Implement rudimentary CAN communication

Core/Inc/stm32g4xx_it.h

@@ -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 */

Core/Inc/vehicle.h

@@ -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

Core/Src/main.c

@@ -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.AutoRetransmission = ENABLE;
-  hfdcan1.Init.TransmitPause = DISABLE;
+  hfdcan1.Init.TransmitPause = ENABLE;
   hfdcan1.Init.ProtocolException = DISABLE;
   hfdcan1.Init.NominalPrescaler = 1;
-  hfdcan1.Init.NominalSyncJumpWidth = 1;
+  hfdcan1.Init.NominalSyncJumpWidth = 16;
-  hfdcan1.Init.NominalTimeSeg1 = 2;
+  hfdcan1.Init.NominalTimeSeg1 = 63;
-  hfdcan1.Init.NominalTimeSeg2 = 2;
+  hfdcan1.Init.NominalTimeSeg2 = 16;
   hfdcan1.Init.DataPrescaler = 1;
-  hfdcan1.Init.DataSyncJumpWidth = 1;
+  hfdcan1.Init.DataSyncJumpWidth = 4;
-  hfdcan1.Init.DataTimeSeg1 = 1;
+  hfdcan1.Init.DataTimeSeg1 = 5;
-  hfdcan1.Init.DataTimeSeg2 = 1;
+  hfdcan1.Init.DataTimeSeg2 = 4;
-  hfdcan1.Init.StdFiltersNbr = 0;
+  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;

Core/Src/stm32g4xx_hal_msp.c

@@ -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 */

Core/Src/stm32g4xx_it.c

@@ -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.
   */

Core/Src/user_inputs.c

@@ -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 =
+    vehicle_send_mission_select(stw_state.view_state.mission_select.selection);
-        stw_state.view_state.mission_select.selection;
-    stw_state.view = VIEW_AMI;
     break;
   case BTN_PRESS_NEXT: {
     Mission *selection = &stw_state.view_state.mission_select.selection;

Core/Src/vehicle.c

@@ -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 */

Makefile

@@ -1,5 +1,5 @@
 ##########################################################################################################################
-# File automatically-generated by tool: [projectgenerator] version: [3.16.0] date: [Sat May 28 00:49:24 CEST 2022] 
+# File automatically-generated by tool: [projectgenerator] version: [3.16.0] date: [Sat May 28 19:05:06 CEST 2022] 
 ##########################################################################################################################
 
 # ------------------------------------------------

STM32Make.make

@@ -44,6 +44,7 @@ Core/Src/stm32g4xx_hal_msp.c \
 Core/Src/stm32g4xx_it.c \
 Core/Src/system_stm32g4xx.c \
 Core/Src/user_inputs.c \
+Core/Src/vehicle.c \
 Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal.c \
 Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_adc.c \
 Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_adc_ex.c \

steering-wheel-stm.ioc

@@ -6,10 +6,23 @@ ADC1.OffsetNumber-0\#ChannelRegularConversion=ADC_OFFSET_NONE
 ADC1.Rank-0\#ChannelRegularConversion=1
 ADC1.SamplingTime-0\#ChannelRegularConversion=ADC_SAMPLETIME_2CYCLES_5
 ADC1.master=1
+FDCAN1.AutoRetransmission=ENABLE
+FDCAN1.DataSyncJumpWidth=4
+FDCAN1.DataTimeSeg1=5
+FDCAN1.DataTimeSeg2=4
+FDCAN1.FrameFormat=FDCAN_FRAME_FD_BRS
+FDCAN1.IPParameters=StdFiltersNbr,Mode,FrameFormat,AutoRetransmission,TransmitPause,NominalSyncJumpWidth,NominalTimeSeg1,NominalTimeSeg2,DataSyncJumpWidth,DataTimeSeg1,DataTimeSeg2
+FDCAN1.Mode=FDCAN_MODE_NORMAL
+FDCAN1.NominalSyncJumpWidth=16
+FDCAN1.NominalTimeSeg1=63
+FDCAN1.NominalTimeSeg2=16
+FDCAN1.StdFiltersNbr=2
+FDCAN1.TransmitPause=ENABLE
 File.Version=6
-GPIO.groupedBy=
+GPIO.groupedBy=Group By Peripherals
-I2C2.IPParameters=OwnAddress
+I2C2.IPParameters=OwnAddress,Timing
 I2C2.OwnAddress=0x20
+I2C2.Timing=0x10909CEC
 KeepUserPlacement=false
 Mcu.CPN=STM32G441CBT6
 Mcu.Family=STM32G4
@@ -56,6 +69,7 @@ MxDb.Version=DB.6.0.50
 NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:true
 NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:true
 NVIC.EXTI15_10_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true
+NVIC.FDCAN1_IT0_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true
 NVIC.ForceEnableDMAVector=true
 NVIC.HardFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:true
 NVIC.I2C2_EV_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true
@@ -185,45 +199,48 @@ ProjectManager.TargetToolchain=Makefile
 ProjectManager.ToolChainLocation=
 ProjectManager.UnderRoot=false
 ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_ADC1_Init-ADC1-false-HAL-true,4-MX_FDCAN1_Init-FDCAN1-false-HAL-true,5-MX_I2C2_Init-I2C2-false-HAL-true
-RCC.AHBFreq_Value=16000000
+RCC.ADC12Freq_Value=80000000
-RCC.APB1Freq_Value=16000000
+RCC.AHBFreq_Value=80000000
-RCC.APB1TimFreq_Value=16000000
+RCC.APB1Freq_Value=80000000
-RCC.APB2Freq_Value=16000000
+RCC.APB1TimFreq_Value=80000000
-RCC.APB2TimFreq_Value=16000000
+RCC.APB2Freq_Value=80000000
+RCC.APB2TimFreq_Value=80000000
 RCC.CRSFreq_Value=48000000
-RCC.CortexFreq_Value=16000000
+RCC.CortexFreq_Value=80000000
 RCC.EXTERNAL_CLOCK_VALUE=12288000
-RCC.FCLKCortexFreq_Value=16000000
+RCC.FCLKCortexFreq_Value=80000000
-RCC.FDCANFreq_Value=16000000
+RCC.FDCANFreq_Value=80000000
 RCC.FamilyName=M
-RCC.HCLKFreq_Value=16000000
+RCC.HCLKFreq_Value=80000000
 RCC.HSE_VALUE=8000000
 RCC.HSI48_VALUE=48000000
 RCC.HSI_VALUE=16000000
-RCC.I2C1Freq_Value=16000000
+RCC.I2C1Freq_Value=80000000
-RCC.I2C2Freq_Value=16000000
+RCC.I2C2Freq_Value=80000000
-RCC.I2C3Freq_Value=16000000
+RCC.I2C3Freq_Value=80000000
-RCC.I2SFreq_Value=16000000
+RCC.I2SFreq_Value=80000000
-RCC.IPParameters=AHBFreq_Value,APB1Freq_Value,APB1TimFreq_Value,APB2Freq_Value,APB2TimFreq_Value,CRSFreq_Value,CortexFreq_Value,EXTERNAL_CLOCK_VALUE,FCLKCortexFreq_Value,FDCANFreq_Value,FamilyName,HCLKFreq_Value,HSE_VALUE,HSI48_VALUE,HSI_VALUE,I2C1Freq_Value,I2C2Freq_Value,I2C3Freq_Value,I2SFreq_Value,LPTIM1Freq_Value,LPUART1Freq_Value,LSCOPinFreq_Value,LSE_VALUE,LSI_VALUE,MCO1PinFreq_Value,PLLPoutputFreq_Value,PLLQoutputFreq_Value,PLLRCLKFreq_Value,PWRFreq_Value,RNGFreq_Value,SAI1Freq_Value,SYSCLKFreq_VALUE,USART1Freq_Value,USART2Freq_Value,USART3Freq_Value,USBFreq_Value,VCOInputFreq_Value,VCOOutputFreq_Value
+RCC.IPParameters=ADC12Freq_Value,AHBFreq_Value,APB1Freq_Value,APB1TimFreq_Value,APB2Freq_Value,APB2TimFreq_Value,CRSFreq_Value,CortexFreq_Value,EXTERNAL_CLOCK_VALUE,FCLKCortexFreq_Value,FDCANFreq_Value,FamilyName,HCLKFreq_Value,HSE_VALUE,HSI48_VALUE,HSI_VALUE,I2C1Freq_Value,I2C2Freq_Value,I2C3Freq_Value,I2SFreq_Value,LPTIM1Freq_Value,LPUART1Freq_Value,LSCOPinFreq_Value,LSE_VALUE,LSI_VALUE,MCO1PinFreq_Value,PLLN,PLLPoutputFreq_Value,PLLQoutputFreq_Value,PLLRCLKFreq_Value,PWRFreq_Value,RNGFreq_Value,SAI1Freq_Value,SYSCLKFreq_VALUE,SYSCLKSource,USART1Freq_Value,USART2Freq_Value,USART3Freq_Value,USBFreq_Value,VCOInputFreq_Value,VCOOutputFreq_Value
-RCC.LPTIM1Freq_Value=16000000
+RCC.LPTIM1Freq_Value=80000000
-RCC.LPUART1Freq_Value=16000000
+RCC.LPUART1Freq_Value=80000000
 RCC.LSCOPinFreq_Value=32000
 RCC.LSE_VALUE=32768
 RCC.LSI_VALUE=32000
 RCC.MCO1PinFreq_Value=16000000
-RCC.PLLPoutputFreq_Value=64000000
+RCC.PLLN=10
-RCC.PLLQoutputFreq_Value=64000000
+RCC.PLLPoutputFreq_Value=80000000
-RCC.PLLRCLKFreq_Value=64000000
+RCC.PLLQoutputFreq_Value=80000000
-RCC.PWRFreq_Value=16000000
+RCC.PLLRCLKFreq_Value=80000000
-RCC.RNGFreq_Value=64000000
+RCC.PWRFreq_Value=80000000
-RCC.SAI1Freq_Value=16000000
+RCC.RNGFreq_Value=80000000
-RCC.SYSCLKFreq_VALUE=16000000
+RCC.SAI1Freq_Value=80000000
-RCC.USART1Freq_Value=16000000
+RCC.SYSCLKFreq_VALUE=80000000
-RCC.USART2Freq_Value=16000000
+RCC.SYSCLKSource=RCC_SYSCLKSOURCE_PLLCLK
-RCC.USART3Freq_Value=16000000
+RCC.USART1Freq_Value=80000000
-RCC.USBFreq_Value=64000000
+RCC.USART2Freq_Value=80000000
+RCC.USART3Freq_Value=80000000
+RCC.USBFreq_Value=80000000
 RCC.VCOInputFreq_Value=16000000
-RCC.VCOOutputFreq_Value=128000000
+RCC.VCOOutputFreq_Value=160000000
 SH.GPXTI12.0=GPIO_EXTI12
 SH.GPXTI12.ConfNb=1
 SH.GPXTI13.0=GPIO_EXTI13