fix debug CAN mapping

Software/Core/Inc/main.h

@@ -47,6 +47,7 @@ extern "C" {
 /* Exported macro ------------------------------------------------------------*/
 /* USER CODE BEGIN EM */
 
+void Error_Handler_Led(uint8_t err);
 /* USER CODE END EM */
 
 /* Exported functions prototypes ---------------------------------------------*/

Software/Core/Inc/mappings.h

@@ -4,11 +4,12 @@
 // CHOOSE ONE, comment the other or comment both and use -D SN_FRONT
 //#define SN_FRONT
 #define SN_REAR
+// #define DEBUG
 
-#ifdef SN_FRONT
+#if (defined(SN_FRONT) && defined(SN_REAR)) || \
-#ifdef SN_REAR
+    (defined(SN_FRONT) && defined(DEBUG))   || \
-#error "Choose to either #define SN_FRONT or SN_REAR, not both!"
+    (defined(SN_REAR) && defined(DEBUG))
-#endif
+#error "Choose only one of #define SN_FRONT, #define SN_REAR, or #define DEBUG!"
 #endif
 
 #include <stdint.h>
@@ -20,12 +21,12 @@ static struct {
   GPIO_TypeDef* port;
   uint16_t pin;
 } DIO_PIN_MAP[NUM_DIO_PINS] = {
-/* 0 */ { .port = D1_IC_GPIO_Port,  .pin = D1_IC_Pin},
+/* 0 */ { .port = D5_GPIO_Port,     .pin = D5_Pin},
-/* 1 */ { .port = D2_GPIO_Port,     .pin = D2_Pin},
+/* 1 */ { .port = D6_GPIO_Port,     .pin = D6_Pin},
-/* 2 */ { .port = D3_GPIO_Port,     .pin = D3_Pin},
+/* 2 */ { .port = D4_IC_GPIO_Port,  .pin = D4_IC_Pin},
-/* 3 */ { .port = D4_IC_GPIO_Port,  .pin = D4_IC_Pin},
+/* 3 */ { .port = D3_GPIO_Port,     .pin = D3_Pin},
-/* 4 */ { .port = D5_GPIO_Port,     .pin = D5_Pin},
+/* 4 */ { .port = D2_GPIO_Port,     .pin = D2_Pin},
-/* 5 */ { .port = D6_GPIO_Port,     .pin = D6_Pin},
+/* 5 */ { .port = D1_IC_GPIO_Port,  .pin = D1_IC_Pin},
 };
 
 typedef enum {
@@ -189,6 +190,58 @@ static can_pkt_t CAN_SIGNAL_MAP[NUM_TX_PKT] = {
 
 #endif
 
+#ifdef DEBUG
+
+static can_pkt_t CAN_SIGNAL_MAP[NUM_TX_PKT] = {
+    {
+        .can_id = 0x044, .dlc = 6, .num_signals = 9, .period = 100,  .signals = {
+            { .type = DIN, .channel = L9, .start =  0, .length =  1, .factor = 1., .name = "" },
+            { .type = DIN, .channel = LA, .start =  1, .length =  1, .factor = 1., .name = "" },
+            { .type = DIN, .channel = LC, .start =  2, .length =  1, .factor = 1., .name = "" },
+            { .type = DIN, .channel = R5, .start =  3, .length =  1, .factor = 1., .name = "" },
+            { .type = DIN, .channel = R6, .start =  4, .length =  1, .factor = 1., .name = "" },
+            { .type = DIN, .channel = R7, .start =  5, .length =  1, .factor = 1., .name = "" },
+
+            { .type = AIN, .channel = L1, .start =  6+12*0, .length =  12, .factor = 1., .name = "" },
+            { .type = AIN, .channel = L2, .start =  6+12*1, .length =  12, .factor = 1., .name = "" },
+            { .type = AIN, .channel = L3, .start =  6+12*2, .length =  12, .factor = 1., .name = "" },
+        }
+    },
+    {
+        .can_id = 0x045, .dlc = 8, .num_signals = 5, .period = 100,  .signals = {
+            { .type = AIN, .channel = L4, .start =  12*0, .length =  12, .factor = 1., .name = "" },
+            { .type = AIN, .channel = L5, .start =  12*1, .length =  12, .factor = 1., .name = "" },
+            { .type = AIN, .channel = L6, .start =  12*2, .length =  12, .factor = 1., .name = "" },
+            { .type = AIN, .channel = L7, .start =  12*3, .length =  12, .factor = 1., .name = "" },
+            { .type = AIN, .channel = L8, .start =  12*4, .length =  12, .factor = 1., .name = "" },
+        }
+    },
+    {
+        .can_id = 0x046, .dlc = 8, .num_signals = 5, .period = 100,  .signals = {
+            { .type = AIN, .channel = R9, .start =  12*0, .length =  12, .factor = 1., .name = "" },
+            { .type = AIN, .channel = RA, .start =  12*1, .length =  12, .factor = 1., .name = "" },
+            { .type = AIN, .channel = RB, .start =  12*2, .length =  12, .factor = 1., .name = "" },
+            { .type = AIN, .channel = RC, .start =  12*3, .length =  12, .factor = 1., .name = "" },
+            { .type = AIN, .channel = RD, .start =  12*4, .length =  12, .factor = 1., .name = "" },
+        }
+    },
+    {
+        .can_id = 0x047, .dlc = 5, .num_signals = 3, .period = 100,  .signals = {
+            { .type = AIN, .channel = RE, .start =  12*0, .length =  12, .factor = 1., .name = "" },
+            { .type = AIN, .channel = RF, .start =  12*1, .length =  12, .factor = 1., .name = "" },
+            { .type = AIN, .channel = R0, .start =  12*2, .length =  12, .factor = 1., .name = "" },
+
+        }
+    },
+};
+
+#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
+
 /* user needs
 TIM_HandleTypeDef* PWM_TIM_MAP[3] = {&htim1, &htim4, &htim3};
 */

Software/Core/Src/main.c

@@ -28,7 +28,6 @@
 /* Private includes ----------------------------------------------------------*/
 /* USER CODE BEGIN Includes */
 #include <string.h>
-#include <stdbool.h>
 
 #include "mappings.h"
 /* USER CODE END Includes */
@@ -41,6 +40,7 @@
 /* Private define ------------------------------------------------------------*/
 /* USER CODE BEGIN PD */
 #define TIM_BASE_FREQ 96000000UL
+#define WSS_HISTORY_SIZE 10
 /* USER CODE END PD */
 
 /* Private macro -------------------------------------------------------------*/
@@ -51,24 +51,25 @@
 /* Private variables ---------------------------------------------------------*/
 
 /* USER CODE BEGIN PV */
-unsigned int tx_counter;
+unsigned int mscounter;
-bool adc_conv_cplt;
+unsigned int setup_complete;
 
 FDCAN_HandleTypeDef *hMainCAN, *hPeriCAN;
 FDCAN_TxHeaderTypeDef txHeader;
 
-// Declare buffer in AXI SRAM
+/* Declare buffer in D1 domain 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};
 
 static uint8_t  pwm_ch_active[8];
 
 static uint16_t wss_flanks[2];
+static uint16_t wss_flanks_avg[2];
+static uint8_t wss_flanks_history[2][WSS_HISTORY_SIZE];
+static uint8_t wss_flanks_history_idx[2];  // index of the oldest entry (next to be overwritten)
 /* USER CODE END PV */
 
 /* Private function prototypes -----------------------------------------------*/
@@ -81,9 +82,12 @@ static void MX_NVIC_Init(void);
 /* Private user code ---------------------------------------------------------*/
 /* USER CODE BEGIN 0 */
 
-void send_latest_can() {
+void loop_1kHz() {
 
-  tx_counter++;
+  if (!setup_complete)
+    return;
+
+  mscounter++;
 
   for (int di = 0; di < NUM_DIO_PINS; di++) {
     dio_values[di] = HAL_GPIO_ReadPin(
@@ -99,7 +103,7 @@ void send_latest_can() {
     if (pktinfo->num_signals < 0)
       continue;
 
-    if (tx_counter % pktinfo->period == 0) {
+    if (mscounter % pktinfo->period == 0) {
 
       txHeader.Identifier = pktinfo->can_id;
       txHeader.DataLength = pktinfo->dlc;
@@ -115,11 +119,15 @@ void send_latest_can() {
             break;
 
           case AIN:
-            value = signal->factor * filtered_values[signal->channel];
+            value = signal->factor * adc_values[signal->channel];
             break;
 
           case FIN:
-            value = wss_flanks[signal->channel];
+            uint8_t oldest_hist_idx = wss_flanks_history_idx[signal->channel];
+            // subtract oldest entry from avg
+            wss_flanks_avg[signal->channel] -= wss_flanks_history[signal->channel][oldest_hist_idx];
+            // overwrite oldest history entry with new value and reset counter
+            wss_flanks_history[signal->channel][oldest_hist_idx] = wss_flanks[signal->channel];
             wss_flanks[signal->channel] = 0;
             break;
 
@@ -132,30 +140,20 @@ void send_latest_can() {
 
       }
 
-      if (HAL_FDCAN_AddMessageToTxFifoQ(hMainCAN, &txHeader, (uint8_t*) &txData) != HAL_OK)
+      if (HAL_FDCAN_AddMessageToTxFifoQ(hMainCAN, &txHeader, (uint8_t*) &txData) != HAL_OK) {
-        Error_Handler();
+        if(HAL_FDCAN_GetError(hMainCAN) != HAL_FDCAN_ERROR_FIFO_FULL) {
-
+          Error_Handler_Led(1);
+        }
+      }
     }
 
-    if (tx_counter >= 256) {
+    if (mscounter >= 500) {
-      tx_counter = 0;
+      mscounter = 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 */
@@ -207,10 +205,10 @@ int main(void)
   hPeriCAN = &hfdcan2;
 
   if (HAL_ADCEx_Calibration_Start(&hadc1, ADC_CALIB_OFFSET, ADC_SINGLE_ENDED) != HAL_OK)
-    Error_Handler();
+    Error_Handler_Led(2);
 
   if (HAL_ADC_Start_DMA(&hadc1, (uint32_t*)adc_values, NUM_ADC_PINS) != HAL_OK)
-    Error_Handler();
+    Error_Handler_Led(2);
 
   HAL_TIM_Base_Start_IT(&htim6);
 
@@ -227,11 +225,11 @@ int main(void)
   txHeader.DataLength = 8;
 
   if (HAL_FDCAN_ActivateNotification(hMainCAN, FDCAN_IT_RX_FIFO0_NEW_MESSAGE, 0) != HAL_OK)
-    Error_Handler();
+    Error_Handler_Led(3);
 
   if (HAL_FDCAN_ConfigGlobalFilter(hMainCAN, FDCAN_REJECT, FDCAN_REJECT,
                                     FDCAN_REJECT_REMOTE, FDCAN_REJECT_REMOTE) != HAL_OK)
-    Error_Handler();
+    Error_Handler_Led(3);
 
   FDCAN_FilterTypeDef filter;
   filter.IdType = FDCAN_STANDARD_ID;
@@ -242,10 +240,10 @@ int main(void)
   filter.FilterID2 = CAN_PWM_FILTER_MASK;
 
   if (HAL_FDCAN_ConfigFilter(hMainCAN, &filter) != HAL_OK)
-    Error_Handler();
+    Error_Handler_Led(5);
 
   if (HAL_FDCAN_Start(hMainCAN) != HAL_OK)
-    Error_Handler();
+    Error_Handler_Led(5);
 
   // Init all channels as stopped
   memset(pwm_ch_active, 0, 8);
@@ -254,26 +252,24 @@ int main(void)
   HAL_TIM_IC_Start_IT(&htim8, TIM_CHANNEL_1);
   HAL_TIM_IC_Start_IT(&htim8, TIM_CHANNEL_2);
 
-  tx_counter = 0;
+  mscounter = 0;
+  setup_complete = 1;
 
+  memset(wss_flanks, 0, sizeof(wss_flanks));
+  memset(wss_flanks_avg, 0, sizeof(wss_flanks));
+  memset(wss_flanks_history, 0, sizeof(wss_flanks_history));
+  memset(wss_flanks_history_idx, 0, sizeof(wss_flanks_history_idx));
   /* USER CODE END 2 */
 
   /* Infinite loop */
   /* 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 */
 }
@@ -317,7 +313,7 @@ void SystemClock_Config(void)
   RCC_OscInitStruct.PLL.PLLFRACN = 0;
   if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
   {
-    Error_Handler();
+    Error_Handler_Led(4);
   }
 
   /** Initializes the CPU, AHB and APB buses clocks
@@ -335,7 +331,7 @@ void SystemClock_Config(void)
 
   if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
   {
-    Error_Handler();
+    Error_Handler_Led(4);
   }
 }
 
@@ -351,13 +347,13 @@ 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)
   {
-    adc_conv_cplt = true;
+    __asm volatile ("NOP");
   }
-}
+}*/
 
 void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) {
 
@@ -366,7 +362,7 @@ void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) {
   if (htim != &htim6)
     return;
 
-  // TODO: Make timer 10kHz and dont trigger a function with it, for exiting WFI in main
+  loop_1kHz();
 
 };
 
@@ -476,6 +472,49 @@ void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)
   HAL_ResumeTick();
 }
 
+void Error_Handler_Led(uint8_t err) {
+  HAL_GPIO_WritePin(STATUS_R_GPIO_Port, STATUS_R_Pin, GPIO_PIN_RESET);
+  HAL_GPIO_WritePin(STATUS_G_GPIO_Port, STATUS_G_Pin, GPIO_PIN_RESET);
+  HAL_GPIO_WritePin(STATUS_B_GPIO_Port, STATUS_B_Pin, GPIO_PIN_RESET);
+  switch (err)
+  {
+  case 0: // red: general error
+    HAL_GPIO_WritePin(STATUS_R_GPIO_Port, STATUS_R_Pin, GPIO_PIN_SET);
+    break;
+
+  case 1: // red blue: in 1 kHz loop
+    HAL_GPIO_WritePin(STATUS_R_GPIO_Port, STATUS_R_Pin, GPIO_PIN_SET);
+    HAL_GPIO_WritePin(STATUS_B_GPIO_Port, STATUS_B_Pin, GPIO_PIN_SET);
+    break;
+
+  case 2: // blue: ADC calibration or DMA start
+    HAL_GPIO_WritePin(STATUS_B_GPIO_Port, STATUS_B_Pin, GPIO_PIN_SET);
+    break;
+
+  case 3: // green blue: CAN notify and config gloabl filter
+    HAL_GPIO_WritePin(STATUS_B_GPIO_Port, STATUS_B_Pin, GPIO_PIN_SET);
+    HAL_GPIO_WritePin(STATUS_G_GPIO_Port, STATUS_G_Pin, GPIO_PIN_SET);
+    break;
+    
+  case 4: //red green: clock
+    HAL_GPIO_WritePin(STATUS_R_GPIO_Port, STATUS_R_Pin, GPIO_PIN_SET);
+    HAL_GPIO_WritePin(STATUS_G_GPIO_Port, STATUS_G_Pin, GPIO_PIN_SET);
+    break;
+    
+  case 5: // red green blue: CAN config filter and start
+    HAL_GPIO_WritePin(STATUS_R_GPIO_Port, STATUS_R_Pin, GPIO_PIN_SET);
+    HAL_GPIO_WritePin(STATUS_B_GPIO_Port, STATUS_B_Pin, GPIO_PIN_SET);
+    HAL_GPIO_WritePin(STATUS_G_GPIO_Port, STATUS_G_Pin, GPIO_PIN_SET);
+    break;
+    
+    default:
+    break;
+  }
+
+  __disable_irq();
+  while (1);
+}
+
 /* USER CODE END 4 */
 
 /**

Software/debug_dbc_entries.txt

@@ -0,0 +1,29 @@
+BO_ 68 Sensornode_Debug_1: 6 Sensornode_F
+   SG_ Sensornode_Debug_L9 : 0|1@1+ (1,0) [0|1] "" Vector__XXX
+   SG_ Sensornode_Debug_LA : 1|1@1+ (1,0) [0|1] "" Vector__XXX
+   SG_ Sensornode_Debug_LC : 2|1@1+ (1,0) [0|1] "" Vector__XXX
+   SG_ Sensornode_Debug_R5 : 3|1@1+ (1,0) [0|1] "" Vector__XXX
+   SG_ Sensornode_Debug_R6 : 4|1@1+ (1,0) [0|1] "" Vector__XXX
+   SG_ Sensornode_Debug_R7 : 5|1@1+ (1,0) [0|1] "" Vector__XXX
+   SG_ Sensornode_Debug_L1 : 6|12@1+ (1,0) [0|1] "" Vector__XXX
+   SG_ Sensornode_Debug_L2 : 18|12@1+ (1,0) [0|1] "" Vector__XXX
+   SG_ Sensornode_Debug_L3 : 30|12@1+ (1,0) [0|1] "" Vector__XXX
+
+BO_ 69 Sensornode_Debug_2: 8 Sensornode_F
+   SG_ Sensornode_Debug_L4 : 0|12@1+ (1,0) [0|1] "" Vector__XXX
+   SG_ Sensornode_Debug_L5 : 12|12@1+ (1,0) [0|1] "" Vector__XXX
+   SG_ Sensornode_Debug_L6 : 24|12@1+ (1,0) [0|1] "" Vector__XXX
+   SG_ Sensornode_Debug_L7 : 36|12@1+ (1,0) [0|1] "" Vector__XXX
+   SG_ Sensornode_Debug_L8 : 48|12@1+ (1,0) [0|1] "" Vector__XXX
+
+BO_ 70 Sensornode_Debug_3: 8 Sensornode_F
+   SG_ Sensornode_Debug_R9 : 0|12@1+ (1,0) [0|1] "" Vector__XXX
+   SG_ Sensornode_Debug_RA : 12|12@1+ (1,0) [0|1] "" Vector__XXX
+   SG_ Sensornode_Debug_RB : 24|12@1+ (1,0) [0|1] "" Vector__XXX
+   SG_ Sensornode_Debug_RC : 36|12@1+ (1,0) [0|1] "" Vector__XXX
+   SG_ Sensornode_Debug_RD : 48|12@1+ (1,0) [0|1] "" Vector__XXX
+
+BO_ 71 Sensornode_Debug_4: 5 Sensornode_F
+   SG_ Sensornode_Debug_RE : 0|12@1+ (1,0) [0|1] "" Vector__XXX
+   SG_ Sensornode_Debug_RF : 12|12@1+ (1,0) [0|1] "" Vector__XXX
+   SG_ Sensornode_Debug_R0 : 24|12@1+ (1,0) [0|1] "" Vector__XXX