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Resolve #4 by running main loop inside timer IRQ and setting it to 1kHz

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This commit is contained in:
Oskar Winkels
2025-05-12 17:46:28 +02:00
parent 2657040304
commit 7c50101f9e
5 changed files with 129 additions and 74 deletions
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1
Software/Core/Inc/stm32h7xx_it.h
View File

@ -62,6 +62,7 @@ void FDCAN2_IT0_IRQHandler(void);
void FDCAN1_IT1_IRQHandler(void);
void FDCAN2_IT1_IRQHandler(void);
void TIM8_CC_IRQHandler(void);
void TIM6_DAC_IRQHandler(void);
/* USER CODE BEGIN EFP */
/* USER CODE END EFP */

247
Software/Core/Src/main.c
View File

@ -50,6 +50,12 @@
/* Private variables ---------------------------------------------------------*/
/* USER CODE BEGIN PV */
unsigned int mscounter;
unsigned int setup_complete;
FDCAN_HandleTypeDef *hMainCAN, *hPeriCAN;
FDCAN_TxHeaderTypeDef txHeader;
/* Declare buffer in D1 domain SRAM */
static uint16_t adc_values[NUM_ADC_PINS];
static uint8_t dio_values[NUM_DIO_PINS];
@ -72,113 +78,13 @@ static void MX_NVIC_Init(void);
/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
/* USER CODE END 0 */
void loop_1kHz() {
/**
* @brief The application entry point.
* @retval int
*/
int main(void)
{
if (!setup_complete)
return;
/* USER CODE BEGIN 1 */
mscounter++;
/* USER CODE END 1 */
/* MCU Configuration--------------------------------------------------------*/
/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
HAL_Init();
/* USER CODE BEGIN Init */
/* USER CODE END Init */
/* Configure the system clock */
SystemClock_Config();
/* USER CODE BEGIN SysInit */
/* USER CODE END SysInit */
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_DMA_Init();
MX_ADC1_Init();
MX_FDCAN1_Init();
MX_FDCAN2_Init();
MX_TIM1_Init();
MX_TIM3_Init();
MX_TIM8_Init();
MX_TIM6_Init();
MX_TIM4_Init();
/* Initialize interrupts */
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();
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(hMainCAN, FDCAN_IT_RX_FIFO0_NEW_MESSAGE, 0) != HAL_OK)
Error_Handler();
if (HAL_FDCAN_ConfigGlobalFilter(hMainCAN, FDCAN_REJECT, FDCAN_REJECT,
FDCAN_REJECT_REMOTE, FDCAN_REJECT_REMOTE) != HAL_OK)
Error_Handler();
FDCAN_FilterTypeDef filter;
filter.IdType = FDCAN_STANDARD_ID;
filter.FilterIndex = 0;
filter.FilterType = FDCAN_FILTER_MASK;
filter.FilterConfig = FDCAN_FILTER_TO_RXFIFO0;
filter.FilterID1 = 0x0DD;
filter.FilterID2 = 0x7FE; // Match 0x0DC and 0x0DD
if (HAL_FDCAN_ConfigFilter(hMainCAN, &filter) != HAL_OK)
Error_Handler();
if (HAL_FDCAN_Start(hMainCAN) != HAL_OK)
Error_Handler();
// Init all channels as stopped
memset(pwm_ch_active, 0, 8);
// Start input capture for WSS
HAL_TIM_IC_Start_IT(&htim8, TIM_CHANNEL_1);
HAL_TIM_IC_Start_IT(&htim8, TIM_CHANNEL_2);
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
for (unsigned int mscounter = 0; 1; mscounter++)
{
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
for (int di = 0; di < NUM_DIO_PINS; di++) {
dio_values[di] = HAL_GPIO_ReadPin(
DIO_PIN_MAP[di].port,
@ -238,9 +144,118 @@ int main(void)
}
// TODO: Move all this into a 1kHz timer callback!
HAL_Delay(1);
}
/* USER CODE END 0 */
/**
* @brief The application entry point.
* @retval int
*/
int main(void)
{
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */
/* MCU Configuration--------------------------------------------------------*/
/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
HAL_Init();
/* USER CODE BEGIN Init */
/* USER CODE END Init */
/* Configure the system clock */
SystemClock_Config();
/* USER CODE BEGIN SysInit */
/* USER CODE END SysInit */
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_DMA_Init();
MX_ADC1_Init();
MX_FDCAN1_Init();
MX_FDCAN2_Init();
MX_TIM1_Init();
MX_TIM3_Init();
MX_TIM8_Init();
MX_TIM6_Init();
MX_TIM4_Init();
/* Initialize interrupts */
MX_NVIC_Init();
/* USER CODE BEGIN 2 */
hMainCAN = &hfdcan2;
hPeriCAN = &hfdcan1;
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, NUM_ADC_PINS) != HAL_OK)
Error_Handler();
HAL_TIM_Base_Start_IT(&htim6);
// CAN TX PREP
// 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(hMainCAN, FDCAN_IT_RX_FIFO0_NEW_MESSAGE, 0) != HAL_OK)
Error_Handler();
if (HAL_FDCAN_ConfigGlobalFilter(hMainCAN, FDCAN_REJECT, FDCAN_REJECT,
FDCAN_REJECT_REMOTE, FDCAN_REJECT_REMOTE) != HAL_OK)
Error_Handler();
FDCAN_FilterTypeDef filter;
filter.IdType = FDCAN_STANDARD_ID;
filter.FilterIndex = 0;
filter.FilterType = FDCAN_FILTER_MASK;
filter.FilterConfig = FDCAN_FILTER_TO_RXFIFO0;
filter.FilterID1 = 0x0DD;
filter.FilterID2 = 0x7FE; // Match 0x0DC and 0x0DD
if (HAL_FDCAN_ConfigFilter(hMainCAN, &filter) != HAL_OK)
Error_Handler();
if (HAL_FDCAN_Start(hMainCAN) != HAL_OK)
Error_Handler();
// Init all channels as stopped
memset(pwm_ch_active, 0, 8);
// Start input capture for WSS
HAL_TIM_IC_Start_IT(&htim8, TIM_CHANNEL_1);
HAL_TIM_IC_Start_IT(&htim8, TIM_CHANNEL_2);
mscounter = 0;
setup_complete = 1;
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while(1)
{
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
//HAL_SuspendTick();
//HAL_PWR_EnterSLEEPMode(PWR_MAINREGULATOR_ON, PWR_SLEEPENTRY_WFI);
}
/* USER CODE END 3 */
}
@ -318,13 +333,24 @@ static void MX_NVIC_Init(void)
}
/* USER CODE BEGIN 4 */
void HAL_ADC_ConvCpltCallback(ADC_HandleTypeDef* hadc)
/*void HAL_ADC_ConvCpltCallback(ADC_HandleTypeDef* hadc)
{
if (hadc->Instance == ADC1)
{
__asm volatile ("NOP");
}
}
}*/
void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) {
//HAL_GPIO_TogglePin(STATUS_B_GPIO_Port, STATUS_B_Pin);
if (htim != &htim6)
return;
loop_1kHz();
};
/*
* Input capture timing calculations:
@ -430,6 +456,11 @@ void HAL_FDCAN_RxFifo0Callback(FDCAN_HandleTypeDef *handle, uint32_t RxFifo0ITs)
}
void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)
{
HAL_ResumeTick();
}
/* USER CODE END 4 */
/**

15
Software/Core/Src/stm32h7xx_it.c
View File

@ -59,6 +59,7 @@ extern DMA_HandleTypeDef hdma_adc1;
extern ADC_HandleTypeDef hadc1;
extern FDCAN_HandleTypeDef hfdcan1;
extern FDCAN_HandleTypeDef hfdcan2;
extern TIM_HandleTypeDef htim6;
extern TIM_HandleTypeDef htim8;
/* USER CODE BEGIN EV */
@ -300,6 +301,20 @@ void TIM8_CC_IRQHandler(void)
/* USER CODE END TIM8_CC_IRQn 1 */
}
/**
* @brief This function handles TIM6 global interrupt, DAC1_CH1 and DAC1_CH2 underrun error interrupts.
*/
void TIM6_DAC_IRQHandler(void)
{
/* USER CODE BEGIN TIM6_DAC_IRQn 0 */
/* USER CODE END TIM6_DAC_IRQn 0 */
HAL_TIM_IRQHandler(&htim6);
/* USER CODE BEGIN TIM6_DAC_IRQn 1 */
/* USER CODE END TIM6_DAC_IRQn 1 */
}
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */

11
Software/Core/Src/tim.c
View File

@ -217,9 +217,9 @@ void MX_TIM6_Init(void)
/* USER CODE END TIM6_Init 1 */
htim6.Instance = TIM6;
htim6.Init.Prescaler = 4800-1;
htim6.Init.Prescaler = 480-1;
htim6.Init.CounterMode = TIM_COUNTERMODE_UP;
htim6.Init.Period = 2000-1;
htim6.Init.Period = 200-1;
htim6.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
if (HAL_TIM_Base_Init(&htim6) != HAL_OK)
{
@ -334,6 +334,10 @@ void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* tim_baseHandle)
/* USER CODE END TIM6_MspInit 0 */
/* TIM6 clock enable */
__HAL_RCC_TIM6_CLK_ENABLE();
/* TIM6 interrupt Init */
HAL_NVIC_SetPriority(TIM6_DAC_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(TIM6_DAC_IRQn);
/* USER CODE BEGIN TIM6_MspInit 1 */
/* USER CODE END TIM6_MspInit 1 */
@ -502,6 +506,9 @@ void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef* tim_baseHandle)
/* USER CODE END TIM6_MspDeInit 0 */
/* Peripheral clock disable */
__HAL_RCC_TIM6_CLK_DISABLE();
/* TIM6 interrupt Deinit */
HAL_NVIC_DisableIRQ(TIM6_DAC_IRQn);
/* USER CODE BEGIN TIM6_MspDeInit 1 */
/* USER CODE END TIM6_MspDeInit 1 */

5
Software/sensor-node.ioc
View File

@ -276,6 +276,7 @@ NVIC.PendSV_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
NVIC.PriorityGroup=NVIC_PRIORITYGROUP_4
NVIC.SVCall_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
NVIC.SysTick_IRQn=true\:15\:0\:false\:false\:true\:false\:true\:false
NVIC.TIM6_DAC_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true
NVIC.TIM8_CC_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true
NVIC.UsageFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
PA0.GPIOParameters=GPIO_Label
@ -633,8 +634,8 @@ TIM4.Period=255
TIM4.Prescaler=19
TIM6.AutoReloadPreload=TIM_AUTORELOAD_PRELOAD_DISABLE
TIM6.IPParameters=Prescaler,Period,TIM_MasterOutputTrigger,AutoReloadPreload
TIM6.Period=2000-1
TIM6.Prescaler=4800-1
TIM6.Period=200-1
TIM6.Prescaler=480-1
TIM6.TIM_MasterOutputTrigger=TIM_TRGO_UPDATE
TIM8.Channel-Input_Capture1_from_TI1=TIM_CHANNEL_1
TIM8.Channel-Input_Capture2_from_TI2=TIM_CHANNEL_2