, data, &mailbox);
}
HAL_StatusTypeDef ftcan_add_filter(uint16_t id, uint16_t mask) {
static uint32_t next_filter_no = 0;
static CAN_FilterTypeDef filter;
if (next_filter_no % 2 == 0) {
filter.FilterIdHigh = id << 5;
filter.FilterMaskIdHigh = mask << 5;
filter.FilterIdLow = id << 5;
filter.FilterMaskIdLow = mask << 5;
} else {
// Leave high filter untouched from the last configuration
filter.FilterIdLow = id << 5;
filter.FilterMaskIdLow = mask << 5;
}
filter.FilterFIFOAssignment = CAN_FILTER_FIFO0;
filter.FilterBank = next_filter_no / 2;
if (filter.FilterBank > FTCAN_NUM_FILTERS + 1) {
return HAL_ERROR;
}
filter.FilterMode = CAN_FILTERMODE_IDMASK;
filter.FilterScale = CAN_FILTERSCALE_16BIT;
filter.FilterActivation = CAN_FILTER_ENABLE;
// Disable slave filters
// TODO: Some STM32 have multiple CAN peripherals, and one uses the slave
// filter bank
filter.SlaveStartFilterBank = FTCAN_NUM_FILTERS;
HAL_StatusTypeDef status = HAL_CAN_ConfigFilter(hcan, &filter);
if (status == HAL_OK) {
next_filter_no++;
}
return status;
}
void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *handle) {
if (handle != hcan) {
return;
}
CAN_RxHeaderTypeDef header;
uint8_t data[8];
if (HAL_CAN_GetRxMessage(hcan, CAN_RX_FIFO0, &header, data) != HAL_OK) {
return;
}
if (header.IDE != CAN_ID_STD) {
return;
}
ftcan_msg_received_cb(header.StdId, header.DLC, data);
}
#elif defined(FTCAN_IS_FDCAN)
static FDCAN_HandleTypeDef *hcan;
HAL_StatusTypeDef ftcan_init(FDCAN_HandleTypeDef *handle) {
hcan = handle;
HAL_StatusTypeDef status =
HAL_FDCAN_ActivateNotification(hcan, FDCAN_IT_RX_FIFO0_NEW_MESSAGE, 0);
if (status != HAL_OK) {
return status;
}
// Reject non-matching messages
status =
HAL_FDCAN_ConfigGlobalFilter(hcan, FDCAN_REJECT, FDCAN_REJECT,
FDCAN_REJECT_REMOTE, FDCAN_REJECT_REMOTE);
if (status != HAL_OK) {
return status;
}
return HAL_FDCAN_Start(hcan);
}
HAL_StatusTypeDef ftcan_transmit(uint16_t id, const uint8_t *data,
size_t datalen) {
static FDCAN_TxHeaderTypeDef header;
header.Identifier = id;
header.IdType = FDCAN_STANDARD_ID;
header.TxFrameType = FDCAN_DATA_FRAME;
switch (datalen) {
case 0:
header.DataLength = FDCAN_DLC_BYTES_0;
break;
case 1:
header.DataLength = FDCAN_DLC_BYTES_1;
break;
case 2:
header.DataLength = FDCAN_DLC_BYTES_2;
break;
case 3:
header.DataLength = FDCAN_DLC_BYTES_3;
break;
case 4:
header.DataLength = FDCAN_DLC_BYTES_4;
break;
case 5:
header.DataLength = FDCAN_DLC_BYTES_5;
break;
case 6:
header.DataLength = FDCAN_DLC_BYTES_6;
break;
case 7:
header.DataLength = FDCAN_DLC_BYTES_7;
break;
case 8:
default:
header.DataLength = FDCAN_DLC_BYTES_8;
break;
}
header.ErrorStateIndicator = FDCAN_ESI_PASSIVE;
header.BitRateSwitch = FDCAN_BRS_OFF;
header.FDFormat = FDCAN_CLASSIC_CAN;
header.TxEventFifoControl = FDCAN_NO_TX_EVENTS;
// HAL_FDCAN_AddMessageToTxFifoQ doesn't modify the data, but it's not marked
// as const for some reason.
uint8_t *data_nonconst = (uint8_t *)data;
return HAL_FDCAN_AddMessageToTxFifoQ(hcan, &header, data_nonconst);
}
HAL_StatusTypeDef ftcan_add_filter(uint16_t id, uint16_t mask) {
static uint32_t next_filter_no = 0;
static FDCAN_FilterTypeDef filter;
filter.IdType = FDCAN_STANDARD_ID;
filter.FilterIndex = next_filter_no;
if (filter.FilterIndex > FTCAN_NUM_FILTERS + 1) {
return HAL_ERROR;
}
filter.FilterType = FDCAN_FILTER_MASK;
filter.FilterConfig = FDCAN_FILTER_TO_RXFIFO0;
filter.FilterID1 = id;
filter.FilterID2 = mask;
HAL_StatusTypeDef status = HAL_FDCAN_ConfigFilter(hcan, &filter);
if (status == HAL_OK) {
next_filter_no++;
}
return status;
}
void HAL_FDCAN_RxFifo0Callback(FDCAN_HandleTypeDef *handle,
uint32_t RxFifo0ITs) {
if (handle != hcan || (RxFifo0ITs & FDCAN_IT_RX_FIFO0_NEW_MESSAGE) == RESET) {
return;
}
static FDCAN_RxHeaderTypeDef header;
static uint8_t data[8];
if (HAL_FDCAN_GetRxMessage(hcan, FDCAN_RX_FIFO0, &header, data) != HAL_OK) {
return;
}
if (header.FDFormat != FDCAN_CLASSIC_CAN ||
header.RxFrameType != FDCAN_DATA_FRAME ||
header.IdType != FDCAN_STANDARD_ID) {
return;
}
size_t datalen;
switch (header.DataLength) {
case FDCAN_DLC_BYTES_0:
datalen = 0;
break;
case FDCAN_DLC_BYTES_1:
datalen = 1;
break;
case FDCAN_DLC_BYTES_2:
datalen = 2;
break;
case FDCAN_DLC_BYTES_3:
datalen = 3;
break;
case FDCAN_DLC_BYTES_4:
datalen = 4;
break;
case FDCAN_DLC_BYTES_5:
datalen = 5;
break;
case FDCAN_DLC_BYTES_6:
datalen = 6;
break;
case FDCAN_DLC_BYTES_7:
datalen = 7;
break;
case FDCAN_DLC_BYTES_8:
datalen = 8;
break;
default:
return;
}
ftcan_msg_received_cb(header.Identifier, datalen, data);
}
#endif
__weak void ftcan_msg_received_cb(uint16_t id, size_t datalen,
const uint8_t *data) {}
uint64_t ftcan_unmarshal_unsigned(const uint8_t **data_ptr, size_t num_bytes) {
if (num_bytes > 8) {
num_bytes = 8;
}
const uint8_t *data = *data_ptr;
uint64_t result = 0;
for (size_t i = 0; i < num_bytes; i++) {
result <<= 8;
result |= data[i];
}
*data_ptr += num_bytes;
return result;
}
int64_t ftcan_unmarshal_signed(const uint8_t **data_ptr, size_t num_bytes) {
if (num_bytes > 8) {
num_bytes = 8;
}
uint64_t result_unsigned = ftcan_unmarshal_unsigned(data_ptr, num_bytes);
// Sign extend by shifting left, then copying to a signed int and shifting
// back to the right
size_t diff_to_64 = 64 - num_bytes * 8;
result_unsigned <<= diff_to_64;
int64_t result;
memcpy(&result, &result_unsigned, 8);
return result >> diff_to_64;
}
uint8_t *ftcan_marshal_unsigned(uint8_t *data, uint64_t val, size_t num_bytes) {
if (num_bytes > 8) {
num_bytes = 8;
}
for (int i = num_bytes - 1; i >= 0; i--) {
data[i] = val & 0xFF;
val >>= 8;
}
return data + 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);
}

53
Software/Code/Core/Src/channel_control.c Normal file
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@ -0,0 +1,53 @@
/*
* channel_control.c
*
* Created on: Mar 10, 2025
* Author: janek
*/
#include "channel_control.h"
#include "main.h"
volatile enable_gpios enable;
extern int inhibit_SDC;
extern int prev_epsc_state;
void ChannelControl_init(){
enable.porta.porta = 0;
enable.portb.portb = 0;
enable.portb.alwayson = 1;
ChannelControl_UpdateGPIOs(enable);
}
void ChannelControl_UpdateGPIOs(enable_gpios UpdatePorts){
UpdatePorts.portb.alwayson = 1;
if (inhibit_SDC == 1){
UpdatePorts.portb.sdc = 0;
HAL_GPIO_WritePin(LED1_GPIO_Port, LED1_Pin, 1);
}
HAL_GPIO_WritePin(IN1_GPIO_Port, IN1_Pin, (GPIO_PinState)UpdatePorts.porta.acc_cooling); // Acc-Cooling
HAL_GPIO_WritePin(IN2_GPIO_Port, IN2_Pin, (GPIO_PinState)UpdatePorts.porta.ts_cooling); // TS-Cooling
HAL_GPIO_WritePin(IN3_GPIO_Port, IN3_Pin, (GPIO_PinState)UpdatePorts.porta.drs); // DRS
HAL_GPIO_WritePin(IN4_GPIO_Port, IN4_Pin, (GPIO_PinState)UpdatePorts.porta.acu); // ACU
if (prev_epsc_state == 0 && ((UpdatePorts.porta.porta >> 4) & 1) == 1){ // will be replaced by precharge
HAL_GPIO_WritePin(LED3_GPIO_Port, LED3_Pin, 1); // precharge activate
HAL_Delay(2000); // contiuosly read precharge voltage
HAL_GPIO_WritePin(IN5_GPIO_Port, IN5_Pin, (GPIO_PinState)UpdatePorts.porta.epsc); // if precharge voltage > 95% 24V enable PROFET
HAL_Delay(100); // after few ms disengage precharge
HAL_GPIO_WritePin(LED3_GPIO_Port, LED3_Pin, 0);
prev_epsc_state = UpdatePorts.porta.epsc;
}
else {
HAL_GPIO_WritePin(IN5_GPIO_Port, IN5_Pin, (GPIO_PinState)UpdatePorts.porta.epsc);
prev_epsc_state = UpdatePorts.porta.epsc;
}
HAL_GPIO_WritePin(IN6_GPIO_Port, IN6_Pin, (GPIO_PinState)UpdatePorts.porta.inverter); // inverter
HAL_GPIO_WritePin(IN7_GPIO_Port, IN7_Pin, (GPIO_PinState)UpdatePorts.porta.lidar); // lidar
HAL_GPIO_WritePin(IN8_GPIO_Port, IN8_Pin, (GPIO_PinState)UpdatePorts.porta.misc); // MISC
HAL_GPIO_WritePin(IN9_GPIO_Port, IN9_Pin, (GPIO_PinState)UpdatePorts.portb.alwayson); // always on -> standardmäßig auf HIGH forcen
HAL_GPIO_WritePin(IN10_GPIO_Port, IN10_Pin, (GPIO_PinState)UpdatePorts.portb.sdc); // SDC -> muss anders controlled werden
HAL_GPIO_WritePin(IN11_GPIO_Port, IN11_Pin, (GPIO_PinState)UpdatePorts.portb.ebs1); // EBS 1
HAL_GPIO_WritePin(IN12_GPIO_Port, IN12_Pin, (GPIO_PinState)UpdatePorts.portb.ebs2); // EBS 2
HAL_GPIO_WritePin(IN13_GPIO_Port, IN13_Pin, (GPIO_PinState)UpdatePorts.portb.ebs3); // EBS 3
}

63
Software/Code/Core/Src/main.c
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@ -21,7 +21,8 @@
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "can_communication.h"
#include "channel_control.h"
/* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/
@ -70,7 +71,15 @@ static void MX_TIM6_Init(void);
/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
// adc buffer
extern rx_status_frame rxstate;
extern volatile uint8_t canmsg_received;
volatile enable_gpios update_ports;
uint32_t lastheartbeat;
int inhibit_SDC; // wenn =1 ist es unmoeglich den SDC zu schliessen
volatile int prev_epsc_state; // used for precharge
/* USER CODE END 0 */
/**
@ -109,6 +118,38 @@ int main(void)
MX_UART4_Init();
MX_TIM6_Init();
/* USER CODE BEGIN 2 */
// begin start-up animation
HAL_GPIO_WritePin(LED1_GPIO_Port, LED1_Pin, GPIO_PIN_SET);
HAL_Delay(100);
HAL_GPIO_WritePin(LED1_GPIO_Port, LED1_Pin, GPIO_PIN_RESET);
HAL_GPIO_WritePin(LED2_GPIO_Port, LED2_Pin, GPIO_PIN_SET);
HAL_Delay(100);
HAL_GPIO_WritePin(LED2_GPIO_Port, LED2_Pin, GPIO_PIN_RESET);
HAL_GPIO_WritePin(LED3_GPIO_Port, LED3_Pin, GPIO_PIN_SET);
HAL_Delay(100);
HAL_GPIO_WritePin(LED3_GPIO_Port, LED3_Pin, GPIO_PIN_RESET);
HAL_GPIO_WritePin(LED4_GPIO_Port, LED4_Pin, GPIO_PIN_SET);
HAL_Delay(100);
HAL_GPIO_WritePin(LED4_GPIO_Port, LED3_Pin, GPIO_PIN_SET);
HAL_Delay(100);
HAL_GPIO_WritePin(LED2_GPIO_Port, LED2_Pin, GPIO_PIN_SET);
HAL_Delay(100);
HAL_GPIO_WritePin(LED1_GPIO_Port, LED1_Pin, GPIO_PIN_SET);
HAL_Delay(100);
HAL_GPIO_WritePin(LED1_GPIO_Port, LED1_Pin, GPIO_PIN_RESET);
HAL_GPIO_WritePin(LED2_GPIO_Port, LED2_Pin, GPIO_PIN_RESET);
HAL_GPIO_WritePin(LED3_GPIO_Port, LED3_Pin, GPIO_PIN_RESET);
HAL_GPIO_WritePin(LED4_GPIO_Port, LED4_Pin, GPIO_PIN_RESET);
// end start-up animation
HAL_GPIO_WritePin(LED4_GPIO_Port, LED4_Pin, GPIO_PIN_SET); // indicates running STM
ChannelControl_init();
can_init(&hcan);
// currentMonitor initialisieren
uint32_t lasttick = HAL_GetTick(); // Zeit in ms seit Start
inhibit_SDC = 0;
/* USER CODE END 2 */
@ -119,6 +160,18 @@ int main(void)
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
if (canmsg_received){
canmsg_received = 0;
update_ports = rxstate.iostatus;
}
if ((HAL_GetTick() - lasttick) > 100u){
lasttick = HAL_GetTick();
can_sendloop();
}
//watchdog (auch Status-LED an schalten)
HAL_GPIO_WritePin(LED1_GPIO_Port, LED1_Pin, (GPIO_PinState)!update_ports.portb.sdc); // indicates open SDC
// overcurrent check (wenn funktioniert, LED schalten)
ChannelControl_UpdateGPIOs(update_ports);
}
/* USER CODE END 3 */
}
@ -406,7 +459,7 @@ static void MX_CAN_Init(void)
/* USER CODE END CAN_Init 1 */
hcan.Instance = CAN;
hcan.Init.Prescaler = 1;
hcan.Init.Prescaler = 2;
hcan.Init.Mode = CAN_MODE_NORMAL;
hcan.Init.SyncJumpWidth = CAN_SJW_1TQ;
hcan.Init.TimeSeg1 = CAN_BS1_13TQ;
@ -538,7 +591,7 @@ static void MX_GPIO_Init(void)
__HAL_RCC_GPIOB_CLK_ENABLE();
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOB, IN11_Pin|IN12_Pin|IN13_Pin|IN9_Pin
HAL_GPIO_WritePin(GPIOB, IN12_Pin|IN11_Pin|IN13_Pin|IN9_Pin
|IN3_Pin|IN8_Pin|IN5_Pin|IN4_Pin
|DSEL0_Pin|DSEL1_Pin|PC_EN_Pin|IN7_Pin
|IN10_Pin, GPIO_PIN_RESET);
@ -549,11 +602,11 @@ static void MX_GPIO_Init(void)
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOA, IN2_Pin|IN1_Pin|IN6_Pin, GPIO_PIN_RESET);
/*Configure GPIO pins : IN11_Pin IN12_Pin IN13_Pin IN9_Pin
/*Configure GPIO pins : IN12_Pin IN11_Pin IN13_Pin IN9_Pin
IN3_Pin IN8_Pin IN5_Pin IN4_Pin
DSEL0_Pin DSEL1_Pin PC_EN_Pin IN7_Pin
IN10_Pin */
GPIO_InitStruct.Pin = IN11_Pin|IN12_Pin|IN13_Pin|IN9_Pin
GPIO_InitStruct.Pin = IN12_Pin|IN11_Pin|IN13_Pin|IN9_Pin
|IN3_Pin|IN8_Pin|IN5_Pin|IN4_Pin
|DSEL0_Pin|DSEL1_Pin|PC_EN_Pin|IN7_Pin
|IN10_Pin;

8
Software/Code/Core/Src/stm32f3xx_hal_msp.c
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@ -334,6 +334,11 @@ void HAL_CAN_MspInit(CAN_HandleTypeDef* hcan)
GPIO_InitStruct.Alternate = GPIO_AF9_CAN;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/* CAN interrupt Init */
HAL_NVIC_SetPriority(USB_LP_CAN_RX0_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(USB_LP_CAN_RX0_IRQn);
HAL_NVIC_SetPriority(CAN_RX1_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(CAN_RX1_IRQn);
/* USER CODE BEGIN CAN_MspInit 1 */
/* USER CODE END CAN_MspInit 1 */
@ -363,6 +368,9 @@ void HAL_CAN_MspDeInit(CAN_HandleTypeDef* hcan)
*/
HAL_GPIO_DeInit(GPIOA, GPIO_PIN_11|GPIO_PIN_12);
/* CAN interrupt DeInit */
HAL_NVIC_DisableIRQ(USB_LP_CAN_RX0_IRQn);
HAL_NVIC_DisableIRQ(CAN_RX1_IRQn);
/* USER CODE BEGIN CAN_MspDeInit 1 */
/* USER CODE END CAN_MspDeInit 1 */

29
Software/Code/Core/Src/stm32f3xx_it.c
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@ -59,6 +59,7 @@ extern DMA_HandleTypeDef hdma_adc1;
extern DMA_HandleTypeDef hdma_adc2;
extern ADC_HandleTypeDef hadc1;
extern ADC_HandleTypeDef hadc2;
extern CAN_HandleTypeDef hcan;
extern TIM_HandleTypeDef htim6;
/* USER CODE BEGIN EV */
@ -231,6 +232,34 @@ void ADC1_2_IRQHandler(void)
/* USER CODE END ADC1_2_IRQn 1 */
}
/**
* @brief This function handles USB low priority or CAN_RX0 interrupts.
*/
void USB_LP_CAN_RX0_IRQHandler(void)
{
/* USER CODE BEGIN USB_LP_CAN_RX0_IRQn 0 */
/* USER CODE END USB_LP_CAN_RX0_IRQn 0 */
HAL_CAN_IRQHandler(&hcan);
/* USER CODE BEGIN USB_LP_CAN_RX0_IRQn 1 */
/* USER CODE END USB_LP_CAN_RX0_IRQn 1 */
}
/**
* @brief This function handles CAN RX1 interrupt.
*/
void CAN_RX1_IRQHandler(void)
{
/* USER CODE BEGIN CAN_RX1_IRQn 0 */
/* USER CODE END CAN_RX1_IRQn 0 */
HAL_CAN_IRQHandler(&hcan);
/* USER CODE BEGIN CAN_RX1_IRQn 1 */
/* USER CODE END CAN_RX1_IRQn 1 */
}
/**
* @brief This function handles Timer 6 interrupt and DAC underrun interrupts.
*/