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Add CAN send logic and DIO mapping

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This commit is contained in:
Oskar Winkels 2025-03-30 10:47:13 +02:00
parent eb994ad693
commit 1a517299a0
Signed by: o.winkels
GPG Key ID: E7484A06E99DAEF1
4 changed files with 247 additions and 252 deletions
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2
Software/Core/Inc/adc.h
View File

@ -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);

233
Software/Core/Inc/mappings.h
View File

@ -1,95 +1,176 @@
#ifndef MAPPINGS_H
#define MAPPINGS_H
#define CURRENT_NODE FRONT_NODE
// CHOOSE ONE, comment the other or comment both and use -D SN_FRONT
#define SN_FRONT
//#define SN_REAR
#define IGRID_L1 1
#define IGRID_L2 2
#define IGRID_L3 3
#define IGRID_L4 4
#define IGRID_L5 5
#define IGRID_L6 6
#define IGRID_L7 7
#define IGRID_L8 8
#define IGRID_L9 9
#define IGRID_L10 10
#define IGRID_L11 11
#define IGRID_L12 12
#define IGRID_L13 13
#define IGRID_L14 14
#define IGRID_L15 15
#define IGRID_L16 16
#include <stdint.h>
#include "main.h"
#define IGRID_R1 17
#define IGRID_R2 18
#define IGRID_R3 19
#define IGRID_R4 20
#define IGRID_R5 21
#define IGRID_R6 22
#define IGRID_R7 23
#define IGRID_R8 24
#define IGRID_R9 25
#define IGRID_R10 26
#define IGRID_R11 27
#define IGRID_R12 28
#define IGRID_R13 29
#define IGRID_R14 30
#define IGRID_R15 31
#define IGRID_R16 32
#define NUM_DIO_PINS 6
//
// Node agnostic mappings:
//
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},
};
// NUR BEISPIEL!!!!
#define GET_GPIO_FROM_IGRID(igrid) \
((igrid) == IGRID_L1 ? A16_Pin : \
(igrid) == IGRID_L2 ? A15_Pin : \
(igrid) == IGRID_L3 ? A14_Pin : \
(igrid) == IGRID_L4 ? A13_Pin : \
(igrid) == IGRID_L5 ? A12_Pin : \
(igrid) == IGRID_L6 ? A11_Pin : \
)
typedef enum {
L1 = 0,
L2 = 1,
L3 = 2,
L4 = 3,
L5 = 4,
L6 = 5,
L7 = 6,
L8 = 7,
R9 = 8,
RA = 9,
RB = 10,
RC = 11,
RD = 12,
RE = 13,
RF = 14,
R0 = 15,
} analog_pin_t;
// AUCH NUR BEISPIEL!!
#define GET_ADC_CHANNEL_FROM_GPIO(gpio) \
((gpio) == A16_Pin ? ADC_CHANNEL_9 : \
(gpio) == A15_Pin ? ADC_CHANNEL_3 : \
(gpio) == A14_Pin ? ADC_CHANNEL_7 : \
(gpio) == A13_Pin ? ADC_CHANNEL_4 : \
(gpio) == A12_Pin ? ADC_CHANNEL_10 : \
(gpio) == A11_Pin ? ADC_CHANNEL_11 : \
(gpio) == A10_Pin ? ADC_CHANNEL_12 : \
)
typedef enum {
L9 = 0,
LA = 1,
LC = 2,
R5 = 3,
R6 = 4,
R7 = 5,
} digital_pin_t;
// ADC1 GPIO to ADC_Channel macro
#define GET_ADC_CHANNEL_FROM_IGRID(igrid) \
GET_ADC_CHANNEL_FROM_GPIO(GET_GPIO_FROM_IGRID(igrid))
typedef enum {
LB = 0,
R8 = 1,
} freq_pin_t;
// Node specific mappings:
#if CURRENT_NODE == FRONT_NODE
typedef enum {
NONE = 0, // Not used
AIN = 1, // Analog in
DIN = 2, // Digital in
FIN = 3, // Frequency in
DOUT = 4, // Digital out
POUT = 5, // PWM out
} signal_type_t;
// Useful during development / for verification?
#define GET_NAME_FROM_IGRID(igrid) \
((igrid) == IGRID_L1 ? "WTPS1" : \
(igrid) == IGRID_L2 ? "STS FL" : \
)
typedef struct {
signal_type_t type;
// @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
#define CAN_START_BIT_FROM_IGRID(igrid) \
((igrid) == IGRID_L1 ? 0 : \
(igrid) == IGRID_L2 ? 1 : \
)
// PERIPHERY INFO
uint8_t channel; // ADC or PWM or Freq channel
// Hier würde ich dann weitere Defines machen für alles was dann das CAN frame bildet,
// Start Bit, Bit count, etc, conversion factor (also von physischer größe die wir im
// code bestimmen zu bits), quasi ne DBC mit defines. Abrufen macht man das dann mit macros
// CAN INFO
uint8_t start; // start bit
uint8_t length; // in bits
#elif CURRENT_NODE == REAR_NODE
// METADATA
float factor; // (phys_range/can_scale)/adc_quants
char name[16];
} can_signal_t;
typedef struct {
uint16_t can_id;
uint8_t dlc;
int8_t num_signals; // -1 => packet disabled
uint16_t period; // ms
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[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" },
{ .type = DIN, .channel = L9, .start = 1, .length = 1, .factor = 1., .name = "LS R" },
{ .type = DIN, .channel = LA, .start = 2, .length = 1, .factor = 1., .name = "SDC M pre BOTS" },
{ .type = DIN, .channel = LC, .start = 3, .length = 1, .factor = 1., .name = "SDC M post INS" },
{ .type = DIN, .channel = R7, .start = 4, .length = 1, .factor = 1., .name = "SDC M post BSPD" },
{ .type = AIN, .channel = R0, .start = 8, .length = 8, .factor = ((512./2)/ADQ), .name = "BDTS FL" },
{ .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
#define FRONT_NODE 0
#define REAR_NODE 1
#ifdef SN_REAR
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" },
{ .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

160
Software/Core/Inc/mappings_o.h
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@ -1,160 +0,0 @@
#ifndef MAPPINGS_H
#define MAPPINGS_H
// CHOOSE ONE, comment the other or comment both and use -D SN_FRONT
#define SN_FRONT
#define SN_REAR
#include <stdint.h>
typedef enum {
L1 = 0,
L2 = 1,
L3 = 2,
L4 = 3,
L5 = 4,
L6 = 5,
L7 = 6,
L8 = 7,
R9 = 8,
RA = 9,
RB = 10,
RC = 11,
RD = 12,
RE = 13,
RF = 14,
R0 = 15,
} analog_pin_t;
typedef enum {
L9 = 0,
LA = 1,
LC = 2,
R5 = 3,
R6 = 4,
R7 = 5,
} digital_pin_t;
typedef enum {
LB = 0,
R8 = 1,
} freq_pin_t;
typedef enum {
NONE = 0, // Not used
AIN = 1, // Analog in
DIN = 2, // Digital in
FIN = 3, // Frequency in
DOUT = 4, // Digital out
POUT = 5, // PWM out
} signal_type_t;
typedef struct {
signal_type_t type;
// PERIPHERY INFO
uint8_t channel; // ADC or PWM or Freq channel
// CAN INFO
uint8_t start; // start bit
uint8_t length; // in bits
// METADATA
float factor; // (phys_range/can_scale)/adc_quants
char name[16];
} can_signal_t;
typedef struct {
uint16_t can_id;
uint8_t dlc;
int8_t num_signals; // -1 => packet disabled
uint16_t period; // ms
can_signal_t signals[9];
} can_pkt_t;
#define ADQ (1<<12)
#ifdef SN_FRONT
static can_pkt_t CAN_SIGNAL_MAP[4] {
{
.can_id = 0x0D1, .dlc = 3, .num_signals = 7, .period = 100, .signals = {
{ .type = DIN, .channel = R5, .start = 0, .length = 1, .factor = 1., .name = "LS L" },
{ .type = DIN, .channel = L9, .start = 1, .length = 1, .factor = 1., .name = "LS R" },
{ .type = DIN, .channel = LA, .start = 2, .length = 1, .factor = 1., .name = "SDC M pre BOTS" },
{ .type = DIN, .channel = LC, .start = 3, .length = 1, .factor = 1., .name = "SDC M post INS" },
{ .type = DIN, .channel = R7, .start = 4, .length = 1, .factor = 1., .name = "SDC M post BSPD" },
{ .type = AIN, .channel = R0, .start = 8, .length = 8, .factor = ((512./2)/ADQ), .name = "BDTS FL" },
{ .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

104
Software/Core/Src/main.c
View File

@ -27,7 +27,7 @@
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "mappings.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);
HAL_Delay(500);
HAL_GPIO_WritePin(STATUS_G_GPIO_Port, STATUS_G_Pin, GPIO_PIN_RESET);
HAL_Delay(500);
for (int di = 0; di < NUM_DIO_PINS; di++) {
dio_values[di] = HAL_GPIO_ReadPin(
DIO_PIN_MAP[di].port,
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 */
}