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Implement rudimentary CAN communication

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This commit is contained in:
Jasper Blanckenburg
2022-05-29 00:20:28 +02:00
committed by jazzpi
parent 6a772179c1
commit bc3771c39a
10 changed files with 214 additions and 48 deletions
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1
Core/Inc/stm32g4xx_it.h
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@ -55,6 +55,7 @@ void SVC_Handler(void);
void DebugMon_Handler(void);
void PendSV_Handler(void);
void SysTick_Handler(void);
void FDCAN1_IT0_IRQHandler(void);
void I2C2_EV_IRQHandler(void);
void EXTI15_10_IRQHandler(void);
/* USER CODE BEGIN EFP */

15
Core/Inc/vehicle.h Normal file
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@ -0,0 +1,15 @@
#ifndef __VEHICLE_H
#define __VEHICLE_H
#include "state.h"
#include "stm32g4xx_hal.h"
#include "stm32g4xx_hal_fdcan.h"
#define CAN_ID_MISSION_SELECT 0x400
#define CAN_ID_AS_MISSION_FB 0x410
void vehicle_init(FDCAN_HandleTypeDef *handle);
void vehicle_send_mission_select(Mission mission);
#endif // __VEHICLE_H

36
Core/Src/main.c
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@ -24,6 +24,7 @@
#include "events.h"
#include "rpi.h"
#include "state.h"
#include "vehicle.h"
#include "stm32g4xx_hal.h"
#include "stm32g4xx_hal_gpio.h"
@ -105,6 +106,7 @@ int main(void) {
MX_I2C2_Init();
/* USER CODE BEGIN 2 */
state_init();
vehicle_init(&hfdcan1);
rpi_init(&hi2c2);
/* USER CODE END 2 */
@ -144,7 +146,13 @@ void SystemClock_Config(void) {
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
RCC_OscInitStruct.HSIState = RCC_HSI_ON;
RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_NONE;
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
RCC_OscInitStruct.PLL.PLLM = RCC_PLLM_DIV1;
RCC_OscInitStruct.PLL.PLLN = 10;
RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
RCC_OscInitStruct.PLL.PLLQ = RCC_PLLQ_DIV2;
RCC_OscInitStruct.PLL.PLLR = RCC_PLLR_DIV2;
if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK) {
Error_Handler();
}
@ -153,12 +161,12 @@ void SystemClock_Config(void) {
*/
RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK | RCC_CLOCKTYPE_SYSCLK |
RCC_CLOCKTYPE_PCLK1 | RCC_CLOCKTYPE_PCLK2;
RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_HSI;
RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1;
RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_0) != HAL_OK) {
if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK) {
Error_Handler();
}
}
@ -242,20 +250,20 @@ static void MX_FDCAN1_Init(void) {
/* USER CODE END FDCAN1_Init 1 */
hfdcan1.Instance = FDCAN1;
hfdcan1.Init.ClockDivider = FDCAN_CLOCK_DIV1;
hfdcan1.Init.FrameFormat = FDCAN_FRAME_CLASSIC;
hfdcan1.Init.FrameFormat = FDCAN_FRAME_FD_BRS;
hfdcan1.Init.Mode = FDCAN_MODE_NORMAL;
hfdcan1.Init.AutoRetransmission = DISABLE;
hfdcan1.Init.TransmitPause = DISABLE;
hfdcan1.Init.AutoRetransmission = ENABLE;
hfdcan1.Init.TransmitPause = ENABLE;
hfdcan1.Init.ProtocolException = DISABLE;
hfdcan1.Init.NominalPrescaler = 1;
hfdcan1.Init.NominalSyncJumpWidth = 1;
hfdcan1.Init.NominalTimeSeg1 = 2;
hfdcan1.Init.NominalTimeSeg2 = 2;
hfdcan1.Init.NominalSyncJumpWidth = 16;
hfdcan1.Init.NominalTimeSeg1 = 63;
hfdcan1.Init.NominalTimeSeg2 = 16;
hfdcan1.Init.DataPrescaler = 1;
hfdcan1.Init.DataSyncJumpWidth = 1;
hfdcan1.Init.DataTimeSeg1 = 1;
hfdcan1.Init.DataTimeSeg2 = 1;
hfdcan1.Init.StdFiltersNbr = 0;
hfdcan1.Init.DataSyncJumpWidth = 4;
hfdcan1.Init.DataTimeSeg1 = 5;
hfdcan1.Init.DataTimeSeg2 = 4;
hfdcan1.Init.StdFiltersNbr = 2;
hfdcan1.Init.ExtFiltersNbr = 0;
hfdcan1.Init.TxFifoQueueMode = FDCAN_TX_FIFO_OPERATION;
if (HAL_FDCAN_Init(&hfdcan1) != HAL_OK) {
@ -281,7 +289,7 @@ static void MX_I2C2_Init(void) {
/* USER CODE END I2C2_Init 1 */
hi2c2.Instance = I2C2;
hi2c2.Init.Timing = 0x00303D5B;
hi2c2.Init.Timing = 0x10909CEC;
hi2c2.Init.OwnAddress1 = 64;
hi2c2.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT;
hi2c2.Init.DualAddressMode = I2C_DUALADDRESS_DISABLE;

5
Core/Src/stm32g4xx_hal_msp.c
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@ -192,6 +192,9 @@ void HAL_FDCAN_MspInit(FDCAN_HandleTypeDef* hfdcan)
GPIO_InitStruct.Alternate = GPIO_AF9_FDCAN1;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/* FDCAN1 interrupt Init */
HAL_NVIC_SetPriority(FDCAN1_IT0_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(FDCAN1_IT0_IRQn);
/* USER CODE BEGIN FDCAN1_MspInit 1 */
/* USER CODE END FDCAN1_MspInit 1 */
@ -221,6 +224,8 @@ void HAL_FDCAN_MspDeInit(FDCAN_HandleTypeDef* hfdcan)
*/
HAL_GPIO_DeInit(GPIOA, GPIO_PIN_11|GPIO_PIN_12);
/* FDCAN1 interrupt DeInit */
HAL_NVIC_DisableIRQ(FDCAN1_IT0_IRQn);
/* USER CODE BEGIN FDCAN1_MspDeInit 1 */
/* USER CODE END FDCAN1_MspDeInit 1 */

15
Core/Src/stm32g4xx_it.c
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@ -55,6 +55,7 @@
/* USER CODE END 0 */
/* External variables --------------------------------------------------------*/
extern FDCAN_HandleTypeDef hfdcan1;
extern I2C_HandleTypeDef hi2c2;
/* USER CODE BEGIN EV */
@ -198,6 +199,20 @@ void SysTick_Handler(void)
/* please refer to the startup file (startup_stm32g4xx.s). */
/******************************************************************************/
/**
* @brief This function handles FDCAN1 interrupt 0.
*/
void FDCAN1_IT0_IRQHandler(void)
{
/* USER CODE BEGIN FDCAN1_IT0_IRQn 0 */
/* USER CODE END FDCAN1_IT0_IRQn 0 */
HAL_FDCAN_IRQHandler(&hfdcan1);
/* USER CODE BEGIN FDCAN1_IT0_IRQn 1 */
/* USER CODE END FDCAN1_IT0_IRQn 1 */
}
/**
* @brief This function handles I2C2 event interrupt / I2C2 wake-up interrupt through EXTI line 24.
*/

5
Core/Src/user_inputs.c
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@ -4,6 +4,7 @@
#include "main.h"
#include "state.h"
#include "stm32g4xx_hal_gpio.h"
#include "vehicle.h"
void HAL_GPIO_EXTI_Callback(uint16_t pin) {
Event ev;
@ -60,9 +61,7 @@ void handle_button_press_mission_select(const ButtonPressEvent *ev) {
case BTN_PRESS_R2D:
break;
case BTN_PRESS_OK:
stw_state.view_state.ami.current_mission =
stw_state.view_state.mission_select.selection;
stw_state.view = VIEW_AMI;
vehicle_send_mission_select(stw_state.view_state.mission_select.selection);
break;
case BTN_PRESS_NEXT: {
Mission *selection = &stw_state.view_state.mission_select.selection;

105
Core/Src/vehicle.c Normal file
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@ -0,0 +1,105 @@
#include "vehicle.h"
#include "main.h"
#include "state.h"
#include "stm32g4xx_hal_def.h"
#include "stm32g4xx_hal_fdcan.h"
FDCAN_HandleTypeDef *can;
void handle_as_mission_fb(FDCAN_RxHeaderTypeDef *header, uint8_t *data);
void vehicle_init(FDCAN_HandleTypeDef *handle) {
can = handle;
// RX Filter
FDCAN_FilterTypeDef filter;
filter.IdType = FDCAN_STANDARD_ID;
filter.FilterIndex = 0;
filter.FilterType = FDCAN_FILTER_MASK;
filter.FilterConfig = FDCAN_FILTER_TO_RXFIFO0;
filter.FilterID1 = CAN_ID_AS_MISSION_FB;
filter.FilterID2 = filter.FilterID1;
if (HAL_FDCAN_ConfigFilter(can, &filter) != HAL_OK) {
Error_Handler();
}
// Global filter: Filter all remote frames with STD & EXT ID, reject non
// matching frames with STD & EXT ID
// TODO: What does that mean?
if (HAL_FDCAN_ConfigGlobalFilter(can, FDCAN_REJECT, FDCAN_REJECT,
FDCAN_FILTER_REMOTE,
FDCAN_FILTER_REMOTE) != HAL_OK) {
Error_Handler();
}
// Start FDCAN module
if (HAL_FDCAN_Start(can) != HAL_OK) {
Error_Handler();
}
// Enable RX interrupt
if (HAL_FDCAN_ActivateNotification(can, FDCAN_IT_RX_FIFO0_NEW_MESSAGE, 0) !=
HAL_OK) {
Error_Handler();
}
}
void vehicle_send_mission_select(Mission mission) {
// TODO: Automatically resend this until it's acknowledged
FDCAN_TxHeaderTypeDef header;
header.Identifier = CAN_ID_MISSION_SELECT;
header.IdType = FDCAN_STANDARD_ID;
header.TxFrameType = FDCAN_DATA_FRAME;
header.DataLength = FDCAN_DLC_BYTES_1;
header.ErrorStateIndicator = FDCAN_ESI_ACTIVE;
header.BitRateSwitch = FDCAN_BRS_OFF;
header.FDFormat = FDCAN_CLASSIC_CAN;
header.TxEventFifoControl = FDCAN_NO_TX_EVENTS;
header.MessageMarker = 0;
uint8_t data[1];
data[0] = mission;
if (HAL_FDCAN_AddMessageToTxFifoQ(can, &header, data) != HAL_OK) {
Error_Handler();
}
}
/* BEGIN CAN MESSAGE HANDLERS { */
void HAL_FDCAN_RxFifo0Callback(FDCAN_HandleTypeDef *handle,
uint32_t interrupt_flags) {
if (!(interrupt_flags & FDCAN_IT_RX_FIFO0_NEW_MESSAGE)) {
return;
}
static FDCAN_RxHeaderTypeDef header;
static uint8_t data[64];
if (HAL_FDCAN_GetRxMessage(can, FDCAN_RX_FIFO0, &header, data) != HAL_OK) {
Error_Handler();
}
if (header.IdType != FDCAN_STANDARD_ID) {
return;
}
switch (header.Identifier) {
case CAN_ID_AS_MISSION_FB:
handle_as_mission_fb(&header, data);
break;
}
}
void handle_as_mission_fb(FDCAN_RxHeaderTypeDef *header, uint8_t *data) {
Mission mission_fb = data[0];
if (mission_fb == MISSION_NONE) {
return;
}
stw_state.view_state.ami.current_mission = mission_fb;
stw_state.view = VIEW_AMI;
}
/* } END CAN MESSAGE HANDLERS */