CAN bus bringup (everything works except PWM output)

Software/Core/Inc/stm32h7xx_it.h

@@ -57,6 +57,10 @@ void PendSV_Handler(void);
 void SysTick_Handler(void);
 void DMA1_Stream0_IRQHandler(void);
 void ADC_IRQHandler(void);
+void FDCAN1_IT0_IRQHandler(void);
+void FDCAN2_IT0_IRQHandler(void);
+void FDCAN1_IT1_IRQHandler(void);
+void FDCAN2_IT1_IRQHandler(void);
 /* USER CODE BEGIN EFP */
 
 /* USER CODE END EFP */

Software/Core/Src/fdcan.c

@@ -53,9 +53,9 @@ void MX_FDCAN1_Init(void)
   hfdcan1.Init.DataTimeSeg1 = 1;
   hfdcan1.Init.DataTimeSeg2 = 1;
   hfdcan1.Init.MessageRAMOffset = 0;
-  hfdcan1.Init.StdFiltersNbr = 0;
+  hfdcan1.Init.StdFiltersNbr = 1;
   hfdcan1.Init.ExtFiltersNbr = 0;
-  hfdcan1.Init.RxFifo0ElmtsNbr = 0;
+  hfdcan1.Init.RxFifo0ElmtsNbr = 16;
   hfdcan1.Init.RxFifo0ElmtSize = FDCAN_DATA_BYTES_8;
   hfdcan1.Init.RxFifo1ElmtsNbr = 0;
   hfdcan1.Init.RxFifo1ElmtSize = FDCAN_DATA_BYTES_8;
@@ -63,7 +63,7 @@ void MX_FDCAN1_Init(void)
   hfdcan1.Init.RxBufferSize = FDCAN_DATA_BYTES_8;
   hfdcan1.Init.TxEventsNbr = 0;
   hfdcan1.Init.TxBuffersNbr = 0;
-  hfdcan1.Init.TxFifoQueueElmtsNbr = 0;
+  hfdcan1.Init.TxFifoQueueElmtsNbr = 4;
   hfdcan1.Init.TxFifoQueueMode = FDCAN_TX_FIFO_OPERATION;
   hfdcan1.Init.TxElmtSize = FDCAN_DATA_BYTES_8;
   if (HAL_FDCAN_Init(&hfdcan1) != HAL_OK)
@@ -101,9 +101,9 @@ void MX_FDCAN2_Init(void)
   hfdcan2.Init.DataTimeSeg1 = 1;
   hfdcan2.Init.DataTimeSeg2 = 1;
   hfdcan2.Init.MessageRAMOffset = 0;
-  hfdcan2.Init.StdFiltersNbr = 0;
+  hfdcan2.Init.StdFiltersNbr = 1;
   hfdcan2.Init.ExtFiltersNbr = 0;
-  hfdcan2.Init.RxFifo0ElmtsNbr = 0;
+  hfdcan2.Init.RxFifo0ElmtsNbr = 16;
   hfdcan2.Init.RxFifo0ElmtSize = FDCAN_DATA_BYTES_8;
   hfdcan2.Init.RxFifo1ElmtsNbr = 0;
   hfdcan2.Init.RxFifo1ElmtSize = FDCAN_DATA_BYTES_8;
@@ -111,7 +111,7 @@ void MX_FDCAN2_Init(void)
   hfdcan2.Init.RxBufferSize = FDCAN_DATA_BYTES_8;
   hfdcan2.Init.TxEventsNbr = 0;
   hfdcan2.Init.TxBuffersNbr = 0;
-  hfdcan2.Init.TxFifoQueueElmtsNbr = 0;
+  hfdcan2.Init.TxFifoQueueElmtsNbr = 4;
   hfdcan2.Init.TxFifoQueueMode = FDCAN_TX_FIFO_OPERATION;
   hfdcan2.Init.TxElmtSize = FDCAN_DATA_BYTES_8;
   if (HAL_FDCAN_Init(&hfdcan2) != HAL_OK)
@@ -164,6 +164,11 @@ void HAL_FDCAN_MspInit(FDCAN_HandleTypeDef* fdcanHandle)
     GPIO_InitStruct.Alternate = GPIO_AF9_FDCAN1;
     HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
 
+    /* FDCAN1 interrupt Init */
+    HAL_NVIC_SetPriority(FDCAN1_IT0_IRQn, 0, 0);
+    HAL_NVIC_EnableIRQ(FDCAN1_IT0_IRQn);
+    HAL_NVIC_SetPriority(FDCAN1_IT1_IRQn, 0, 0);
+    HAL_NVIC_EnableIRQ(FDCAN1_IT1_IRQn);
   /* USER CODE BEGIN FDCAN1_MspInit 1 */
 
   /* USER CODE END FDCAN1_MspInit 1 */
@@ -201,6 +206,11 @@ void HAL_FDCAN_MspInit(FDCAN_HandleTypeDef* fdcanHandle)
     GPIO_InitStruct.Alternate = GPIO_AF9_FDCAN2;
     HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
 
+    /* FDCAN2 interrupt Init */
+    HAL_NVIC_SetPriority(FDCAN2_IT0_IRQn, 0, 0);
+    HAL_NVIC_EnableIRQ(FDCAN2_IT0_IRQn);
+    HAL_NVIC_SetPriority(FDCAN2_IT1_IRQn, 0, 0);
+    HAL_NVIC_EnableIRQ(FDCAN2_IT1_IRQn);
   /* USER CODE BEGIN FDCAN2_MspInit 1 */
 
   /* USER CODE END FDCAN2_MspInit 1 */
@@ -227,6 +237,9 @@ void HAL_FDCAN_MspDeInit(FDCAN_HandleTypeDef* fdcanHandle)
     */
     HAL_GPIO_DeInit(GPIOB, GPIO_PIN_8|GPIO_PIN_9);
 
+    /* FDCAN1 interrupt Deinit */
+    HAL_NVIC_DisableIRQ(FDCAN1_IT0_IRQn);
+    HAL_NVIC_DisableIRQ(FDCAN1_IT1_IRQn);
   /* USER CODE BEGIN FDCAN1_MspDeInit 1 */
 
   /* USER CODE END FDCAN1_MspDeInit 1 */
@@ -248,6 +261,9 @@ void HAL_FDCAN_MspDeInit(FDCAN_HandleTypeDef* fdcanHandle)
     */
     HAL_GPIO_DeInit(GPIOB, GPIO_PIN_12|GPIO_PIN_13);
 
+    /* FDCAN2 interrupt Deinit */
+    HAL_NVIC_DisableIRQ(FDCAN2_IT0_IRQn);
+    HAL_NVIC_DisableIRQ(FDCAN2_IT1_IRQn);
   /* USER CODE BEGIN FDCAN2_MspDeInit 1 */
 
   /* USER CODE END FDCAN2_MspDeInit 1 */

Software/Core/Src/main.c

@@ -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,
+  if (HAL_FDCAN_ConfigGlobalFilter(hMainCAN, FDCAN_REJECT, FDCAN_REJECT,
-    FDCAN_REJECT_REMOTE, FDCAN_REJECT_REMOTE) != HAL_OK)
+                                    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)
+  FDCAN_HandleTypeDef* hMainCAN = &hfdcan2;
-    return;
+  //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;
+
   }
 
 }

Software/Core/Src/stm32h7xx_it.c

@@ -57,6 +57,8 @@
 /* External variables --------------------------------------------------------*/
 extern DMA_HandleTypeDef hdma_adc1;
 extern ADC_HandleTypeDef hadc1;
+extern FDCAN_HandleTypeDef hfdcan1;
+extern FDCAN_HandleTypeDef hfdcan2;
 /* USER CODE BEGIN EV */
 
 /* USER CODE END EV */
@@ -227,6 +229,62 @@ void ADC_IRQHandler(void)
   /* USER CODE END ADC_IRQn 1 */
 }
 
+/**
+  * @brief This function handles FDCAN1 interrupt 0.
+  */
+void FDCAN1_IT0_IRQHandler(void)
+{
+  /* USER CODE BEGIN FDCAN1_IT0_IRQn 0 */
+
+  /* USER CODE END FDCAN1_IT0_IRQn 0 */
+  HAL_FDCAN_IRQHandler(&hfdcan1);
+  /* USER CODE BEGIN FDCAN1_IT0_IRQn 1 */
+
+  /* USER CODE END FDCAN1_IT0_IRQn 1 */
+}
+
+/**
+  * @brief This function handles FDCAN2 interrupt 0.
+  */
+void FDCAN2_IT0_IRQHandler(void)
+{
+  /* USER CODE BEGIN FDCAN2_IT0_IRQn 0 */
+
+  /* USER CODE END FDCAN2_IT0_IRQn 0 */
+  HAL_FDCAN_IRQHandler(&hfdcan2);
+  /* USER CODE BEGIN FDCAN2_IT0_IRQn 1 */
+
+  /* USER CODE END FDCAN2_IT0_IRQn 1 */
+}
+
+/**
+  * @brief This function handles FDCAN1 interrupt 1.
+  */
+void FDCAN1_IT1_IRQHandler(void)
+{
+  /* USER CODE BEGIN FDCAN1_IT1_IRQn 0 */
+
+  /* USER CODE END FDCAN1_IT1_IRQn 0 */
+  HAL_FDCAN_IRQHandler(&hfdcan1);
+  /* USER CODE BEGIN FDCAN1_IT1_IRQn 1 */
+
+  /* USER CODE END FDCAN1_IT1_IRQn 1 */
+}
+
+/**
+  * @brief This function handles FDCAN2 interrupt 1.
+  */
+void FDCAN2_IT1_IRQHandler(void)
+{
+  /* USER CODE BEGIN FDCAN2_IT1_IRQn 0 */
+
+  /* USER CODE END FDCAN2_IT1_IRQn 0 */
+  HAL_FDCAN_IRQHandler(&hfdcan2);
+  /* USER CODE BEGIN FDCAN2_IT1_IRQn 1 */
+
+  /* USER CODE END FDCAN2_IT1_IRQn 1 */
+}
+
 /* USER CODE BEGIN 1 */
 
 /* USER CODE END 1 */

Software/Core/Src/tim.c

@@ -46,9 +46,9 @@ void MX_TIM1_Init(void)
 
   /* USER CODE END TIM1_Init 1 */
   htim1.Instance = TIM1;
-  htim1.Init.Prescaler = 0;
+  htim1.Init.Prescaler = 753;
   htim1.Init.CounterMode = TIM_COUNTERMODE_UP;
-  htim1.Init.Period = 65535;
+  htim1.Init.Period = 255;
   htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
   htim1.Init.RepetitionCounter = 0;
   htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
@@ -122,9 +122,9 @@ void MX_TIM3_Init(void)
 
   /* USER CODE END TIM3_Init 1 */
   htim3.Instance = TIM3;
-  htim3.Init.Prescaler = 0;
+  htim3.Init.Prescaler = 1203;
   htim3.Init.CounterMode = TIM_COUNTERMODE_UP;
-  htim3.Init.Period = 65535;
+  htim3.Init.Period = 255;
   htim3.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
   htim3.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
   if (HAL_TIM_PWM_Init(&htim3) != HAL_OK)
@@ -170,9 +170,9 @@ void MX_TIM4_Init(void)
 
   /* USER CODE END TIM4_Init 1 */
   htim4.Instance = TIM4;
-  htim4.Init.Prescaler = 0;
+  htim4.Init.Prescaler = 19;
   htim4.Init.CounterMode = TIM_COUNTERMODE_UP;
-  htim4.Init.Period = 65535;
+  htim4.Init.Period = 255;
   htim4.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
   htim4.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
   if (HAL_TIM_PWM_Init(&htim4) != HAL_OK)

Software/sensor-node.ioc

@@ -127,17 +127,23 @@ Dma.RequestsNb=1
 FDCAN1.CalculateBaudRateNominal=500000
 FDCAN1.CalculateTimeBitNominal=2000
 FDCAN1.CalculateTimeQuantumNominal=125.0
-FDCAN1.IPParameters=CalculateTimeQuantumNominal,CalculateTimeBitNominal,CalculateBaudRateNominal,NominalPrescaler,NominalTimeSeg1,NominalTimeSeg2
+FDCAN1.IPParameters=CalculateTimeQuantumNominal,CalculateTimeBitNominal,CalculateBaudRateNominal,NominalPrescaler,NominalTimeSeg1,NominalTimeSeg2,RxFifo0ElmtsNbr,StdFiltersNbr,TxFifoQueueElmtsNbr
 FDCAN1.NominalPrescaler=3
 FDCAN1.NominalTimeSeg1=13
 FDCAN1.NominalTimeSeg2=2
+FDCAN1.RxFifo0ElmtsNbr=16
+FDCAN1.StdFiltersNbr=1
+FDCAN1.TxFifoQueueElmtsNbr=4
 FDCAN2.CalculateBaudRateNominal=500000
 FDCAN2.CalculateTimeBitNominal=2000
 FDCAN2.CalculateTimeQuantumNominal=125.0
-FDCAN2.IPParameters=CalculateTimeQuantumNominal,CalculateTimeBitNominal,CalculateBaudRateNominal,NominalPrescaler,NominalTimeSeg1,NominalTimeSeg2
+FDCAN2.IPParameters=CalculateTimeQuantumNominal,CalculateTimeBitNominal,CalculateBaudRateNominal,NominalPrescaler,NominalTimeSeg1,NominalTimeSeg2,StdFiltersNbr,RxFifo0ElmtsNbr,TxFifoQueueElmtsNbr
 FDCAN2.NominalPrescaler=3
 FDCAN2.NominalTimeSeg1=13
 FDCAN2.NominalTimeSeg2=2
+FDCAN2.RxFifo0ElmtsNbr=16
+FDCAN2.StdFiltersNbr=1
+FDCAN2.TxFifoQueueElmtsNbr=4
 File.Version=6
 GPIO.groupedBy=Group By Peripherals
 KeepUserPlacement=false
@@ -258,6 +264,10 @@ NVIC.ADC_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true
 NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
 NVIC.DMA1_Stream0_IRQn=true\:0\:0\:false\:true\:true\:1\:false\:true\:true
 NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
+NVIC.FDCAN1_IT0_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true
+NVIC.FDCAN1_IT1_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true
+NVIC.FDCAN2_IT0_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true
+NVIC.FDCAN2_IT1_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true
 NVIC.ForceEnableDMAVector=true
 NVIC.HardFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
 NVIC.MemoryManagement_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false