FaSTTUBe/sensor-node
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added filtering, changed control flow (untested)

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Karlsson Winkels 2025-06-04 16:39:44 +02:00
parent 28fc2a966b
commit bfc0eb2276
1 changed files with 39 additions and 21 deletions
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60
Software/Core/Src/main.c
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@ -28,6 +28,7 @@
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include <string.h>
#include <stdbool.h>
#include "mappings.h"
/* USER CODE END Includes */
@ -50,16 +51,18 @@
/* Private variables ---------------------------------------------------------*/
/* USER CODE BEGIN PV */
unsigned int mscounter;
unsigned int setup_complete;
unsigned int tx_counter;
bool adc_conv_cplt;
FDCAN_HandleTypeDef *hMainCAN, *hPeriCAN;
FDCAN_TxHeaderTypeDef txHeader;
/* Declare buffer in D1 domain SRAM */
// Declare buffer in AXI SRAM
static uint16_t adc_values[NUM_ADC_PINS];
static uint8_t dio_values[NUM_DIO_PINS];
static uint16_t filtered_values[NUM_ADC_PINS];
// See mappings.h pwm_tim_t
TIM_HandleTypeDef* PWM_TIM_MAP[3] = {&htim1, &htim4, &htim3};
@ -78,12 +81,9 @@ static void MX_NVIC_Init(void);
/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
void loop_1kHz() {
void send_latest_can() {
if (!setup_complete)
return;
mscounter++;
tx_counter++;
for (int di = 0; di < NUM_DIO_PINS; di++) {
dio_values[di] = HAL_GPIO_ReadPin(
@ -99,7 +99,7 @@ void loop_1kHz() {
if (pktinfo->num_signals < 0)
continue;
if (mscounter % pktinfo->period == 0) {
if (tx_counter % pktinfo->period == 0) {
txHeader.Identifier = pktinfo->can_id;
txHeader.DataLength = pktinfo->dlc;
@ -115,7 +115,7 @@ void loop_1kHz() {
break;
case AIN:
value = signal->factor * adc_values[signal->channel];
value = signal->factor * filtered_values[signal->channel];
break;
case FIN:
@ -137,13 +137,25 @@ void loop_1kHz() {
}
if (mscounter >= 500) {
mscounter = 0;
if (tx_counter >= 256) {
tx_counter = 0;
HAL_GPIO_TogglePin(STATUS_G_GPIO_Port, STATUS_G_Pin);
}
}
}
void filter_adc() {
for (size_t i = 0; i < NUM_TX_PKT; i++){
float alpha = 1 / CAN_SIGNAL_MAP[i].period; // TODO: check if it smoothes too much
for (size_t j = 0; i < CAN_SIGNAL_MAP[i].num_signals; j++) {
if(CAN_SIGNAL_MAP[i].signals[j].type != AIN)
continue;
uint8_t ch_index = CAN_SIGNAL_MAP[i].signals[j].channel;
filtered_values[ch_index] = (alpha * adc_values[ch_index]) + ((1 - alpha) * filtered_values[ch_index]);
}
}
}
/* USER CODE END 0 */
@ -242,8 +254,7 @@ int main(void)
HAL_TIM_IC_Start_IT(&htim8, TIM_CHANNEL_1);
HAL_TIM_IC_Start_IT(&htim8, TIM_CHANNEL_2);
mscounter = 0;
setup_complete = 1;
tx_counter = 0;
/* USER CODE END 2 */
@ -251,11 +262,18 @@ int main(void)
/* USER CODE BEGIN WHILE */
while(1)
{
if(adc_conv_cplt) {
adc_conv_cplt = false;
filter_adc();
send_latest_can();
}
HAL_PWR_EnterSLEEPMode(PWR_MAINREGULATOR_ON, PWR_SLEEPENTRY_WFI);
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
//HAL_SuspendTick();
//HAL_PWR_EnterSLEEPMode(PWR_MAINREGULATOR_ON, PWR_SLEEPENTRY_WFI);
}
/* USER CODE END 3 */
}
@ -333,13 +351,13 @@ 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");
adc_conv_cplt = true;
}
}*/
}
void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) {
@ -348,7 +366,7 @@ void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) {
if (htim != &htim6)
return;
loop_1kHz();
// TODO: Make timer 10kHz and dont trigger a function with it, for exiting WFI in main
};