FaSTTUBe/sensor-node
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CAN bus bringup (everything works except PWM output)

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This commit is contained in:
Oskar Winkels
2025-04-24 20:38:24 +02:00
parent 804bb33064
commit 778e0ae272
7 changed files with 147 additions and 24 deletions
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50
Software/Core/Src/main.c
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@ -111,6 +111,9 @@ int main(void)
MX_NVIC_Init();
/* USER CODE BEGIN 2 */
FDCAN_HandleTypeDef* hMainCAN = &hfdcan2;
//FDCAN_HandleTypeDef* hPeriCAN = &hfdcan1;
if (HAL_ADCEx_Calibration_Start(&hadc1, ADC_CALIB_OFFSET, ADC_SINGLE_ENDED) != HAL_OK)
Error_Handler();
@ -133,11 +136,11 @@ int main(void)
txHeader.TxFrameType = FDCAN_DATA_FRAME;
txHeader.DataLength = 8;
if (HAL_FDCAN_ActivateNotification(&hfdcan1, FDCAN_IT_RX_FIFO0_NEW_MESSAGE, 0) != HAL_OK)
if (HAL_FDCAN_ActivateNotification(hMainCAN, 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)
if (HAL_FDCAN_ConfigGlobalFilter(hMainCAN, FDCAN_REJECT, FDCAN_REJECT,
FDCAN_REJECT_REMOTE, FDCAN_REJECT_REMOTE) != HAL_OK)
Error_Handler();
FDCAN_FilterTypeDef filter;
@ -148,12 +151,22 @@ int main(void)
filter.FilterID1 = 0x0DD;
filter.FilterID2 = 0x7FE; // Match 0x0DC and 0x0DD
if (HAL_FDCAN_ConfigFilter(&hfdcan1, &filter) != HAL_OK)
if (HAL_FDCAN_ConfigFilter(hMainCAN, &filter) != HAL_OK)
Error_Handler();
if (HAL_FDCAN_Start(&hfdcan1) != HAL_OK)
if (HAL_FDCAN_Start(hMainCAN) != HAL_OK)
Error_Handler();
HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_1);
HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_2);
HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_3);
HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_4);
HAL_TIM_PWM_Start(&htim4, TIM_CHANNEL_1);
HAL_TIM_PWM_Start(&htim4, TIM_CHANNEL_2);
HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_2);
HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_4);
/* USER CODE END 2 */
/* Infinite loop */
@ -174,6 +187,9 @@ int main(void)
can_pkt_t* pktinfo = &(CAN_SIGNAL_MAP[pi]);
if (pktinfo->num_signals < 0)
continue;
if (mscounter % pktinfo->period == 0) {
txHeader.Identifier = pktinfo->can_id;
@ -206,7 +222,7 @@ int main(void)
}
if (HAL_FDCAN_AddMessageToTxFifoQ(&hfdcan1, &txHeader, (uint8_t*) &txData) != HAL_OK)
if (HAL_FDCAN_AddMessageToTxFifoQ(hMainCAN, &txHeader, (uint8_t*) &txData) != HAL_OK)
Error_Handler();
}
@ -312,12 +328,15 @@ void SetCCR(TIM_TypeDef* Instance, unsigned int ch, uint8_t dc) {
void HAL_FDCAN_RxFifo0Callback(FDCAN_HandleTypeDef *handle, uint32_t RxFifo0ITs)
{
if (handle != &hfdcan1 || (RxFifo0ITs & FDCAN_IT_RX_FIFO0_NEW_MESSAGE) == RESET)
return;
FDCAN_HandleTypeDef* hMainCAN = &hfdcan2;
//FDCAN_HandleTypeDef* hPeriCAN = &hfdcan1;
if (handle != hMainCAN || (RxFifo0ITs & FDCAN_IT_RX_FIFO0_NEW_MESSAGE) == RESET)
return; // TODO: handle Peripheral CAN
static FDCAN_RxHeaderTypeDef header;
static uint8_t data[8];
if (HAL_FDCAN_GetRxMessage(&hfdcan1, FDCAN_RX_FIFO0, &header, data) != HAL_OK)
if (HAL_FDCAN_GetRxMessage(hMainCAN, FDCAN_RX_FIFO0, &header, data) != HAL_OK)
return;
if (header.FDFormat != FDCAN_CLASSIC_CAN ||
@ -326,26 +345,39 @@ void HAL_FDCAN_RxFifo0Callback(FDCAN_HandleTypeDef *handle, uint32_t RxFifo0ITs)
return;
switch (header.Identifier) {
case CAN_PWM_DC_ID:
uint8_t* dcs = data;
for (int i = 0; i < header.DataLength; i++) {
TIM_HandleTypeDef* htim = PWM_TIM_MAP[PWM_CH_MAP[i].tim];
SetCCR(htim->Instance, PWM_CH_MAP[i].ch, dcs[i]);
// TODO: This does not work, apparently they don't start in RESET
// Maybe have our own init bool array instead
// Manually enabling doesn't seem to work either
if (htim->ChannelState[PWM_CH_MAP[i].ch] == HAL_TIM_CHANNEL_STATE_RESET)
HAL_TIM_PWM_Start(htim, PWM_CH_MAP[i].ch << 2);
// MAYBE: Stop Timer when DC == 0 on all channels?
// HAL_TIM_PWM_Stop(htim, channel);
}
break;
case CAN_PWM_CONF_ID:
uint16_t* freqs = (uint16_t*) data;
for (int i = 0; i < (header.DataLength/2); i++) {
uint32_t prescaler = (TIM_BASE_FREQ / (255UL * freqs[i])); // cast?
PWM_TIM_MAP[i]->Instance->PSC = prescaler;
}
break;
default:
break;
}
}