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5 Commits
main ... integratio

Author SHA1 Message Date
Leonard Gies
22e24b38b5
fix debug CAN mapping 2025-06-23 17:23:41 +02:00
Leonard Gies
63e3333260
add debug CAN mapping 2025-06-20 00:24:12 +02:00
Leonard Gies
dc8e0c806a
fix digital inputs pin mapping 2025-06-20 00:14:40 +02:00
Leonard Gies
75950a226d
change wss to moving sum 2025-06-20 00:11:01 +02:00
Leonard Gies
2afdfa8293
add more error led states and ignore CAN send FIFO full error 2025-06-20 00:10:21 +02:00
4 changed files with 183 additions and 61 deletions
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1
Software/Core/Inc/main.h
View File

@ -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 ---------------------------------------------*/

73
Software/Core/Inc/mappings.h
View File

@ -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
#ifdef SN_REAR
#error "Choose to either #define SN_FRONT or SN_REAR, not both!"
#endif
#if (defined(SN_FRONT) && defined(SN_REAR)) || \
(defined(SN_FRONT) && defined(DEBUG)) || \
(defined(SN_REAR) && defined(DEBUG))
#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},
/* 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},
/* 0 */ { .port = D5_GPIO_Port, .pin = D5_Pin},
/* 1 */ { .port = D6_GPIO_Port, .pin = D6_Pin},
/* 2 */ { .port = D4_IC_GPIO_Port, .pin = D4_IC_Pin},
/* 3 */ { .port = D3_GPIO_Port, .pin = D3_Pin},
/* 4 */ { .port = D2_GPIO_Port, .pin = D2_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};
*/

141
Software/Core/Src/main.c
View File

@ -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;
bool adc_conv_cplt;
unsigned int mscounter;
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)
Error_Handler();
if (HAL_FDCAN_AddMessageToTxFifoQ(hMainCAN, &txHeader, (uint8_t*) &txData) != HAL_OK) {
if(HAL_FDCAN_GetError(hMainCAN) != HAL_FDCAN_ERROR_FIFO_FULL) {
Error_Handler_Led(1);
}
}
}
if (tx_counter >= 256) {
tx_counter = 0;
if (mscounter >= 500) {
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 */
/**

29
Software/debug_dbc_entries.txt Normal file
View File

@ -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