FaSTTUBe/sensor-node
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Merge branch 'integration-changes'

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This commit is contained in:
Oskar Winkels
2025-11-02 14:15:02 +01:00
parent bfc0eb2276 c8b5a060d4
commit 679448696d
4 changed files with 187 additions and 23 deletions
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1
Software/Core/Inc/main.h
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@ -47,6 +47,7 @@ extern "C" {
/* Exported macro ------------------------------------------------------------*/
/* USER CODE BEGIN EM */
void Error_Handler_Led(uint8_t err);
/* USER CODE END EM */
/* Exported functions prototypes ---------------------------------------------*/

81
Software/Core/Inc/mappings.h
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@ -4,11 +4,12 @@
// CHOOSE ONE, comment the other or comment both and use -D SN_FRONT
//#define SN_FRONT
#define SN_REAR
// #define DEBUG
#ifdef SN_FRONT
#ifdef SN_REAR
#error "Choose to either #define SN_FRONT or SN_REAR, not both!"
#endif
#if (defined(SN_FRONT) && defined(SN_REAR)) || \
(defined(SN_FRONT) && defined(DEBUG)) || \
(defined(SN_REAR) && defined(DEBUG))
#error "Choose only one of #define SN_FRONT, #define SN_REAR, or #define DEBUG!"
#endif
#include <stdint.h>
@ -20,12 +21,12 @@ 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},
/* 0 */ { .port = D5_GPIO_Port, .pin = D5_Pin},
/* 1 */ { .port = D6_GPIO_Port, .pin = D6_Pin},
/* 2 */ { .port = D4_IC_GPIO_Port, .pin = D4_IC_Pin},
/* 3 */ { .port = D3_GPIO_Port, .pin = D3_Pin},
/* 4 */ { .port = D2_GPIO_Port, .pin = D2_Pin},
/* 5 */ { .port = D1_IC_GPIO_Port, .pin = D1_IC_Pin},
};
typedef enum {
@ -135,6 +136,10 @@ static can_pkt_t CAN_SIGNAL_MAP[NUM_TX_PKT] = {
}
};
static uint8_t DIO_LATCHING[NUM_DIO_PINS] = {
1, 1, 0, 0, 0, 0,
};
#define CAN_PWM_DC_ID 0x0DA // UNUSED
#define CAN_PWM_CONF_ID 0x0DB // UNUSED
#define CAN_PWM_BASE_ID CAN_PWM_DC_ID
@ -182,6 +187,10 @@ static can_pkt_t CAN_SIGNAL_MAP[NUM_TX_PKT] = {
}
};
static uint8_t DIO_LATCHING[NUM_DIO_PINS] = {
0, 0, 0, 0, 0, 0,
};
#define CAN_PWM_DC_ID 0x0DC
#define CAN_PWM_CONF_ID 0x0DD
#define CAN_PWM_BASE_ID CAN_PWM_DC_ID
@ -189,6 +198,58 @@ static can_pkt_t CAN_SIGNAL_MAP[NUM_TX_PKT] = {
#endif
#ifdef DEBUG
static can_pkt_t CAN_SIGNAL_MAP[NUM_TX_PKT] = {
{
.can_id = 0x044, .dlc = 6, .num_signals = 9, .period = 100, .signals = {
{ .type = DIN, .channel = L9, .start = 0, .length = 1, .factor = 1., .name = "" },
{ .type = DIN, .channel = LA, .start = 1, .length = 1, .factor = 1., .name = "" },
{ .type = DIN, .channel = LC, .start = 2, .length = 1, .factor = 1., .name = "" },
{ .type = DIN, .channel = R5, .start = 3, .length = 1, .factor = 1., .name = "" },
{ .type = DIN, .channel = R6, .start = 4, .length = 1, .factor = 1., .name = "" },
{ .type = DIN, .channel = R7, .start = 5, .length = 1, .factor = 1., .name = "" },
{ .type = AIN, .channel = L1, .start = 6+12*0, .length = 12, .factor = 1., .name = "" },
{ .type = AIN, .channel = L2, .start = 6+12*1, .length = 12, .factor = 1., .name = "" },
{ .type = AIN, .channel = L3, .start = 6+12*2, .length = 12, .factor = 1., .name = "" },
}
},
{
.can_id = 0x045, .dlc = 8, .num_signals = 5, .period = 100, .signals = {
{ .type = AIN, .channel = L4, .start = 12*0, .length = 12, .factor = 1., .name = "" },
{ .type = AIN, .channel = L5, .start = 12*1, .length = 12, .factor = 1., .name = "" },
{ .type = AIN, .channel = L6, .start = 12*2, .length = 12, .factor = 1., .name = "" },
{ .type = AIN, .channel = L7, .start = 12*3, .length = 12, .factor = 1., .name = "" },
{ .type = AIN, .channel = L8, .start = 12*4, .length = 12, .factor = 1., .name = "" },
}
},
{
.can_id = 0x046, .dlc = 8, .num_signals = 5, .period = 100, .signals = {
{ .type = AIN, .channel = R9, .start = 12*0, .length = 12, .factor = 1., .name = "" },
{ .type = AIN, .channel = RA, .start = 12*1, .length = 12, .factor = 1., .name = "" },
{ .type = AIN, .channel = RB, .start = 12*2, .length = 12, .factor = 1., .name = "" },
{ .type = AIN, .channel = RC, .start = 12*3, .length = 12, .factor = 1., .name = "" },
{ .type = AIN, .channel = RD, .start = 12*4, .length = 12, .factor = 1., .name = "" },
}
},
{
.can_id = 0x047, .dlc = 5, .num_signals = 3, .period = 100, .signals = {
{ .type = AIN, .channel = RE, .start = 12*0, .length = 12, .factor = 1., .name = "" },
{ .type = AIN, .channel = RF, .start = 12*1, .length = 12, .factor = 1., .name = "" },
{ .type = AIN, .channel = R0, .start = 12*2, .length = 12, .factor = 1., .name = "" },
}
},
};
#define CAN_PWM_DC_ID 0x0DA // UNUSED
#define CAN_PWM_CONF_ID 0x0DB // UNUSED
#define CAN_PWM_BASE_ID CAN_PWM_DC_ID
#define CAN_PWM_FILTER_MASK 0x7FE // Match both
#endif
/* user needs
TIM_HandleTypeDef* PWM_TIM_MAP[3] = {&htim1, &htim4, &htim3};
*/

99
Software/Core/Src/main.c
View File

@ -41,6 +41,7 @@
/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
#define TIM_BASE_FREQ 96000000UL
#define WSS_HISTORY_SIZE 10
/* USER CODE END PD */
/* Private macro -------------------------------------------------------------*/
@ -69,6 +70,9 @@ TIM_HandleTypeDef* PWM_TIM_MAP[3] = {&htim1, &htim4, &htim3};
static uint8_t pwm_ch_active[8];
static uint16_t wss_flanks[2];
static uint16_t wss_flanks_avg[2];
static uint8_t wss_flanks_history[2][WSS_HISTORY_SIZE];
static uint8_t wss_flanks_history_idx[2]; // index of the oldest entry (next to be overwritten)
/* USER CODE END PV */
/* Private function prototypes -----------------------------------------------*/
@ -86,10 +90,16 @@ void send_latest_can() {
tx_counter++;
for (int di = 0; di < NUM_DIO_PINS; di++) {
dio_values[di] = HAL_GPIO_ReadPin(
uint8_t value = HAL_GPIO_ReadPin(
DIO_PIN_MAP[di].port,
DIO_PIN_MAP[di].pin
);
if (DIO_LATCHING[di]) {
dio_values[di] |= value;
} else {
dio_values[di] = value;
}
}
for (int pi = 0; pi < NUM_TX_PKT; pi++) {
@ -112,6 +122,7 @@ void send_latest_can() {
switch (signal->type) {
case DIN:
value = dio_values[signal->channel];
dio_values[signal->channel] = 0; // will be overwritten with real value at start of 1kHz loop
break;
case AIN:
@ -119,8 +130,21 @@ void send_latest_can() {
break;
case FIN:
value = wss_flanks[signal->channel];
uint8_t oldest_hist_idx = wss_flanks_history_idx[signal->channel];
// subtract oldest entry from avg
wss_flanks_avg[signal->channel] -= wss_flanks_history[signal->channel][oldest_hist_idx];
// overwrite oldest history entry with new value and reset counter
wss_flanks_history[signal->channel][oldest_hist_idx] = wss_flanks[signal->channel];
wss_flanks[signal->channel] = 0;
// add new counter to avg
wss_flanks_avg[signal->channel] += wss_flanks_history[signal->channel][oldest_hist_idx];
// increase / wrap around index
wss_flanks_history_idx[signal->channel]++;
if(wss_flanks_history_idx[signal->channel] >= WSS_HISTORY_SIZE) {
wss_flanks_history_idx[signal->channel] = 0;
}
// value = wss_flanks_avg[signal->channel] * (1000 / pktinfo->period / WSS_HISTORY_SIZE);
value = wss_flanks_avg[signal->channel];
break;
default:
@ -132,9 +156,11 @@ void send_latest_can() {
}
if (HAL_FDCAN_AddMessageToTxFifoQ(hMainCAN, &txHeader, (uint8_t*) &txData) != HAL_OK)
Error_Handler();
if (HAL_FDCAN_AddMessageToTxFifoQ(hMainCAN, &txHeader, (uint8_t*) &txData) != HAL_OK) {
if(HAL_FDCAN_GetError(hMainCAN) != HAL_FDCAN_ERROR_FIFO_FULL) {
Error_Handler_Led(1);
}
}
}
if (tx_counter >= 256) {
@ -207,10 +233,10 @@ int main(void)
hPeriCAN = &hfdcan2;
if (HAL_ADCEx_Calibration_Start(&hadc1, ADC_CALIB_OFFSET, ADC_SINGLE_ENDED) != HAL_OK)
Error_Handler();
Error_Handler_Led(2);
if (HAL_ADC_Start_DMA(&hadc1, (uint32_t*)adc_values, NUM_ADC_PINS) != HAL_OK)
Error_Handler();
Error_Handler_Led(2);
HAL_TIM_Base_Start_IT(&htim6);
@ -227,11 +253,11 @@ int main(void)
txHeader.DataLength = 8;
if (HAL_FDCAN_ActivateNotification(hMainCAN, FDCAN_IT_RX_FIFO0_NEW_MESSAGE, 0) != HAL_OK)
Error_Handler();
Error_Handler_Led(3);
if (HAL_FDCAN_ConfigGlobalFilter(hMainCAN, FDCAN_REJECT, FDCAN_REJECT,
FDCAN_REJECT_REMOTE, FDCAN_REJECT_REMOTE) != HAL_OK)
Error_Handler();
Error_Handler_Led(3);
FDCAN_FilterTypeDef filter;
filter.IdType = FDCAN_STANDARD_ID;
@ -242,10 +268,10 @@ int main(void)
filter.FilterID2 = CAN_PWM_FILTER_MASK;
if (HAL_FDCAN_ConfigFilter(hMainCAN, &filter) != HAL_OK)
Error_Handler();
Error_Handler_Led(5);
if (HAL_FDCAN_Start(hMainCAN) != HAL_OK)
Error_Handler();
Error_Handler_Led(5);
// Init all channels as stopped
memset(pwm_ch_active, 0, 8);
@ -256,6 +282,10 @@ int main(void)
tx_counter = 0;
memset(wss_flanks, 0, sizeof(wss_flanks));
memset(wss_flanks_avg, 0, sizeof(wss_flanks));
memset(wss_flanks_history, 0, sizeof(wss_flanks_history));
memset(wss_flanks_history_idx, 0, sizeof(wss_flanks_history_idx));
/* USER CODE END 2 */
/* Infinite loop */
@ -317,7 +347,7 @@ void SystemClock_Config(void)
RCC_OscInitStruct.PLL.PLLFRACN = 0;
if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
{
Error_Handler();
Error_Handler_Led(4);
}
/** Initializes the CPU, AHB and APB buses clocks
@ -335,7 +365,7 @@ void SystemClock_Config(void)
if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
{
Error_Handler();
Error_Handler_Led(4);
}
}
@ -476,6 +506,49 @@ void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)
HAL_ResumeTick();
}
void Error_Handler_Led(uint8_t err) {
HAL_GPIO_WritePin(STATUS_R_GPIO_Port, STATUS_R_Pin, GPIO_PIN_RESET);
HAL_GPIO_WritePin(STATUS_G_GPIO_Port, STATUS_G_Pin, GPIO_PIN_RESET);
HAL_GPIO_WritePin(STATUS_B_GPIO_Port, STATUS_B_Pin, GPIO_PIN_RESET);
switch (err)
{
case 0: // red: general error
HAL_GPIO_WritePin(STATUS_R_GPIO_Port, STATUS_R_Pin, GPIO_PIN_SET);
break;
case 1: // red blue: in 1 kHz loop
HAL_GPIO_WritePin(STATUS_R_GPIO_Port, STATUS_R_Pin, GPIO_PIN_SET);
HAL_GPIO_WritePin(STATUS_B_GPIO_Port, STATUS_B_Pin, GPIO_PIN_SET);
break;
case 2: // blue: ADC calibration or DMA start
HAL_GPIO_WritePin(STATUS_B_GPIO_Port, STATUS_B_Pin, GPIO_PIN_SET);
break;
case 3: // green blue: CAN notify and config gloabl filter
HAL_GPIO_WritePin(STATUS_B_GPIO_Port, STATUS_B_Pin, GPIO_PIN_SET);
HAL_GPIO_WritePin(STATUS_G_GPIO_Port, STATUS_G_Pin, GPIO_PIN_SET);
break;
case 4: //red green: clock
HAL_GPIO_WritePin(STATUS_R_GPIO_Port, STATUS_R_Pin, GPIO_PIN_SET);
HAL_GPIO_WritePin(STATUS_G_GPIO_Port, STATUS_G_Pin, GPIO_PIN_SET);
break;
case 5: // red green blue: CAN config filter and start
HAL_GPIO_WritePin(STATUS_R_GPIO_Port, STATUS_R_Pin, GPIO_PIN_SET);
HAL_GPIO_WritePin(STATUS_B_GPIO_Port, STATUS_B_Pin, GPIO_PIN_SET);
HAL_GPIO_WritePin(STATUS_G_GPIO_Port, STATUS_G_Pin, GPIO_PIN_SET);
break;
default:
break;
}
__disable_irq();
while (1);
}
/* USER CODE END 4 */
/**

29
Software/debug_dbc_entries.txt Normal file
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@ -0,0 +1,29 @@
BO_ 68 Sensornode_Debug_1: 6 Sensornode_F
SG_ Sensornode_Debug_L9 : 0|1@1+ (1,0) [0|1] "" Vector__XXX
SG_ Sensornode_Debug_LA : 1|1@1+ (1,0) [0|1] "" Vector__XXX
SG_ Sensornode_Debug_LC : 2|1@1+ (1,0) [0|1] "" Vector__XXX
SG_ Sensornode_Debug_R5 : 3|1@1+ (1,0) [0|1] "" Vector__XXX
SG_ Sensornode_Debug_R6 : 4|1@1+ (1,0) [0|1] "" Vector__XXX
SG_ Sensornode_Debug_R7 : 5|1@1+ (1,0) [0|1] "" Vector__XXX
SG_ Sensornode_Debug_L1 : 6|12@1+ (1,0) [0|1] "" Vector__XXX
SG_ Sensornode_Debug_L2 : 18|12@1+ (1,0) [0|1] "" Vector__XXX
SG_ Sensornode_Debug_L3 : 30|12@1+ (1,0) [0|1] "" Vector__XXX
BO_ 69 Sensornode_Debug_2: 8 Sensornode_F
SG_ Sensornode_Debug_L4 : 0|12@1+ (1,0) [0|1] "" Vector__XXX
SG_ Sensornode_Debug_L5 : 12|12@1+ (1,0) [0|1] "" Vector__XXX
SG_ Sensornode_Debug_L6 : 24|12@1+ (1,0) [0|1] "" Vector__XXX
SG_ Sensornode_Debug_L7 : 36|12@1+ (1,0) [0|1] "" Vector__XXX
SG_ Sensornode_Debug_L8 : 48|12@1+ (1,0) [0|1] "" Vector__XXX
BO_ 70 Sensornode_Debug_3: 8 Sensornode_F
SG_ Sensornode_Debug_R9 : 0|12@1+ (1,0) [0|1] "" Vector__XXX
SG_ Sensornode_Debug_RA : 12|12@1+ (1,0) [0|1] "" Vector__XXX
SG_ Sensornode_Debug_RB : 24|12@1+ (1,0) [0|1] "" Vector__XXX
SG_ Sensornode_Debug_RC : 36|12@1+ (1,0) [0|1] "" Vector__XXX
SG_ Sensornode_Debug_RD : 48|12@1+ (1,0) [0|1] "" Vector__XXX
BO_ 71 Sensornode_Debug_4: 5 Sensornode_F
SG_ Sensornode_Debug_RE : 0|12@1+ (1,0) [0|1] "" Vector__XXX
SG_ Sensornode_Debug_RF : 12|12@1+ (1,0) [0|1] "" Vector__XXX
SG_ Sensornode_Debug_R0 : 24|12@1+ (1,0) [0|1] "" Vector__XXX