566 lines
16 KiB
C
566 lines
16 KiB
C
/* USER CODE BEGIN Header */
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/**
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******************************************************************************
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* @file : main.c
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* @brief : Main program body
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******************************************************************************
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* @attention
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*
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* Copyright (c) 2025 STMicroelectronics.
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* All rights reserved.
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*
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* This software is licensed under terms that can be found in the LICENSE file
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* in the root directory of this software component.
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* If no LICENSE file comes with this software, it is provided AS-IS.
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*
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******************************************************************************
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*/
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/* USER CODE END Header */
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/* Includes ------------------------------------------------------------------*/
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#include "main.h"
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#include "adc.h"
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#include "dma.h"
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#include "fdcan.h"
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#include "memorymap.h"
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#include "tim.h"
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#include "gpio.h"
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/* Private includes ----------------------------------------------------------*/
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/* USER CODE BEGIN Includes */
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#include <string.h>
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#include "mappings.h"
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/* USER CODE END Includes */
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/* Private typedef -----------------------------------------------------------*/
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/* USER CODE BEGIN PTD */
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/* USER CODE END PTD */
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/* Private define ------------------------------------------------------------*/
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/* USER CODE BEGIN PD */
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#define TIM_BASE_FREQ 96000000UL
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#define WSS_HISTORY_SIZE 10
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/* USER CODE END PD */
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/* Private macro -------------------------------------------------------------*/
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/* USER CODE BEGIN PM */
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/* USER CODE END PM */
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/* Private variables ---------------------------------------------------------*/
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/* USER CODE BEGIN PV */
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unsigned int mscounter;
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unsigned int setup_complete;
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FDCAN_HandleTypeDef *hMainCAN, *hPeriCAN;
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FDCAN_TxHeaderTypeDef txHeader;
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/* Declare buffer in D1 domain SRAM */
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static uint16_t adc_values[NUM_ADC_PINS];
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static uint8_t dio_values[NUM_DIO_PINS];
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// See mappings.h pwm_tim_t
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TIM_HandleTypeDef* PWM_TIM_MAP[3] = {&htim1, &htim4, &htim3};
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static uint8_t pwm_ch_active[8];
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static uint16_t wss_flanks[2];
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static uint16_t wss_flanks_avg[2];
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static uint8_t wss_flanks_history[2][WSS_HISTORY_SIZE];
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static uint8_t wss_flanks_history_idx[2]; // index of the oldest entry (next to be overwritten)
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/* USER CODE END PV */
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/* Private function prototypes -----------------------------------------------*/
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void SystemClock_Config(void);
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static void MX_NVIC_Init(void);
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/* USER CODE BEGIN PFP */
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/* USER CODE END PFP */
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/* Private user code ---------------------------------------------------------*/
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/* USER CODE BEGIN 0 */
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void loop_1kHz() {
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if (!setup_complete)
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return;
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mscounter++;
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for (int di = 0; di < NUM_DIO_PINS; di++) {
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uint8_t value = HAL_GPIO_ReadPin(
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DIO_PIN_MAP[di].port,
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DIO_PIN_MAP[di].pin
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);
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if (DIO_LATCHING[di]) {
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dio_values[di] |= value;
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} else {
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dio_values[di] = value;
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}
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}
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for (int pi = 0; pi < NUM_TX_PKT; pi++) {
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can_pkt_t* pktinfo = &(CAN_SIGNAL_MAP[pi]);
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if (pktinfo->num_signals < 0)
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continue;
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if (mscounter % pktinfo->period == 0) {
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txHeader.Identifier = pktinfo->can_id;
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txHeader.DataLength = pktinfo->dlc;
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uint64_t txData = 0;
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for (int si = 0; si < pktinfo->num_signals; si++) {
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can_signal_t* signal = &(pktinfo->signals[si]);
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uint16_t value = 0;
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switch (signal->type) {
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case DIN:
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value = dio_values[signal->channel];
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dio_values[signal->channel] = 0; // will be overwritten with real value at start of 1kHz loop
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break;
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case AIN:
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value = signal->factor * adc_values[signal->channel];
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break;
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case FIN:
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uint8_t oldest_hist_idx = wss_flanks_history_idx[signal->channel];
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// subtract oldest entry from avg
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wss_flanks_avg[signal->channel] -= wss_flanks_history[signal->channel][oldest_hist_idx];
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// overwrite oldest history entry with new value and reset counter
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wss_flanks_history[signal->channel][oldest_hist_idx] = wss_flanks[signal->channel];
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wss_flanks[signal->channel] = 0;
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// add new counter to avg
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wss_flanks_avg[signal->channel] += wss_flanks_history[signal->channel][oldest_hist_idx];
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// increase / wrap around index
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wss_flanks_history_idx[signal->channel]++;
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if(wss_flanks_history_idx[signal->channel] >= WSS_HISTORY_SIZE) {
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wss_flanks_history_idx[signal->channel] = 0;
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}
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// value = wss_flanks_avg[signal->channel] * (1000 / pktinfo->period / WSS_HISTORY_SIZE);
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value = wss_flanks_avg[signal->channel];
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break;
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default:
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break;
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}
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uint16_t mask = 0xFFFF >> (16 - signal->length);
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txData |= ((uint64_t) (value & mask)) << (signal->start);
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}
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if (HAL_FDCAN_AddMessageToTxFifoQ(hMainCAN, &txHeader, (uint8_t*) &txData) != HAL_OK) {
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if(HAL_FDCAN_GetError(hMainCAN) != HAL_FDCAN_ERROR_FIFO_FULL) {
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Error_Handler_Led(1);
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}
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}
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}
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if (mscounter >= 500) {
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mscounter = 0;
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HAL_GPIO_TogglePin(STATUS_G_GPIO_Port, STATUS_G_Pin);
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}
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}
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}
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/* USER CODE END 0 */
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/**
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* @brief The application entry point.
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* @retval int
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*/
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int main(void)
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{
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/* USER CODE BEGIN 1 */
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/* USER CODE END 1 */
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/* MCU Configuration--------------------------------------------------------*/
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/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
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HAL_Init();
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/* USER CODE BEGIN Init */
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/* USER CODE END Init */
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/* Configure the system clock */
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SystemClock_Config();
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/* USER CODE BEGIN SysInit */
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/* USER CODE END SysInit */
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/* Initialize all configured peripherals */
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MX_GPIO_Init();
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MX_DMA_Init();
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MX_ADC1_Init();
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MX_FDCAN1_Init();
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MX_FDCAN2_Init();
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MX_TIM1_Init();
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MX_TIM3_Init();
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MX_TIM8_Init();
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MX_TIM6_Init();
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MX_TIM4_Init();
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/* Initialize interrupts */
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MX_NVIC_Init();
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/* USER CODE BEGIN 2 */
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hMainCAN = &hfdcan1;
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hPeriCAN = &hfdcan2;
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if (HAL_ADCEx_Calibration_Start(&hadc1, ADC_CALIB_OFFSET, ADC_SINGLE_ENDED) != HAL_OK)
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Error_Handler_Led(2);
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if (HAL_ADC_Start_DMA(&hadc1, (uint32_t*)adc_values, NUM_ADC_PINS) != HAL_OK)
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Error_Handler_Led(2);
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HAL_TIM_Base_Start_IT(&htim6);
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// CAN TX PREP
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// Prep the tx frame
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txHeader.ErrorStateIndicator = FDCAN_ESI_PASSIVE;
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txHeader.BitRateSwitch = FDCAN_BRS_OFF;
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txHeader.FDFormat = FDCAN_CLASSIC_CAN;
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txHeader.TxEventFifoControl = FDCAN_NO_TX_EVENTS;
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txHeader.IdType = FDCAN_STANDARD_ID;
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txHeader.Identifier = 0x0;
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txHeader.TxFrameType = FDCAN_DATA_FRAME;
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txHeader.DataLength = 8;
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if (HAL_FDCAN_ActivateNotification(hMainCAN, FDCAN_IT_RX_FIFO0_NEW_MESSAGE, 0) != HAL_OK)
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Error_Handler_Led(3);
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if (HAL_FDCAN_ConfigGlobalFilter(hMainCAN, FDCAN_REJECT, FDCAN_REJECT,
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FDCAN_REJECT_REMOTE, FDCAN_REJECT_REMOTE) != HAL_OK)
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Error_Handler_Led(3);
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FDCAN_FilterTypeDef filter;
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filter.IdType = FDCAN_STANDARD_ID;
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filter.FilterIndex = 0;
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filter.FilterType = FDCAN_FILTER_MASK;
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filter.FilterConfig = FDCAN_FILTER_TO_RXFIFO0;
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filter.FilterID1 = CAN_PWM_BASE_ID;
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filter.FilterID2 = CAN_PWM_FILTER_MASK;
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if (HAL_FDCAN_ConfigFilter(hMainCAN, &filter) != HAL_OK)
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Error_Handler_Led(5);
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if (HAL_FDCAN_Start(hMainCAN) != HAL_OK)
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Error_Handler_Led(5);
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// Init all channels as stopped
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memset(pwm_ch_active, 0, 8);
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// Start input capture for WSS
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HAL_TIM_IC_Start_IT(&htim8, TIM_CHANNEL_1);
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HAL_TIM_IC_Start_IT(&htim8, TIM_CHANNEL_2);
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mscounter = 0;
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setup_complete = 1;
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memset(wss_flanks, 0, sizeof(wss_flanks));
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memset(wss_flanks_avg, 0, sizeof(wss_flanks));
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memset(wss_flanks_history, 0, sizeof(wss_flanks_history));
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memset(wss_flanks_history_idx, 0, sizeof(wss_flanks_history_idx));
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/* USER CODE END 2 */
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/* Infinite loop */
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/* USER CODE BEGIN WHILE */
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while(1)
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{
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/* USER CODE END WHILE */
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/* USER CODE BEGIN 3 */
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//HAL_SuspendTick();
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//HAL_PWR_EnterSLEEPMode(PWR_MAINREGULATOR_ON, PWR_SLEEPENTRY_WFI);
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}
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/* USER CODE END 3 */
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}
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/**
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* @brief System Clock Configuration
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* @retval None
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*/
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void SystemClock_Config(void)
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{
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RCC_OscInitTypeDef RCC_OscInitStruct = {0};
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RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
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/*AXI clock gating */
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RCC->CKGAENR = 0xFFFFFFFF;
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/** Supply configuration update enable
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*/
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HAL_PWREx_ConfigSupply(PWR_LDO_SUPPLY);
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/** Configure the main internal regulator output voltage
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*/
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__HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
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while(!__HAL_PWR_GET_FLAG(PWR_FLAG_VOSRDY)) {}
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/** Initializes the RCC Oscillators according to the specified parameters
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* in the RCC_OscInitTypeDef structure.
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*/
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RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
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RCC_OscInitStruct.HSEState = RCC_HSE_ON;
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RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
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RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
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RCC_OscInitStruct.PLL.PLLM = 2;
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RCC_OscInitStruct.PLL.PLLN = 32;
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RCC_OscInitStruct.PLL.PLLP = 2;
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RCC_OscInitStruct.PLL.PLLQ = 32;
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RCC_OscInitStruct.PLL.PLLR = 32;
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RCC_OscInitStruct.PLL.PLLRGE = RCC_PLL1VCIRANGE_3;
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RCC_OscInitStruct.PLL.PLLVCOSEL = RCC_PLL1VCOWIDE;
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RCC_OscInitStruct.PLL.PLLFRACN = 0;
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if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
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{
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Error_Handler_Led(4);
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}
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/** Initializes the CPU, AHB and APB buses clocks
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*/
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RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
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|RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2
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|RCC_CLOCKTYPE_D3PCLK1|RCC_CLOCKTYPE_D1PCLK1;
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RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
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RCC_ClkInitStruct.SYSCLKDivider = RCC_SYSCLK_DIV1;
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RCC_ClkInitStruct.AHBCLKDivider = RCC_HCLK_DIV2;
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RCC_ClkInitStruct.APB3CLKDivider = RCC_APB3_DIV1;
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RCC_ClkInitStruct.APB1CLKDivider = RCC_APB1_DIV1;
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RCC_ClkInitStruct.APB2CLKDivider = RCC_APB2_DIV1;
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RCC_ClkInitStruct.APB4CLKDivider = RCC_APB4_DIV1;
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if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
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{
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Error_Handler_Led(4);
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}
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}
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/**
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* @brief NVIC Configuration.
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* @retval None
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*/
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static void MX_NVIC_Init(void)
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{
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/* DMA1_Stream0_IRQn interrupt configuration */
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HAL_NVIC_SetPriority(DMA1_Stream0_IRQn, 0, 0);
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HAL_NVIC_EnableIRQ(DMA1_Stream0_IRQn);
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}
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/* USER CODE BEGIN 4 */
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/*void HAL_ADC_ConvCpltCallback(ADC_HandleTypeDef* hadc)
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{
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if (hadc->Instance == ADC1)
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{
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__asm volatile ("NOP");
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}
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}*/
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void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) {
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//HAL_GPIO_TogglePin(STATUS_B_GPIO_Port, STATUS_B_Pin);
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if (htim != &htim6)
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return;
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loop_1kHz();
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};
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/*
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* Input capture timing calculations:
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* wheel speed = 8000 rpm * (11/48) = 30.55 rot/s
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* if both flanks then 64 flanks per rot = 1956 flanks/s
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* That's ~500µs per flank or ~1ms per notch
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*
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* TIM8 trigger prescaled = 96MHz/64 = 3MHz
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* Max Filter is 15 samples, at 666.666ns per sample
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* that's 10µs of filtering (flanks that are unstable
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* for this long will not trigger a capture interrupt)
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*
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* If we want to do further filtering, we can either
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* increase the prescaler and decrease the counter
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* period or do it in software using
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* HAL_TIM_ReadCapturedValue(&htim8, TIM_CHANNEL_X);
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* to measure the time between events.
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*/
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void HAL_TIM_IC_CaptureCallback(TIM_HandleTypeDef *htim) {
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if (htim != &htim8 || htim->Channel < 1 || htim->Channel > 2)
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return;
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/*
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* Channels go 1,2,4,8... so we count the trailing zeros to get the index.
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* For this, we could use the nifty CTZ instruction, which gives us exactly that.
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* BUT according to godbolt we save 2 instructions by using subtraction,
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* which we can only do because we only use the first two channels.
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* Why 2 instructions? well, one because -1 can be done in the immediate when
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* writing to memory. Another one because ARMv7 32bit doesn't have CTZ but only
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* CLZ, so it must do RBIT before to reverse the result.
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*
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* CAREFUL: When using more than 2 channels, you MUST use CTZ instead.
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*/
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wss_flanks[htim->Channel-1]++;
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//wss_flanks[__builtin_ctz(htim->Channel)]++;
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}
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void SetCCR(TIM_TypeDef* Instance, unsigned int ch, uint8_t dc) {
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(&(Instance->CCR1))[ch] = dc;
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}
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void HAL_FDCAN_RxFifo0Callback(FDCAN_HandleTypeDef *handle, uint32_t RxFifo0ITs)
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{
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if (handle != hMainCAN || (RxFifo0ITs & FDCAN_IT_RX_FIFO0_NEW_MESSAGE) == RESET)
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return; // TODO: handle Peripheral CAN
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static FDCAN_RxHeaderTypeDef header;
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static uint8_t data[8];
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if (HAL_FDCAN_GetRxMessage(hMainCAN, FDCAN_RX_FIFO0, &header, data) != HAL_OK)
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return;
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if (header.FDFormat != FDCAN_CLASSIC_CAN ||
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header.RxFrameType != FDCAN_DATA_FRAME ||
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header.IdType != FDCAN_STANDARD_ID)
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return;
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switch (header.Identifier) {
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case CAN_PWM_DC_ID:
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uint8_t* dcs = data;
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for (int i = 0; i < header.DataLength; i++) {
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TIM_HandleTypeDef* htim = PWM_TIM_MAP[PWM_CH_MAP[i].tim];
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if ((pwm_ch_active[i] == 0) && (dcs[i] == 0)) {
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HAL_TIM_PWM_Stop(htim, PWM_CH_MAP[i].ch << 2);
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pwm_ch_active[i] = 0;
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continue;
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}
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SetCCR(htim->Instance, PWM_CH_MAP[i].ch, dcs[i]);
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if (pwm_ch_active[i] == 0) {
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HAL_TIM_PWM_Start(htim, PWM_CH_MAP[i].ch << 2);
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pwm_ch_active[i] = 1;
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}
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}
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break;
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case CAN_PWM_CONF_ID:
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uint16_t* freqs = (uint16_t*) data;
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for (int i = 0; i < (header.DataLength/2); i++) {
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uint32_t prescaler = (TIM_BASE_FREQ / (255UL * freqs[i])); // cast?
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PWM_TIM_MAP[i]->Instance->PSC = prescaler;
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}
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break;
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default:
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break;
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}
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}
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void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)
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{
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HAL_ResumeTick();
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}
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void Error_Handler_Led(uint8_t err) {
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HAL_GPIO_WritePin(STATUS_R_GPIO_Port, STATUS_R_Pin, GPIO_PIN_RESET);
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HAL_GPIO_WritePin(STATUS_G_GPIO_Port, STATUS_G_Pin, GPIO_PIN_RESET);
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HAL_GPIO_WritePin(STATUS_B_GPIO_Port, STATUS_B_Pin, GPIO_PIN_RESET);
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switch (err)
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{
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case 0: // red: general error
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HAL_GPIO_WritePin(STATUS_R_GPIO_Port, STATUS_R_Pin, GPIO_PIN_SET);
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break;
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case 1: // red blue: in 1 kHz loop
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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 */
|
|
|
|
/**
|
|
* @brief This function is executed in case of error occurrence.
|
|
* @retval None
|
|
*/
|
|
void Error_Handler(void)
|
|
{
|
|
/* USER CODE BEGIN Error_Handler_Debug */
|
|
/* User can add his own implementation to report the HAL error return state */
|
|
HAL_GPIO_WritePin(STATUS_R_GPIO_Port, STATUS_R_Pin, GPIO_PIN_SET);
|
|
__disable_irq();
|
|
while (1);
|
|
/* USER CODE END Error_Handler_Debug */
|
|
}
|
|
|
|
#ifdef USE_FULL_ASSERT
|
|
/**
|
|
* @brief Reports the name of the source file and the source line number
|
|
* where the assert_param error has occurred.
|
|
* @param file: pointer to the source file name
|
|
* @param line: assert_param error line source number
|
|
* @retval None
|
|
*/
|
|
void assert_failed(uint8_t *file, uint32_t line)
|
|
{
|
|
/* USER CODE BEGIN 6 */
|
|
/* User can add his own implementation to report the file name and line number,
|
|
ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
|
|
/* USER CODE END 6 */
|
|
}
|
|
#endif /* USE_FULL_ASSERT */
|