Add CAN send logic and DIO mapping
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eb994ad693
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E7484A06E99DAEF1
@ -35,7 +35,7 @@ extern "C" {
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extern ADC_HandleTypeDef hadc1;
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extern ADC_HandleTypeDef hadc1;
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/* USER CODE BEGIN Private defines */
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/* USER CODE BEGIN Private defines */
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#define NUM_ADC_PINS 16
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/* USER CODE END Private defines */
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/* USER CODE END Private defines */
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void MX_ADC1_Init(void);
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void MX_ADC1_Init(void);
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@ -1,95 +1,176 @@
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#ifndef MAPPINGS_H
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#ifndef MAPPINGS_H
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#define MAPPINGS_H
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#define MAPPINGS_H
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#define CURRENT_NODE FRONT_NODE
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// CHOOSE ONE, comment the other or comment both and use -D SN_FRONT
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#define SN_FRONT
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//#define SN_REAR
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#define IGRID_L1 1
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#include <stdint.h>
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#define IGRID_L2 2
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#include "main.h"
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#define IGRID_L3 3
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#define IGRID_L4 4
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#define IGRID_L5 5
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#define IGRID_L6 6
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#define IGRID_L7 7
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#define IGRID_L8 8
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#define IGRID_L9 9
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#define IGRID_L10 10
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#define IGRID_L11 11
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#define IGRID_L12 12
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#define IGRID_L13 13
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#define IGRID_L14 14
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#define IGRID_L15 15
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#define IGRID_L16 16
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#define IGRID_R1 17
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#define NUM_DIO_PINS 6
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#define IGRID_R2 18
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#define IGRID_R3 19
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#define IGRID_R4 20
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#define IGRID_R5 21
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#define IGRID_R6 22
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#define IGRID_R7 23
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#define IGRID_R8 24
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#define IGRID_R9 25
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#define IGRID_R10 26
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#define IGRID_R11 27
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#define IGRID_R12 28
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#define IGRID_R13 29
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#define IGRID_R14 30
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#define IGRID_R15 31
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#define IGRID_R16 32
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//
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static struct {
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// Node agnostic mappings:
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GPIO_TypeDef* port;
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//
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uint16_t pin;
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} DIO_PIN_MAP[NUM_DIO_PINS] = {
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/* 0 */ { .port = D1_IC_GPIO_Port, .pin = D1_IC_Pin},
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/* 1 */ { .port = D2_GPIO_Port, .pin = D2_Pin},
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/* 2 */ { .port = D3_GPIO_Port, .pin = D3_Pin},
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/* 3 */ { .port = D4_IC_GPIO_Port, .pin = D4_IC_Pin},
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/* 4 */ { .port = D5_GPIO_Port, .pin = D5_Pin},
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/* 5 */ { .port = D6_GPIO_Port, .pin = D6_Pin},
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};
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// NUR BEISPIEL!!!!
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typedef enum {
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#define GET_GPIO_FROM_IGRID(igrid) \
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L1 = 0,
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((igrid) == IGRID_L1 ? A16_Pin : \
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L2 = 1,
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(igrid) == IGRID_L2 ? A15_Pin : \
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L3 = 2,
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(igrid) == IGRID_L3 ? A14_Pin : \
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L4 = 3,
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(igrid) == IGRID_L4 ? A13_Pin : \
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L5 = 4,
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(igrid) == IGRID_L5 ? A12_Pin : \
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L6 = 5,
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(igrid) == IGRID_L6 ? A11_Pin : \
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L7 = 6,
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)
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L8 = 7,
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R9 = 8,
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RA = 9,
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RB = 10,
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RC = 11,
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RD = 12,
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RE = 13,
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RF = 14,
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R0 = 15,
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} analog_pin_t;
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// AUCH NUR BEISPIEL!!
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typedef enum {
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#define GET_ADC_CHANNEL_FROM_GPIO(gpio) \
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L9 = 0,
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((gpio) == A16_Pin ? ADC_CHANNEL_9 : \
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LA = 1,
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(gpio) == A15_Pin ? ADC_CHANNEL_3 : \
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LC = 2,
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(gpio) == A14_Pin ? ADC_CHANNEL_7 : \
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R5 = 3,
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(gpio) == A13_Pin ? ADC_CHANNEL_4 : \
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R6 = 4,
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(gpio) == A12_Pin ? ADC_CHANNEL_10 : \
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R7 = 5,
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(gpio) == A11_Pin ? ADC_CHANNEL_11 : \
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} digital_pin_t;
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(gpio) == A10_Pin ? ADC_CHANNEL_12 : \
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)
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// ADC1 GPIO to ADC_Channel macro
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typedef enum {
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#define GET_ADC_CHANNEL_FROM_IGRID(igrid) \
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LB = 0,
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GET_ADC_CHANNEL_FROM_GPIO(GET_GPIO_FROM_IGRID(igrid))
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R8 = 1,
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} freq_pin_t;
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// Node specific mappings:
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typedef enum {
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#if CURRENT_NODE == FRONT_NODE
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NONE = 0, // Not used
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AIN = 1, // Analog in
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DIN = 2, // Digital in
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FIN = 3, // Frequency in
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DOUT = 4, // Digital out
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POUT = 5, // PWM out
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} signal_type_t;
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// Useful during development / for verification?
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typedef struct {
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#define GET_NAME_FROM_IGRID(igrid) \
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signal_type_t type;
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((igrid) == IGRID_L1 ? "WTPS1" : \
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(igrid) == IGRID_L2 ? "STS FL" : \
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)
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// @Oskar nicht sicher wie man das am bestem macht, da ja nicht jeder pin ein input is der auf CAN kommt, also wonach man das ordnen will
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// PERIPHERY INFO
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#define CAN_START_BIT_FROM_IGRID(igrid) \
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uint8_t channel; // ADC or PWM or Freq channel
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((igrid) == IGRID_L1 ? 0 : \
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(igrid) == IGRID_L2 ? 1 : \
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)
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// Hier würde ich dann weitere Defines machen für alles was dann das CAN frame bildet,
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// CAN INFO
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// Start Bit, Bit count, etc, conversion factor (also von physischer größe die wir im
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uint8_t start; // start bit
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// code bestimmen zu bits), quasi ne DBC mit defines. Abrufen macht man das dann mit macros
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uint8_t length; // in bits
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#elif CURRENT_NODE == REAR_NODE
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// METADATA
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float factor; // (phys_range/can_scale)/adc_quants
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char name[16];
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} can_signal_t;
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typedef struct {
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uint16_t can_id;
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uint8_t dlc;
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int8_t num_signals; // -1 => packet disabled
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uint16_t period; // ms
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can_signal_t signals[9];
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} can_pkt_t;
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#define NUM_TX_PKT 4
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#define ADQ (1<<12)
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#ifdef SN_FRONT
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static can_pkt_t CAN_SIGNAL_MAP[NUM_TX_PKT] = {
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{
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.can_id = 0x0D1, .dlc = 3, .num_signals = 7, .period = 100, .signals = {
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{ .type = DIN, .channel = R5, .start = 0, .length = 1, .factor = 1., .name = "LS L" },
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{ .type = DIN, .channel = L9, .start = 1, .length = 1, .factor = 1., .name = "LS R" },
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{ .type = DIN, .channel = LA, .start = 2, .length = 1, .factor = 1., .name = "SDC M pre BOTS" },
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{ .type = DIN, .channel = LC, .start = 3, .length = 1, .factor = 1., .name = "SDC M post INS" },
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{ .type = DIN, .channel = R7, .start = 4, .length = 1, .factor = 1., .name = "SDC M post BSPD" },
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{ .type = AIN, .channel = R0, .start = 8, .length = 8, .factor = ((512./2)/ADQ), .name = "BDTS FL" },
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{ .type = AIN, .channel = L8, .start = 16, .length = 8, .factor = ((512./2)/ADQ), .name = "BDTS FR" },
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}
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},
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{
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.can_id = 0x0D3, .dlc = 7, .num_signals = 6, .period = 10, .signals = {
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{ .type = AIN, .channel = L1, .start = 0, .length = 8, .factor = (256./ADQ), .name = "APPS 1" },
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{ .type = AIN, .channel = L2, .start = 8, .length = 8, .factor = (256./ADQ), .name = "APPS 2" },
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{ .type = AIN, .channel = RA, .start = 16, .length = 8, .factor = ((512./2)/ADQ), .name = "BP F" },
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{ .type = AIN, .channel = R9, .start = 24, .length = 12, .factor = 1., .name = "SAS" },
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{ .type = FIN, .channel = R8, .start = 40, .length = 8, .factor = 1., .name = "WSS FL" },
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{ .type = FIN, .channel = LB, .start = 48, .length = 8, .factor = 1., .name = "WSS FR" },
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}
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},
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{
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.can_id = 0x0D5, .dlc = 3, .num_signals = 2, .period = 10, .signals = {
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{ .type = AIN, .channel = RC, .start = 0, .length = 12, .factor = 1., .name = "DS FL" },
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{ .type = AIN, .channel = L4, .start = 12, .length = 12, .factor = 1., .name = "DS FR" },
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}
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},
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{
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.can_id = 0x0D7, .dlc = 3, .num_signals = 2, .period = 1, .signals = {
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{ .type = AIN, .channel = RE, .start = 0, .length = 12, .factor = 1., .name = "SLS FL" },
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{ .type = AIN, .channel = L6, .start = 12, .length = 12, .factor = 1., .name = "SLS FR" },
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}
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}
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};
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#endif
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#endif
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#define FRONT_NODE 0
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#ifdef SN_REAR
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#define REAR_NODE 1
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static can_pkt_t CAN_SIGNAL_MAP[NUM_TX_PKT] = {
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{
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.can_id = 0x0D2, .dlc = 7, .num_signals = 9, .period = 100, .signals = {
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{ .type = DIN, .channel = L9, .start = 0, .length = 1, .factor = 1., .name = "ExtTSOn" },
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{ .type = DIN, .channel = LA, .start = 1, .length = 1, .factor = 1., .name = "SDC M pre TSMS" },
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{ .type = DIN, .channel = LC, .start = 2, .length = 1, .factor = 1., .name = "SDC M post TSMS" },
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{ .type = AIN, .channel = R0, .start = 8, .length = 8, .factor = ((512./2)/ADQ), .name = "BDTS RL" },
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{ .type = AIN, .channel = L8, .start = 16, .length = 8, .factor = ((512./2)/ADQ), .name = "BDTS RR" },
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{ .type = AIN, .channel = R9, .start = 24, .length = 8, .factor = (256./ADQ), .name = "WT BAT" },
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{ .type = AIN, .channel = RB, .start = 32, .length = 8, .factor = (256./ADQ), .name = "WT DT" },
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{ .type = AIN, .channel = RD, .start = 40, .length = 8, .factor = (256./ADQ), .name = "WP BAT" },
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{ .type = AIN, .channel = RF, .start = 48, .length = 8, .factor = (256./ADQ), .name = "WP DT" },
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}
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},
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{
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.can_id = 0x0D4, .dlc = 8, .num_signals = 7, .period = 10, .signals = {
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{ .type = AIN, .channel = L1, .start = 0, .length = 8, .factor = ((25.6/.1)/ADQ), .name = "EBS APS 1" },
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{ .type = AIN, .channel = L2, .start = 8, .length = 8, .factor = ((25.6/.1)/ADQ), .name = "EBS APS 2" },
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{ .type = AIN, .channel = RA, .start = 16, .length = 8, .factor = ((512./2)/ADQ), .name = "BP F" },
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{ .type = FIN, .channel = R8, .start = 24, .length = 8, .factor = 1., .name = "WSS RL" },
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{ .type = FIN, .channel = LB, .start = 32, .length = 8, .factor = 1., .name = "WSS RR" },
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{ .type = AIN, .channel = RC, .start = 40, .length = 12, .factor = 1., .name = "DS RL" },
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{ .type = AIN, .channel = L4, .start = 52, .length = 12, .factor = 1., .name = "DS RR" },
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}
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},
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{
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.can_id = 0x0D6, .dlc = 0, .num_signals = -1, .period = 10, .signals = {}
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},
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{
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.can_id = 0x0D8, .dlc = 3, .num_signals = 2, .period = 1, .signals = {
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{ .type = AIN, .channel = RE, .start = 0, .length = 12, .factor = 1., .name = "SLS RL" },
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{ .type = AIN, .channel = L6, .start = 12, .length = 12, .factor = 1., .name = "SLS RR" },
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}
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}
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};
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#endif
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#endif
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#endif
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@ -1,160 +0,0 @@
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#ifndef MAPPINGS_H
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#define MAPPINGS_H
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// CHOOSE ONE, comment the other or comment both and use -D SN_FRONT
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#define SN_FRONT
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#define SN_REAR
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#include <stdint.h>
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typedef enum {
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L1 = 0,
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L2 = 1,
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L3 = 2,
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L4 = 3,
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L5 = 4,
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L6 = 5,
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L7 = 6,
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L8 = 7,
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R9 = 8,
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RA = 9,
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RB = 10,
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RC = 11,
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RD = 12,
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RE = 13,
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RF = 14,
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R0 = 15,
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} analog_pin_t;
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typedef enum {
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L9 = 0,
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LA = 1,
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LC = 2,
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R5 = 3,
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R6 = 4,
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R7 = 5,
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} digital_pin_t;
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typedef enum {
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LB = 0,
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R8 = 1,
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} freq_pin_t;
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typedef enum {
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NONE = 0, // Not used
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AIN = 1, // Analog in
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DIN = 2, // Digital in
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FIN = 3, // Frequency in
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DOUT = 4, // Digital out
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POUT = 5, // PWM out
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} signal_type_t;
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typedef struct {
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signal_type_t type;
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// PERIPHERY INFO
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uint8_t channel; // ADC or PWM or Freq channel
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// CAN INFO
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uint8_t start; // start bit
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uint8_t length; // in bits
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// METADATA
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float factor; // (phys_range/can_scale)/adc_quants
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char name[16];
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} can_signal_t;
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typedef struct {
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uint16_t can_id;
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uint8_t dlc;
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int8_t num_signals; // -1 => packet disabled
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uint16_t period; // ms
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can_signal_t signals[9];
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} can_pkt_t;
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#define ADQ (1<<12)
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#ifdef SN_FRONT
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static can_pkt_t CAN_SIGNAL_MAP[4] {
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{
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.can_id = 0x0D1, .dlc = 3, .num_signals = 7, .period = 100, .signals = {
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{ .type = DIN, .channel = R5, .start = 0, .length = 1, .factor = 1., .name = "LS L" },
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{ .type = DIN, .channel = L9, .start = 1, .length = 1, .factor = 1., .name = "LS R" },
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{ .type = DIN, .channel = LA, .start = 2, .length = 1, .factor = 1., .name = "SDC M pre BOTS" },
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{ .type = DIN, .channel = LC, .start = 3, .length = 1, .factor = 1., .name = "SDC M post INS" },
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{ .type = DIN, .channel = R7, .start = 4, .length = 1, .factor = 1., .name = "SDC M post BSPD" },
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{ .type = AIN, .channel = R0, .start = 8, .length = 8, .factor = ((512./2)/ADQ), .name = "BDTS FL" },
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{ .type = AIN, .channel = L8, .start = 16, .length = 8, .factor = ((512./2)/ADQ), .name = "BDTS FR" },
|
|
||||||
}
|
|
||||||
},
|
|
||||||
{
|
|
||||||
.can_id = 0x0D3, .dlc = 7, .num_signals = 6, .period = 10, .signals = {
|
|
||||||
{ .type = AIN, .channel = L1, .start = 0, .length = 8, .factor = (256./ADQ), .name = "APPS 1" },
|
|
||||||
{ .type = AIN, .channel = L2, .start = 8, .length = 8, .factor = (256./ADQ), .name = "APPS 2" },
|
|
||||||
{ .type = AIN, .channel = RA, .start = 16, .length = 8, .factor = ((512./2)/ADQ), .name = "BP F" },
|
|
||||||
{ .type = AIN, .channel = R9, .start = 24, .length = 12, .factor = 1., .name = "SAS" },
|
|
||||||
{ .type = FIN, .channel = R8, .start = 40, .length = 8, .factor = 1., .name = "WSS FL" },
|
|
||||||
{ .type = FIN, .channel = LB, .start = 48, .length = 8, .factor = 1., .name = "WSS FR" },
|
|
||||||
}
|
|
||||||
},
|
|
||||||
{
|
|
||||||
.can_id = 0x0D5, .dlc = 3, .num_signals = 2, .period = 10, .signals = {
|
|
||||||
{ .type = AIN, .channel = RC, .start = 0, .length = 12, .factor = 1., .name = "DS FL" },
|
|
||||||
{ .type = AIN, .channel = L4, .start = 12, .length = 12, .factor = 1., .name = "DS FR" },
|
|
||||||
}
|
|
||||||
},
|
|
||||||
{
|
|
||||||
.can_id = 0x0D7, .dlc = 3, .num_signals = 2, .period = 1, .signals = {
|
|
||||||
{ .type = AIN, .channel = RE, .start = 0, .length = 12, .factor = 1., .name = "SLS FL" },
|
|
||||||
{ .type = AIN, .channel = L6, .start = 12, .length = 12, .factor = 1., .name = "SLS FR" },
|
|
||||||
}
|
|
||||||
}
|
|
||||||
};
|
|
||||||
|
|
||||||
#endif
|
|
||||||
|
|
||||||
#ifdef SN_REAR
|
|
||||||
|
|
||||||
static can_pkt_t CAN_SIGNAL_MAP[4] {
|
|
||||||
{
|
|
||||||
.can_id = 0x0D2, .dlc = 7, .num_signals = 9, .period = 100, .signals = {
|
|
||||||
{ .type = DIN, .channel = L9, .start = 0, .length = 1, .factor = 1., .name = "ExtTSOn" },
|
|
||||||
{ .type = DIN, .channel = LA, .start = 1, .length = 1, .factor = 1., .name = "SDC M pre TSMS" },
|
|
||||||
{ .type = DIN, .channel = LC, .start = 2, .length = 1, .factor = 1., .name = "SDC M post TSMS" },
|
|
||||||
|
|
||||||
{ .type = AIN, .channel = R0, .start = 8, .length = 8, .factor = ((512./2)/ADQ), .name = "BDTS RL" },
|
|
||||||
{ .type = AIN, .channel = L8, .start = 16, .length = 8, .factor = ((512./2)/ADQ), .name = "BDTS RR" },
|
|
||||||
|
|
||||||
{ .type = AIN, .channel = R9, .start = 24, .length = 8, .factor = (256./ADQ), .name = "WT BAT" },
|
|
||||||
{ .type = AIN, .channel = RB, .start = 32, .length = 8, .factor = (256./ADQ), .name = "WT DT" },
|
|
||||||
{ .type = AIN, .channel = RD, .start = 40, .length = 8, .factor = (256./ADQ), .name = "WP BAT" },
|
|
||||||
{ .type = AIN, .channel = RF, .start = 48, .length = 8, .factor = (256./ADQ), .name = "WP DT" },
|
|
||||||
}
|
|
||||||
},
|
|
||||||
{
|
|
||||||
.can_id = 0x0D4, .dlc = 8, .num_signals = 7, .period = 10, .signals = {
|
|
||||||
{ .type = AIN, .channel = L1, .start = 0, .length = 8, .factor = ((25.6/.1)/ADQ), .name = "EBS APS 1" },
|
|
||||||
{ .type = AIN, .channel = L2, .start = 8, .length = 8, .factor = ((25.6/.1)/ADQ), .name = "EBS APS 2" },
|
|
||||||
{ .type = AIN, .channel = RA, .start = 16, .length = 8, .factor = ((512./2)/ADQ), .name = "BP F" },
|
|
||||||
{ .type = FIN, .channel = R8, .start = 24, .length = 8, .factor = 1., .name = "WSS RL" },
|
|
||||||
{ .type = FIN, .channel = LB, .start = 32, .length = 8, .factor = 1., .name = "WSS RR" },
|
|
||||||
{ .type = AIN, .channel = RC, .start = 40, .length = 12, .factor = 1., .name = "DS RL" },
|
|
||||||
{ .type = AIN, .channel = L4, .start = 52, .length = 12, .factor = 1., .name = "DS RR" },
|
|
||||||
}
|
|
||||||
},
|
|
||||||
{
|
|
||||||
.can_id = 0x0D6, .dlc = 0, .num_signals = -1, .period = 10, .signals = {}
|
|
||||||
},
|
|
||||||
{
|
|
||||||
.can_id = 0x0D8, .dlc = 3, .num_signals = 2, .period = 1, .signals = {
|
|
||||||
{ .type = AIN, .channel = RE, .start = 0, .length = 12, .factor = 1., .name = "SLS RL" },
|
|
||||||
{ .type = AIN, .channel = L6, .start = 12, .length = 12, .factor = 1., .name = "SLS RR" },
|
|
||||||
}
|
|
||||||
}
|
|
||||||
};
|
|
||||||
|
|
||||||
#endif
|
|
||||||
|
|
||||||
#endif
|
|
||||||
@ -27,7 +27,7 @@
|
|||||||
|
|
||||||
/* Private includes ----------------------------------------------------------*/
|
/* Private includes ----------------------------------------------------------*/
|
||||||
/* USER CODE BEGIN Includes */
|
/* USER CODE BEGIN Includes */
|
||||||
|
#include "mappings.h"
|
||||||
/* USER CODE END Includes */
|
/* USER CODE END Includes */
|
||||||
|
|
||||||
/* Private typedef -----------------------------------------------------------*/
|
/* Private typedef -----------------------------------------------------------*/
|
||||||
@ -49,7 +49,8 @@
|
|||||||
|
|
||||||
/* USER CODE BEGIN PV */
|
/* USER CODE BEGIN PV */
|
||||||
/* Declare buffer in D1 domain SRAM */
|
/* 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 */
|
/* USER CODE END PV */
|
||||||
|
|
||||||
/* Private function prototypes -----------------------------------------------*/
|
/* Private function prototypes -----------------------------------------------*/
|
||||||
@ -108,31 +109,106 @@ int main(void)
|
|||||||
/* USER CODE BEGIN 2 */
|
/* USER CODE BEGIN 2 */
|
||||||
|
|
||||||
if (HAL_ADCEx_Calibration_Start(&hadc1, ADC_CALIB_OFFSET, ADC_SINGLE_ENDED) != HAL_OK)
|
if (HAL_ADCEx_Calibration_Start(&hadc1, ADC_CALIB_OFFSET, ADC_SINGLE_ENDED) != HAL_OK)
|
||||||
{
|
|
||||||
Error_Handler();
|
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();
|
Error_Handler();
|
||||||
}
|
|
||||||
|
|
||||||
HAL_TIM_Base_Start(&htim6);
|
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 */
|
/* USER CODE END 2 */
|
||||||
|
|
||||||
/* Infinite loop */
|
/* Infinite loop */
|
||||||
/* USER CODE BEGIN WHILE */
|
/* USER CODE BEGIN WHILE */
|
||||||
while (1)
|
for (unsigned int mscounter = 0; 1; mscounter++)
|
||||||
{
|
{
|
||||||
/* USER CODE END WHILE */
|
/* USER CODE END WHILE */
|
||||||
|
|
||||||
/* USER CODE BEGIN 3 */
|
/* 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 */
|
/* 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 */
|
/* 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);
|
HAL_GPIO_WritePin(STATUS_R_GPIO_Port, STATUS_R_Pin, GPIO_PIN_SET);
|
||||||
__disable_irq();
|
__disable_irq();
|
||||||
while (1)
|
while (1);
|
||||||
{
|
|
||||||
}
|
|
||||||
/* USER CODE END Error_Handler_Debug */
|
/* USER CODE END Error_Handler_Debug */
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|||||||
Loading…
x
Reference in New Issue
Block a user