Hardware/~sensor-node.kicad_pcb.lck

@@ -0,0 +1 @@
+{"hostname":"nagata","username":"oskar"}

Hardware/~sensor-node.kicad_sch.lck

@@ -0,0 +1 @@
+{"hostname":"nagata","username":"oskar"}

Software/Core/Inc/stm32h7xx_it.h

@@ -62,7 +62,6 @@ 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 */

Software/Core/Src/main.c

@@ -50,12 +50,6 @@
 /* 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];
@@ -78,74 +72,6 @@ static void MX_NVIC_Init(void);
 /* Private user code ---------------------------------------------------------*/
 /* USER CODE BEGIN 0 */
 
-void loop_1kHz() {
-
-  if (!setup_complete)
-    return;
-
-  mscounter++;
-
-  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
-    );
-  }
-
-  for (int pi = 0; pi < NUM_TX_PKT; pi++) {
-
-    can_pkt_t* pktinfo = &(CAN_SIGNAL_MAP[pi]);
-
-    if (pktinfo->num_signals < 0)
-      continue;
-
-    if (mscounter % pktinfo->period == 0) {
-
-      txHeader.Identifier = pktinfo->can_id;
-      txHeader.DataLength = pktinfo->dlc;
-      uint64_t txData = 0;
-
-      for (int si = 0; 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:
-            value = wss_flanks[signal->channel];
-            wss_flanks[signal->channel] = 0;
-            break;
-
-          default:
-            break;
-        }
-
-        uint16_t mask = 0xFFFF >> (16 - signal->length);
-        txData |= ((uint64_t) (value & mask)) << (signal->start);
-
-      }
-
-      if (HAL_FDCAN_AddMessageToTxFifoQ(hMainCAN, &txHeader, (uint8_t*) &txData) != HAL_OK)
-        Error_Handler();
-
-    }
-
-    if (mscounter >= 500) {
-      mscounter = 0;
-      HAL_GPIO_TogglePin(STATUS_G_GPIO_Port, STATUS_G_Pin);
-    }
-
-  }
-
-}
-
 /* USER CODE END 0 */
 
 /**
@@ -191,8 +117,8 @@ int main(void)
   MX_NVIC_Init();
   /* USER CODE BEGIN 2 */
   
-  hMainCAN = &hfdcan2;
+  FDCAN_HandleTypeDef* hMainCAN = &hfdcan2;
-  hPeriCAN = &hfdcan1;
+  //FDCAN_HandleTypeDef* hPeriCAN = &hfdcan1;
 
   if (HAL_ADCEx_Calibration_Start(&hadc1, ADC_CALIB_OFFSET, ADC_SINGLE_ENDED) != HAL_OK)
     Error_Handler();
@@ -200,10 +126,12 @@ int main(void)
   if (HAL_ADC_Start_DMA(&hadc1, (uint32_t*)adc_values, NUM_ADC_PINS) != HAL_OK)
     Error_Handler();
 
-  HAL_TIM_Base_Start_IT(&htim6);
+  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;
@@ -242,20 +170,77 @@ 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;
-
   /* 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_SuspendTick();
+    for (int di = 0; di < NUM_DIO_PINS; di++) {
-    //HAL_PWR_EnterSLEEPMode(PWR_MAINREGULATOR_ON, PWR_SLEEPENTRY_WFI);
+      dio_values[di] = HAL_GPIO_ReadPin(
+        DIO_PIN_MAP[di].port,
+        DIO_PIN_MAP[di].pin
+      );
+    }
+
+    for (int pi = 0; pi < NUM_TX_PKT; pi++) {
+
+      can_pkt_t* pktinfo = &(CAN_SIGNAL_MAP[pi]);
+
+      if (pktinfo->num_signals < 0)
+        continue;
+
+      if (mscounter % pktinfo->period == 0) {
+
+        txHeader.Identifier = pktinfo->can_id;
+        txHeader.DataLength = pktinfo->dlc;
+        uint64_t txData = 0;
+
+        for (int si = 0; 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:
+              value = wss_flanks[signal->channel];
+              wss_flanks[signal->channel] = 0;
+              break;
+
+            default:
+              break;
+          }
+
+          uint16_t mask = 0xFFFF >> (16 - signal->length);
+          txData |= ((uint64_t) (value & mask)) << (signal->start);
+
+        }
+
+        if (HAL_FDCAN_AddMessageToTxFifoQ(hMainCAN, &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 */
 }
@@ -333,24 +318,13 @@ 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");
   }
-}*/
+}
-
-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:
@@ -456,11 +430,6 @@ 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 */
 
 /**

Software/Core/Src/stm32h7xx_it.c

@@ -59,7 +59,6 @@ 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 */
 
@@ -301,20 +300,6 @@ 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 */

Software/Core/Src/tim.c

@@ -217,9 +217,9 @@ void MX_TIM6_Init(void)
 
   /* USER CODE END TIM6_Init 1 */
   htim6.Instance = TIM6;
-  htim6.Init.Prescaler = 480-1;
+  htim6.Init.Prescaler = 4800-1;
   htim6.Init.CounterMode = TIM_COUNTERMODE_UP;
-  htim6.Init.Period = 200-1;
+  htim6.Init.Period = 2000-1;
   htim6.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
   if (HAL_TIM_Base_Init(&htim6) != HAL_OK)
   {
@@ -334,10 +334,6 @@ 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 */
@@ -506,9 +502,6 @@ 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 */

Software/sensor-node.ioc

@@ -276,7 +276,6 @@ 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
@@ -634,8 +633,8 @@ TIM4.Period=255
 TIM4.Prescaler=19
 TIM6.AutoReloadPreload=TIM_AUTORELOAD_PRELOAD_DISABLE
 TIM6.IPParameters=Prescaler,Period,TIM_MasterOutputTrigger,AutoReloadPreload
-TIM6.Period=200-1
+TIM6.Period=2000-1
-TIM6.Prescaler=480-1
+TIM6.Prescaler=4800-1
 TIM6.TIM_MasterOutputTrigger=TIM_TRGO_UPDATE
 TIM8.Channel-Input_Capture1_from_TI1=TIM_CHANNEL_1
 TIM8.Channel-Input_Capture2_from_TI2=TIM_CHANNEL_2