interrupt based light switch detection for front SN

added filtering, changed control flow (untested)
fix PWM checking for wrong CAN bus
2025-07-07 17:25:11 +02:00 · 2025-06-04 16:39:44 +02:00 · 2025-05-26 23:50:05 +02:00 · 2025-05-25 14:55:18 +02:00 · 2025-05-15 13:23:56 +02:00
3 changed files with 126 additions and 41 deletions
--- a/Software/Core/Inc/mappings.h
+++ b/Software/Core/Inc/mappings.h
@ -5,6 +5,12 @@
 //#define SN_FRONT
 #define SN_REAR

+#ifdef SN_FRONT
+#ifdef SN_REAR
+#error "Choose to either #define SN_FRONT or SN_REAR, not both!"
+#endif
+#endif
+
 #include <stdint.h>
 #include "main.h"

@ -95,10 +101,10 @@ typedef struct {
 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" },
-            { .type = DIN, .channel = L9, .start =  1, .length =  1, .factor = 1., .name = "LS R" },
-            { .type = DIN, .channel = LA, .start =  2, .length =  1, .factor = 1., .name = "SDC M pre BOTS" },
-            { .type = DIN, .channel = LC, .start =  3, .length =  1, .factor = 1., .name = "SDC M post INS" },
+            { .type = DIN, .channel = L9, .start =  0, .length =  1, .factor = 1., .name = "LS L" },
+            { .type = DIN, .channel = LA, .start =  1, .length =  1, .factor = 1., .name = "LS R" },
+            { .type = DIN, .channel = R5, .start =  2, .length =  1, .factor = 1., .name = "SDC M pre BOTS" },
+            { .type = DIN, .channel = R6, .start =  3, .length =  1, .factor = 1., .name = "SDC M post INS" },
            { .type = DIN, .channel = R7, .start =  4, .length =  1, .factor = 1., .name = "SDC M post BSPD" },

            { .type = AIN, .channel = R0, .start =  8, .length =  8, .factor = ((512./2)/ADQ), .name = "BDTS FL" },
@ -109,7 +115,7 @@ static can_pkt_t CAN_SIGNAL_MAP[NUM_TX_PKT] = {
        .can_id = 0x0D3, .dlc = 7, .num_signals = 6, .period = 10, .signals = {
            { .type = AIN, .channel = L1, .start =  0, .length =  8, .factor = (256./ADQ), .name = "APPS 1" },
            { .type = AIN, .channel = L2, .start =  8, .length =  8, .factor = (256./ADQ), .name = "APPS 2" },
-            { .type = AIN, .channel = RA, .start = 16, .length =  8, .factor = ((512./2)/ADQ), .name = "BP F" },
+            { .type = AIN, .channel = L5, .start = 16, .length =  8, .factor = ((512./2)/ADQ), .name = "BP F" },
            { .type = AIN, .channel = R9, .start = 24, .length = 12, .factor = 1., .name = "SAS" },
            { .type = FIN, .channel = R8, .start = 40, .length =  8, .factor = 1., .name = "WSS FL" },
            { .type = FIN, .channel = LB, .start = 48, .length =  8, .factor = 1., .name = "WSS FR" },
@ -117,7 +123,7 @@ static can_pkt_t CAN_SIGNAL_MAP[NUM_TX_PKT] = {
    },
    {
        .can_id = 0x0D5, .dlc = 3, .num_signals = 2, .period = 10, .signals = {
-            { .type = AIN, .channel = RC, .start =  0, .length = 12, .factor = 1., .name = "DS FL" },
+            { .type = AIN, .channel = L3, .start =  0, .length = 12, .factor = 1., .name = "DS FL" },
            { .type = AIN, .channel = L4, .start = 12, .length = 12, .factor = 1., .name = "DS FR" },
        }
    },
@ -129,6 +135,11 @@ static can_pkt_t CAN_SIGNAL_MAP[NUM_TX_PKT] = {
    }
 };

+#define CAN_PWM_DC_ID 0x0DA // UNUSED
+#define CAN_PWM_CONF_ID 0x0DB // UNUSED
+#define CAN_PWM_BASE_ID CAN_PWM_DC_ID
+#define CAN_PWM_FILTER_MASK 0x7FE // Match both
+
 #endif

 #ifdef SN_REAR
@ -143,20 +154,20 @@ static can_pkt_t CAN_SIGNAL_MAP[NUM_TX_PKT] = {
            { .type = AIN, .channel = R0, .start =  8, .length =  8, .factor = ((512./2)/ADQ), .name = "BDTS RL" },
            { .type = AIN, .channel = L8, .start = 16, .length =  8, .factor = ((512./2)/ADQ), .name = "BDTS RR" },

-            { .type = AIN, .channel = R9, .start = 24, .length =  8, .factor = (256./ADQ), .name = "WT BAT" },
-            { .type = AIN, .channel = RB, .start = 32, .length =  8, .factor = (256./ADQ), .name = "WT DT" },
-            { .type = AIN, .channel = RD, .start = 40, .length =  8, .factor = (256./ADQ), .name = "WP BAT" },
-            { .type = AIN, .channel = RF, .start = 48, .length =  8, .factor = (256./ADQ), .name = "WP DT" },
+            { .type = AIN, .channel = L3, .start = 24, .length =  8, .factor = (256./ADQ), .name = "WT BAT" },
+            { .type = AIN, .channel = R9, .start = 32, .length =  8, .factor = (256./ADQ), .name = "WT DT" },
+            { .type = AIN, .channel = L5, .start = 40, .length =  8, .factor = (256./ADQ), .name = "WP BAT" },
+            { .type = AIN, .channel = RB, .start = 48, .length =  8, .factor = (256./ADQ), .name = "WP DT" },
        }
    },
    {
        .can_id = 0x0D4, .dlc = 8, .num_signals = 7, .period = 10, .signals = {
            { .type = AIN, .channel = L1, .start =  0, .length =  8, .factor = ((25.6/.1)/ADQ), .name = "EBS APS 1" },
            { .type = AIN, .channel = L2, .start =  8, .length =  8, .factor = ((25.6/.1)/ADQ), .name = "EBS APS 2" },
-            { .type = AIN, .channel = RA, .start = 16, .length =  8, .factor = ((512./2)/ADQ), .name = "BP F" },
+            { .type = AIN, .channel = RA, .start = 16, .length =  8, .factor = ((512./2)/ADQ), .name = "BP R" },
            { .type = FIN, .channel = R8, .start = 24, .length =  8, .factor = 1., .name = "WSS RL" },
            { .type = FIN, .channel = LB, .start = 32, .length =  8, .factor = 1., .name = "WSS RR" },
-            { .type = AIN, .channel = RC, .start = 40, .length = 12, .factor = 1., .name = "DS RL" },
+            { .type = AIN, .channel = L7, .start = 40, .length = 12, .factor = 1., .name = "DS RL" },
            { .type = AIN, .channel = L4, .start = 52, .length = 12, .factor = 1., .name = "DS RR" },
        }
    },
@ -173,6 +184,8 @@ static can_pkt_t CAN_SIGNAL_MAP[NUM_TX_PKT] = {

 #define CAN_PWM_DC_ID 0x0DC
 #define CAN_PWM_CONF_ID 0x0DD
+#define CAN_PWM_BASE_ID CAN_PWM_DC_ID
+#define CAN_PWM_FILTER_MASK 0x7FE // Match both 0x0DC and 0x0DD

 #endif

--- a/Software/Core/Src/main.c
+++ b/Software/Core/Src/main.c
@ -28,6 +28,7 @@
 /* Private includes ----------------------------------------------------------*/
 /* USER CODE BEGIN Includes */
 #include <string.h>
+#include <stdbool.h>

 #include "mappings.h"
 /* USER CODE END Includes */
@ -50,15 +51,20 @@
 /* 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];
+#ifdef SN_FRONT
+static uint8_t  ls_values[2];
+#endif /* SN_FRONT */
+
+static uint16_t filtered_values[NUM_ADC_PINS];

 // See mappings.h pwm_tim_t
 TIM_HandleTypeDef* PWM_TIM_MAP[3] = {&htim1, &htim4, &htim3};
@ -78,19 +84,27 @@ 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++;

+  #if defined(SN_FRONT)
+  memcpy(dio_values, ls_values, 2);
+  memset(ls_values, 0, 2);
+  for (int di = 2; di < NUM_DIO_PINS; di++) { //TODO: find way to make this dependent on mappings
+    dio_values[di] = HAL_GPIO_ReadPin(
+      DIO_PIN_MAP[di].port,
+      DIO_PIN_MAP[di].pin
+    );
+  }
+  #elif defined(SN_REAR)
  for (int di = 0; di < NUM_DIO_PINS; di++) {
    dio_values[di] = HAL_GPIO_ReadPin(
      DIO_PIN_MAP[di].port,
      DIO_PIN_MAP[di].pin
    );
  }
+  #endif /* SN_FRONT */

  for (int pi = 0; pi < NUM_TX_PKT; pi++) {

@ -99,7 +113,7 @@ 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 +129,7 @@ void loop_1kHz() {
            break;

          case AIN:
-            value = signal->factor * adc_values[signal->channel];
+            value = signal->factor * filtered_values[signal->channel];
            break;

          case FIN:
@ -137,15 +151,37 @@ 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]);
+    }
+  }
+}
+
+#ifdef SN_FRONT
+void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin) {
+  if (GPIO_Pin == DIO_PIN_MAP[CAN_SIGNAL_MAP[0].signals[0].channel].pin) {
+    ls_values[1] = 1;
+  } else if (GPIO_Pin == DIO_PIN_MAP[CAN_SIGNAL_MAP[0].signals[1].channel].pin) {
+    ls_values[0] = 1;
+  }
+}
+#endif /* SN_FRONT */
+
 /* USER CODE END 0 */

 /**
@ -190,9 +226,39 @@ int main(void)
  /* Initialize interrupts */
  MX_NVIC_Init();
  /* USER CODE BEGIN 2 */
+
+  // Enable Interrupts for Light Switch Pins
+#ifdef SN_FRONT
+  // check if pin name is "LS L"
+  if (strcmp(CAN_SIGNAL_MAP[0].signals[0].name, "LS L") != 0
+   || strcmp(CAN_SIGNAL_MAP[0].signals[1].name, "LS R") != 0
+  ) {
+    Error_Handler();
+  }
+
+  GPIO_InitTypeDef GPIO_InitStruct = {0};
+  GPIO_InitStruct.Pin = CAN_SIGNAL_MAP[0].signals[0].channel;
+  GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING;
+  GPIO_InitStruct.Pull = GPIO_NOPULL;
+  HAL_GPIO_Init(DIO_PIN_MAP[CAN_SIGNAL_MAP[0].signals[0].channel].port, &GPIO_InitStruct);
+  GPIO_InitStruct.Pin = CAN_SIGNAL_MAP[0].signals[1].channel;
+  HAL_GPIO_Init(DIO_PIN_MAP[CAN_SIGNAL_MAP[0].signals[1].channel].port, &GPIO_InitStruct);
+
+  // Did not find a way to make this dependent on mappings,
+  // since the EXTI lines are shared for pins 10-15
+  // so i just error if the pins are not 10, 15
+  if (DIO_PIN_MAP[CAN_SIGNAL_MAP[0].signals[0].channel].pin != GPIO_PIN_10
+   || DIO_PIN_MAP[CAN_SIGNAL_MAP[0].signals[1].channel].pin != GPIO_PIN_15
+  ) {
+    Error_Handler();
+  }
+
+  HAL_NVIC_SetPriority(EXTI15_10_IRQn, 0, 0);
+  HAL_NVIC_EnableIRQ(EXTI15_10_IRQn);
+#endif /* SN_FRONT */
  
-  hMainCAN = &hfdcan2;
-  hPeriCAN = &hfdcan1;
+  hMainCAN = &hfdcan1;
+  hPeriCAN = &hfdcan2;

  if (HAL_ADCEx_Calibration_Start(&hadc1, ADC_CALIB_OFFSET, ADC_SINGLE_ENDED) != HAL_OK)
    Error_Handler();
@ -226,8 +292,8 @@ int main(void)
  filter.FilterIndex = 0;
  filter.FilterType = FDCAN_FILTER_MASK;
  filter.FilterConfig = FDCAN_FILTER_TO_RXFIFO0;
-  filter.FilterID1 = 0x0DD;
-  filter.FilterID2 = 0x7FE; // Match 0x0DC and 0x0DD
+  filter.FilterID1 = CAN_PWM_BASE_ID;
+  filter.FilterID2 = CAN_PWM_FILTER_MASK;

  if (HAL_FDCAN_ConfigFilter(hMainCAN, &filter) != HAL_OK)
    Error_Handler();
@ -242,8 +308,7 @@ 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 +316,18 @@ 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 +405,13 @@ 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 +420,7 @@ 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

 };

@ -397,9 +469,6 @@ void SetCCR(TIM_TypeDef* Instance, unsigned int ch, uint8_t dc) {

 void HAL_FDCAN_RxFifo0Callback(FDCAN_HandleTypeDef *handle, uint32_t RxFifo0ITs)
 {
-  FDCAN_HandleTypeDef* hMainCAN = &hfdcan2;
-  //FDCAN_HandleTypeDef* hPeriCAN = &hfdcan1;
-
  if (handle != hMainCAN || (RxFifo0ITs & FDCAN_IT_RX_FIFO0_NEW_MESSAGE) == RESET)
    return; // TODO: handle Peripheral CAN
  
--- a/pre-commit.sh
+++ b/pre-commit.sh
@ -0,0 +1,3 @@
+#!/usr/bin/env bash
+
+[ ! find . -type f -iname "*.lck" ]
Author	SHA1	Message	Date
Karlsson Winkels	c4849935c0	interrupt based light switch detection for front SN	2025-07-07 17:25:11 +02:00
Karlsson Winkels	bfc0eb2276	added filtering, changed control flow (untested)	2025-06-04 16:39:44 +02:00
Leonard Gies	28fc2a966b	fix PWM checking for wrong CAN bus	2025-05-26 23:50:05 +02:00
Oskar	6051e4b993	Update mappings to newest agreements	2025-05-25 14:55:18 +02:00
Oskar	3a8b90acc8	Ready for install: Switch to CAN1 and add unused PWM IDs for front	2025-05-15 13:23:56 +02:00