FaSTTUBe/sensor-node
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Add CAN send logic and DIO mapping

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This commit is contained in:
Oskar Winkels 2025-03-30 10:47:13 +02:00
parent eb994ad693
commit c4f33ec9a9
Signed by: o.winkels
GPG Key ID: E7484A06E99DAEF1
4 changed files with 106 additions and 11 deletions
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2
Software/Core/Inc/adc.h
View File

@ -35,7 +35,7 @@ extern "C" {
extern ADC_HandleTypeDef hadc1;
/* USER CODE BEGIN Private defines */
#define NUM_ADC_PINS 16
/* USER CODE END Private defines */
void MX_ADC1_Init(void);

14
Software/Core/Inc/gpio.h
View File

@ -34,6 +34,20 @@ extern "C" {
/* USER CODE BEGIN Private defines */
#define NUM_DIO_PINS 6
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},
};
/* USER CODE END Private defines */
void MX_GPIO_Init(void);

5
Software/Core/Inc/mappings_o.h
View File

@ -72,11 +72,12 @@ typedef struct {
can_signal_t signals[9];
} can_pkt_t;
#define NUM_TX_PKT 4
#define ADQ (1<<12)
#ifdef SN_FRONT
static can_pkt_t CAN_SIGNAL_MAP[4] {
static can_pkt_t CAN_SIGNAL_MAP[NUM_TX_PKT] = {
{
.can_id = 0x0D1, .dlc = 3, .num_signals = 7, .period = 100, .signals = {
{ .type = DIN, .channel = R5, .start = 0, .length = 1, .factor = 1., .name = "LS L" },
@ -117,7 +118,7 @@ static can_pkt_t CAN_SIGNAL_MAP[4] {
#ifdef SN_REAR
static can_pkt_t CAN_SIGNAL_MAP[4] {
static can_pkt_t CAN_SIGNAL_MAP[NUM_TX_PKT] = {
{
.can_id = 0x0D2, .dlc = 7, .num_signals = 9, .period = 100, .signals = {
{ .type = DIN, .channel = L9, .start = 0, .length = 1, .factor = 1., .name = "ExtTSOn" },

96
Software/Core/Src/main.c
View File

@ -27,7 +27,7 @@
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "mappings_o.h"
/* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/
@ -49,7 +49,8 @@
/* USER CODE BEGIN PV */
/* Declare buffer in D1 domain SRAM */
static uint16_t adc_values[16];
static uint16_t adc_values[NUM_ADC_PINS];
static uint8_t dio_values[NUM_DIO_PINS];
/* USER CODE END PV */
/* Private function prototypes -----------------------------------------------*/
@ -112,27 +113,106 @@ int main(void)
Error_Handler();
}
if (HAL_ADC_Start_DMA(&hadc1, (uint32_t*)adc_values, 16) != HAL_OK)
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(&hfdcan1, 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)
Error_Handler();
// TODO: Add Filters and Rx Handler
if (HAL_FDCAN_Start(&hfdcan1) != HAL_OK)
Error_Handler();
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
for (unsigned int mscounter = 0; 1; mscounter++)
{
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
HAL_GPIO_WritePin(STATUS_G_GPIO_Port, STATUS_G_Pin, GPIO_PIN_SET);
HAL_Delay(500);
HAL_GPIO_WritePin(STATUS_G_GPIO_Port, STATUS_G_Pin, GPIO_PIN_RESET);
HAL_Delay(500);
for (int di; di < NUM_DIO_PINS; di++) {
dio_values[di] = HAL_GPIO_ReadPin(
DIO_PIN_MAP[di].port,
DIO_PIN_MAP[di].pin
);
}
for (int pi; pi < NUM_TX_PKT; pi++) {
can_pkt_t* pktinfo = &(CAN_SIGNAL_MAP[pi]);
if (mscounter % pktinfo->period == 0) {
txHeader.Identifier = pktinfo->can_id;
txHeader.DataLength = pktinfo->dlc;
uint64_t txData = 0;
for (int si; si < pktinfo->num_signals; si++) {
can_signal_t* signal = &(pktinfo->signals[si]);
uint16_t value = 0;
switch (signal->type) {
case DIN:
value = dio_values[signal->channel];
break;
case AIN:
value = signal->factor * adc_values[signal->channel];
break;
case FIN:
/* NYI */
break;
default:
break;
}
uint16_t mask = 0xFFFF >> (16 - signal->length);
txData |= ((uint64_t) (value & mask)) << (signal->start);
}
if (HAL_FDCAN_AddMessageToTxFifoQ(&hfdcan1, &txHeader, (uint8_t*) txData) != HAL_OK)
Error_Handler();
}
if (mscounter >= 500) {
mscounter = 0;
HAL_GPIO_TogglePin(STATUS_G_GPIO_Port, STATUS_G_Pin);
}
}
// TODO: Move all this into a 1kHz timer callback!
HAL_Delay(1);
}
/* USER CODE END 3 */
}