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base: FaSTTUBe:7c50101f9e157f9b1495ff9d9fc95f62c00a771e
Branches Tags
FaSTTUBe:main
FaSTTUBe:FT25v1.0
..
compare: FaSTTUBe:3e4cc09120a5d7f07f33963ac855d7c21d2154f4
Branches Tags
FaSTTUBe:main
FaSTTUBe:FT25v1.0

No commits in common. "7c50101f9e157f9b1495ff9d9fc95f62c00a771e" and "3e4cc09120a5d7f07f33963ac855d7c21d2154f4" have entirely different histories.
7c50101f9e ... 3e4cc09120

7 changed files with 76 additions and 129 deletions
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1
Hardware/~sensor-node.kicad_pcb.lck Normal file
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@ -0,0 +1 @@
{"hostname":"nagata","username":"oskar"}

1
Hardware/~sensor-node.kicad_sch.lck Normal file
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@ -0,0 +1 @@
{"hostname":"nagata","username":"oskar"}

1
Software/Core/Inc/stm32h7xx_it.h
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@ -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 */

171
Software/Core/Src/main.c
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@ -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;
hPeriCAN = &hfdcan1;
FDCAN_HandleTypeDef* hMainCAN = &hfdcan2;
//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();
//HAL_PWR_EnterSLEEPMode(PWR_MAINREGULATOR_ON, PWR_SLEEPENTRY_WFI);
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);
}
}
// 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 */
/**

15
Software/Core/Src/stm32h7xx_it.c
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@ -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 */

11
Software/Core/Src/tim.c
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@ -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 */

5
Software/sensor-node.ioc
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@ -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.Prescaler=480-1
TIM6.Period=2000-1
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