Add CAN send logic and DIO mapping

Software/Core/Inc/adc.h

@@ -35,7 +35,7 @@ extern "C" {
 extern ADC_HandleTypeDef hadc1;
 
 /* USER CODE BEGIN Private defines */
-
+#define NUM_ADC_PINS 16
 /* USER CODE END Private defines */
 
 void MX_ADC1_Init(void);

Software/Core/Inc/gpio.h

@@ -34,6 +34,20 @@ extern "C" {
 
 /* USER CODE BEGIN Private defines */
 
+#define NUM_DIO_PINS 6
+
+static struct {
+  GPIO_TypeDef* port;
+  uint16_t pin;
+} DIO_PIN_MAP[NUM_DIO_PINS] = {
+/* 0 */ { .port = D1_IC_GPIO_Port,  .pin = D1_IC_Pin},
+/* 1 */ { .port = D2_GPIO_Port,     .pin = D2_Pin},
+/* 2 */ { .port = D3_GPIO_Port,     .pin = D3_Pin},
+/* 3 */ { .port = D4_IC_GPIO_Port,  .pin = D4_IC_Pin},
+/* 4 */ { .port = D5_GPIO_Port,     .pin = D5_Pin},
+/* 5 */ { .port = D6_GPIO_Port,     .pin = D6_Pin},
+};
+
 /* USER CODE END Private defines */
 
 void MX_GPIO_Init(void);

Software/Core/Inc/mappings_o.h

@@ -3,7 +3,7 @@
 
 // CHOOSE ONE, comment the other or comment both and use -D SN_FRONT
 #define SN_FRONT
-#define SN_REAR
+//#define SN_REAR
 
 #include <stdint.h>
 
@@ -72,11 +72,12 @@ typedef struct {
     can_signal_t signals[9];
 } can_pkt_t;
 
+#define NUM_TX_PKT 4
 #define ADQ (1<<12)
 
 #ifdef SN_FRONT
 
-static can_pkt_t CAN_SIGNAL_MAP[4] {
+static can_pkt_t CAN_SIGNAL_MAP[NUM_TX_PKT] = {
     {
         .can_id = 0x0D1, .dlc = 3, .num_signals = 7, .period = 100,  .signals = {
             { .type = DIN, .channel = R5, .start =  0, .length =  1, .factor = 1., .name = "LS L" },
@@ -117,7 +118,7 @@ static can_pkt_t CAN_SIGNAL_MAP[4] {
 
 #ifdef SN_REAR
 
-static can_pkt_t CAN_SIGNAL_MAP[4] {
+static can_pkt_t CAN_SIGNAL_MAP[NUM_TX_PKT] = {
     {
         .can_id = 0x0D2, .dlc = 7, .num_signals = 9, .period = 100,  .signals = {
             { .type = DIN, .channel = L9, .start =  0, .length =  1, .factor = 1., .name = "ExtTSOn" },

Software/Core/Src/main.c

@@ -27,7 +27,7 @@
 
 /* Private includes ----------------------------------------------------------*/
 /* USER CODE BEGIN Includes */
-
+#include "mappings_o.h"
 /* USER CODE END Includes */
 
 /* Private typedef -----------------------------------------------------------*/
@@ -49,7 +49,8 @@
 
 /* USER CODE BEGIN PV */
 /* Declare buffer in D1 domain SRAM */
-static uint16_t adc_values[16];
+static uint16_t adc_values[NUM_ADC_PINS];
+static uint8_t  dio_values[NUM_DIO_PINS];
 /* USER CODE END PV */
 
 /* Private function prototypes -----------------------------------------------*/
@@ -108,31 +109,106 @@ int main(void)
   /* USER CODE BEGIN 2 */
   
   if (HAL_ADCEx_Calibration_Start(&hadc1, ADC_CALIB_OFFSET, ADC_SINGLE_ENDED) != HAL_OK)
-  {
     Error_Handler();
-  }
 
-  if (HAL_ADC_Start_DMA(&hadc1, (uint32_t*)adc_values, 16) != HAL_OK)
+  if (HAL_ADC_Start_DMA(&hadc1, (uint32_t*)adc_values, NUM_ADC_PINS) != HAL_OK)
-  {
     Error_Handler();
-  }
 
   HAL_TIM_Base_Start(&htim6);
 
+  // CAN TX PREP
+
+  FDCAN_TxHeaderTypeDef txHeader;
+
+  // Prep the tx frame
+  txHeader.ErrorStateIndicator = FDCAN_ESI_PASSIVE;
+  txHeader.BitRateSwitch = FDCAN_BRS_OFF;
+  txHeader.FDFormat = FDCAN_CLASSIC_CAN;
+  txHeader.TxEventFifoControl = FDCAN_NO_TX_EVENTS;
+  txHeader.IdType = FDCAN_STANDARD_ID;
+  txHeader.Identifier = 0x0;
+  txHeader.TxFrameType = FDCAN_DATA_FRAME;
+  txHeader.DataLength = 8;
+
+  if (HAL_FDCAN_ActivateNotification(&hfdcan1, FDCAN_IT_RX_FIFO0_NEW_MESSAGE, 0) != HAL_OK)
+    Error_Handler();
+
+  if (HAL_FDCAN_ConfigGlobalFilter(&hfdcan1, FDCAN_REJECT, FDCAN_REJECT,
+    FDCAN_REJECT_REMOTE, FDCAN_REJECT_REMOTE) != HAL_OK)
+    Error_Handler();
+
+  // TODO: Add Filters and Rx Handler
+
+  if (HAL_FDCAN_Start(&hfdcan1) != HAL_OK)
+    Error_Handler();
 
   /* USER CODE END 2 */
 
   /* Infinite loop */
   /* USER CODE BEGIN WHILE */
-  while (1)
+  for (unsigned int mscounter = 0; 1; mscounter++)
   {
     /* USER CODE END WHILE */
 
     /* USER CODE BEGIN 3 */
-    HAL_GPIO_WritePin(STATUS_G_GPIO_Port, STATUS_G_Pin, GPIO_PIN_SET);
+    for (int di = 0; di < NUM_DIO_PINS; di++) {
-    HAL_Delay(500);
+      dio_values[di] = HAL_GPIO_ReadPin(
-    HAL_GPIO_WritePin(STATUS_G_GPIO_Port, STATUS_G_Pin, GPIO_PIN_RESET);
+        DIO_PIN_MAP[di].port,
-    HAL_Delay(500);
+        DIO_PIN_MAP[di].pin
+      );
+    }
+
+    for (int pi = 0; pi < NUM_TX_PKT; pi++) {
+
+      can_pkt_t* pktinfo = &(CAN_SIGNAL_MAP[pi]);
+
+      if (mscounter % pktinfo->period == 0) {
+
+        txHeader.Identifier = pktinfo->can_id;
+        txHeader.DataLength = pktinfo->dlc;
+        uint64_t txData = 0;
+
+        for (int si = 0; si < pktinfo->num_signals; si++) {
+
+          can_signal_t* signal = &(pktinfo->signals[si]);
+          uint16_t value = 0;
+          switch (signal->type) {
+            case DIN:
+              value = dio_values[signal->channel];
+              break;
+
+            case AIN:
+              value = signal->factor * adc_values[signal->channel];
+              break;
+
+            case FIN:
+              /* NYI */
+              break;
+
+            default:
+              break;
+          }
+
+          uint16_t mask = 0xFFFF >> (16 - signal->length);
+          txData |= ((uint64_t) (value & mask)) << (signal->start);
+
+        }
+
+        if (HAL_FDCAN_AddMessageToTxFifoQ(&hfdcan1, &txHeader, (uint8_t*) &txData) != HAL_OK)
+          Error_Handler();
+
+      }
+
+      if (mscounter >= 500) {
+        mscounter = 0;
+        HAL_GPIO_TogglePin(STATUS_G_GPIO_Port, STATUS_G_Pin);
+      }
+
+    }
+
+    // TODO: Move all this into a 1kHz timer callback!
+    HAL_Delay(1);
+
   }
   /* USER CODE END 3 */
 }
@@ -229,9 +305,7 @@ void Error_Handler(void)
   /* User can add his own implementation to report the HAL error return state */
   HAL_GPIO_WritePin(STATUS_R_GPIO_Port, STATUS_R_Pin, GPIO_PIN_SET);
   __disable_irq();
-  while (1)
+  while (1);
-  {
-  }
   /* USER CODE END Error_Handler_Debug */
 }