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Author SHA1 Message Date
Jasper Blanckenburg ec9fa4bb0f Add .clang-format and .editorconfig 2022-05-29 00:47:46 +02:00
Jasper Blanckenburg b28ff29f45 Initialize LEDs 2022-05-29 00:28:23 +02:00
Jasper Blanckenburg bc3771c39a Implement rudimentary CAN communication 2022-05-29 00:20:28 +02:00
22 changed files with 916 additions and 553 deletions
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137
.clang-format Normal file
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@ -0,0 +1,137 @@
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CommentPragmas: "^ IWYU pragma:"
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ConstructorInitializerAllOnOneLineOrOnePerLine: false
ConstructorInitializerIndentWidth: 4
ContinuationIndentWidth: 4
Cpp11BracedListStyle: true
DeriveLineEnding: true
DerivePointerAlignment: false
DisableFormat: false
ExperimentalAutoDetectBinPacking: false
FixNamespaceComments: true
ForEachMacros:
- foreach
- Q_FOREACH
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IncludeBlocks: Regroup
IncludeCategories:
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Priority: 2
SortPriority: 0
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8
.editorconfig Normal file
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@ -0,0 +1,8 @@
[*]
end_of_line = lf
insert_final_newline = true
charset = utf-8
[*.{h,c}]
indent_style = space
indent_size = 2

2
.gitignore vendored
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@ -1,3 +1,3 @@
build/ build/
.cache/ .cache/
.vscode/ .vscode/

4
Core/Inc/events.h
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@ -42,7 +42,7 @@ typedef struct {
* The event is deep-copied to the queue, so it can be deallocated after the * The event is deep-copied to the queue, so it can be deallocated after the
* call is complete. * call is complete.
*/ */
void event_push(Event *ev); void event_push(Event* ev);
/** /**
* @brief Pop an event from the start of the queue. * @brief Pop an event from the start of the queue.
* *
@ -57,4 +57,4 @@ uint16_t event_num_free();
void handle_events(); void handle_events();
#endif // __EVENTS_H #endif // __EVENTS_H

6
Core/Inc/leds.h Normal file
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@ -0,0 +1,6 @@
#ifndef __LEDS_H
#define __LEDS_H
void leds_init();
#endif // __LEDS_H

212
Core/Inc/main.h
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@ -1,106 +1,106 @@
/* USER CODE BEGIN Header */ /* USER CODE BEGIN Header */
/** /**
****************************************************************************** ******************************************************************************
* @file : main.h * @file : main.h
* @brief : Header for main.c file. * @brief : Header for main.c file.
* This file contains the common defines of the application. * This file contains the common defines of the application.
****************************************************************************** ******************************************************************************
* @attention * @attention
* *
* Copyright (c) 2022 STMicroelectronics. * Copyright (c) 2022 STMicroelectronics.
* All rights reserved. * All rights reserved.
* *
* This software is licensed under terms that can be found in the LICENSE file * This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component. * in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS. * If no LICENSE file comes with this software, it is provided AS-IS.
* *
****************************************************************************** ******************************************************************************
*/ */
/* USER CODE END Header */ /* USER CODE END Header */
/* Define to prevent recursive inclusion -------------------------------------*/ /* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __MAIN_H #ifndef __MAIN_H
#define __MAIN_H #define __MAIN_H
#ifdef __cplusplus #ifdef __cplusplus
extern "C" { extern "C" {
#endif #endif
/* Includes ------------------------------------------------------------------*/ /* Includes ------------------------------------------------------------------*/
#include "stm32g4xx_hal.h" #include "stm32g4xx_hal.h"
/* Private includes ----------------------------------------------------------*/ /* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */ /* USER CODE BEGIN Includes */
/* USER CODE END Includes */ /* USER CODE END Includes */
/* Exported types ------------------------------------------------------------*/ /* Exported types ------------------------------------------------------------*/
/* USER CODE BEGIN ET */ /* USER CODE BEGIN ET */
/* USER CODE END ET */ /* USER CODE END ET */
/* Exported constants --------------------------------------------------------*/ /* Exported constants --------------------------------------------------------*/
/* USER CODE BEGIN EC */ /* USER CODE BEGIN EC */
/* USER CODE END EC */ /* USER CODE END EC */
/* Exported macro ------------------------------------------------------------*/ /* Exported macro ------------------------------------------------------------*/
/* USER CODE BEGIN EM */ /* USER CODE BEGIN EM */
/* USER CODE END EM */ /* USER CODE END EM */
/* Exported functions prototypes ---------------------------------------------*/ /* Exported functions prototypes ---------------------------------------------*/
void Error_Handler(void); void Error_Handler(void);
/* USER CODE BEGIN EFP */ /* USER CODE BEGIN EFP */
/* USER CODE END EFP */ /* USER CODE END EFP */
/* Private defines -----------------------------------------------------------*/ /* Private defines -----------------------------------------------------------*/
#define TOP_PWM_Pin GPIO_PIN_0 #define TOP_PWM_Pin GPIO_PIN_0
#define TOP_PWM_GPIO_Port GPIOA #define TOP_PWM_GPIO_Port GPIOA
#define LOGO_PWM_Pin GPIO_PIN_1 #define LOGO_PWM_Pin GPIO_PIN_1
#define LOGO_PWM_GPIO_Port GPIOA #define LOGO_PWM_GPIO_Port GPIOA
#define LED_ICLK_Pin GPIO_PIN_2 #define LED_ICLK_Pin GPIO_PIN_2
#define LED_ICLK_GPIO_Port GPIOA #define LED_ICLK_GPIO_Port GPIOA
#define LED_OCLK_Pin GPIO_PIN_3 #define LED_OCLK_Pin GPIO_PIN_3
#define LED_OCLK_GPIO_Port GPIOA #define LED_OCLK_GPIO_Port GPIOA
#define LED_NCLR_Pin GPIO_PIN_4 #define LED_NCLR_Pin GPIO_PIN_4
#define LED_NCLR_GPIO_Port GPIOA #define LED_NCLR_GPIO_Port GPIOA
#define LED_SER_Pin GPIO_PIN_5 #define LED_SER_Pin GPIO_PIN_5
#define LED_SER_GPIO_Port GPIOA #define LED_SER_GPIO_Port GPIOA
#define LED_NOE_Pin GPIO_PIN_6 #define LED_NOE_Pin GPIO_PIN_6
#define LED_NOE_GPIO_Port GPIOA #define LED_NOE_GPIO_Port GPIOA
#define V_POT_Pin GPIO_PIN_11 #define V_POT_Pin GPIO_PIN_11
#define V_POT_GPIO_Port GPIOB #define V_POT_GPIO_Port GPIOB
#define BTN0_Pin GPIO_PIN_12 #define BTN0_Pin GPIO_PIN_12
#define BTN0_GPIO_Port GPIOB #define BTN0_GPIO_Port GPIOB
#define BTN0_EXTI_IRQn EXTI15_10_IRQn #define BTN0_EXTI_IRQn EXTI15_10_IRQn
#define BTN1_Pin GPIO_PIN_13 #define BTN1_Pin GPIO_PIN_13
#define BTN1_GPIO_Port GPIOB #define BTN1_GPIO_Port GPIOB
#define BTN1_EXTI_IRQn EXTI15_10_IRQn #define BTN1_EXTI_IRQn EXTI15_10_IRQn
#define BTN2_Pin GPIO_PIN_14 #define BTN2_Pin GPIO_PIN_14
#define BTN2_GPIO_Port GPIOB #define BTN2_GPIO_Port GPIOB
#define BTN2_EXTI_IRQn EXTI15_10_IRQn #define BTN2_EXTI_IRQn EXTI15_10_IRQn
#define BTN3_Pin GPIO_PIN_15 #define BTN3_Pin GPIO_PIN_15
#define BTN3_GPIO_Port GPIOB #define BTN3_GPIO_Port GPIOB
#define BTN3_EXTI_IRQn EXTI15_10_IRQn #define BTN3_EXTI_IRQn EXTI15_10_IRQn
#define DISP_RESET_Pin GPIO_PIN_15 #define DISP_RESET_Pin GPIO_PIN_15
#define DISP_RESET_GPIO_Port GPIOA #define DISP_RESET_GPIO_Port GPIOA
#define ENC0A_Pin GPIO_PIN_4 #define ENC0A_Pin GPIO_PIN_4
#define ENC0A_GPIO_Port GPIOB #define ENC0A_GPIO_Port GPIOB
#define ENC0B_Pin GPIO_PIN_5 #define ENC0B_Pin GPIO_PIN_5
#define ENC0B_GPIO_Port GPIOB #define ENC0B_GPIO_Port GPIOB
#define ENC1A_Pin GPIO_PIN_6 #define ENC1A_Pin GPIO_PIN_6
#define ENC1A_GPIO_Port GPIOB #define ENC1A_GPIO_Port GPIOB
#define ENC1B_Pin GPIO_PIN_7 #define ENC1B_Pin GPIO_PIN_7
#define ENC1B_GPIO_Port GPIOB #define ENC1B_GPIO_Port GPIOB
/* USER CODE BEGIN Private defines */ /* USER CODE BEGIN Private defines */
/* USER CODE END Private defines */ /* USER CODE END Private defines */
#ifdef __cplusplus #ifdef __cplusplus
} }
#endif #endif
#endif /* __MAIN_H */ #endif /* __MAIN_H */

2
Core/Inc/rpi.h
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@ -25,7 +25,7 @@ extern RPiI2CState rpi_i2c_state;
extern size_t rpi_num_polls; extern size_t rpi_num_polls;
void rpi_init(I2C_HandleTypeDef *handle); void rpi_init(I2C_HandleTypeDef* handle);
void rpi_update_tx_buffer(); void rpi_update_tx_buffer();
void rpi_update_tx_buffer_mission_select(); void rpi_update_tx_buffer_mission_select();

1
Core/Inc/stm32g4xx_it.h
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@ -55,6 +55,7 @@ void SVC_Handler(void);
void DebugMon_Handler(void); void DebugMon_Handler(void);
void PendSV_Handler(void); void PendSV_Handler(void);
void SysTick_Handler(void); void SysTick_Handler(void);
void FDCAN1_IT0_IRQHandler(void);
void I2C2_EV_IRQHandler(void); void I2C2_EV_IRQHandler(void);
void EXTI15_10_IRQHandler(void); void EXTI15_10_IRQHandler(void);
/* USER CODE BEGIN EFP */ /* USER CODE BEGIN EFP */

7
Core/Inc/user_inputs.h
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@ -2,10 +2,11 @@
#define __FT_USER_INPUTS_H #define __FT_USER_INPUTS_H
#include "events.h" #include "events.h"
#include "stm32g4xx_hal.h" #include "stm32g4xx_hal.h"
void handle_button_press(const ButtonPressEvent *ev); void handle_button_press(const ButtonPressEvent* ev);
void handle_button_press_mission_select(const ButtonPressEvent *ev); void handle_button_press_mission_select(const ButtonPressEvent* ev);
#endif // __FT_USER_INPUTS_H #endif // __FT_USER_INPUTS_H

16
Core/Inc/vehicle.h Normal file
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@ -0,0 +1,16 @@
#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

6
Core/Src/events.c
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@ -1,11 +1,13 @@
#include "events.h" #include "events.h"
#include "main.h" #include "main.h"
#include "user_inputs.h" #include "user_inputs.h"
#include <stdint.h> #include <stdint.h>
static volatile EventQueue event_queue = {.read_idx = 0, .write_idx = 0}; static volatile EventQueue event_queue = {.read_idx = 0, .write_idx = 0};
void event_push(Event *ev) { void event_push(Event* ev) {
if (event_num_free() == 0) { if (event_num_free() == 0) {
// TODO: How do we handle this? // TODO: How do we handle this?
return; return;
@ -61,4 +63,4 @@ void handle_events() {
Error_Handler(); Error_Handler();
} }
} }
} }

29
Core/Src/leds.c Normal file
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@ -0,0 +1,29 @@
#include "leds.h"
#include "main.h"
#include "stm32g4xx_hal.h"
#include "stm32g4xx_hal_gpio.h"
void leds_init() {
HAL_GPIO_WritePin(LED_NOE_GPIO_Port, LED_NOE_Pin, GPIO_PIN_RESET);
HAL_GPIO_WritePin(LED_NCLR_GPIO_Port, LED_NCLR_Pin, GPIO_PIN_SET);
HAL_GPIO_WritePin(LED_OCLK_GPIO_Port, LED_OCLK_Pin, GPIO_PIN_RESET);
HAL_GPIO_WritePin(LED_ICLK_GPIO_Port, LED_ICLK_Pin, GPIO_PIN_RESET);
HAL_GPIO_WritePin(TOP_PWM_GPIO_Port, TOP_PWM_Pin, GPIO_PIN_SET);
HAL_Delay(10);
for (int i = 0; i < 12; i++) {
GPIO_PinState state = (i % 2 == 0) ? GPIO_PIN_SET : GPIO_PIN_RESET;
HAL_GPIO_WritePin(LED_SER_GPIO_Port, LED_SER_Pin, state);
HAL_Delay(5);
HAL_GPIO_WritePin(LED_ICLK_GPIO_Port, LED_ICLK_Pin, GPIO_PIN_SET);
HAL_Delay(10);
HAL_GPIO_WritePin(LED_ICLK_GPIO_Port, LED_ICLK_Pin, GPIO_PIN_RESET);
HAL_Delay(10);
}
HAL_GPIO_WritePin(LED_OCLK_GPIO_Port, LED_OCLK_Pin, GPIO_PIN_SET);
HAL_Delay(10);
HAL_GPIO_WritePin(LED_OCLK_GPIO_Port, LED_OCLK_Pin, GPIO_PIN_RESET);
}

796
Core/Src/main.c
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@ -1,391 +1,405 @@
/* USER CODE BEGIN Header */ /* USER CODE BEGIN Header */
/** /**
****************************************************************************** ******************************************************************************
* @file : main.c * @file : main.c
* @brief : Main program body * @brief : Main program body
****************************************************************************** ******************************************************************************
* @attention * @attention
* *
* Copyright (c) 2022 STMicroelectronics. * Copyright (c) 2022 STMicroelectronics.
* All rights reserved. * All rights reserved.
* *
* This software is licensed under terms that can be found in the LICENSE file * This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component. * in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS. * If no LICENSE file comes with this software, it is provided AS-IS.
* *
****************************************************************************** ******************************************************************************
*/ */
/* USER CODE END Header */ /* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/ /* Includes ------------------------------------------------------------------*/
#include "main.h" #include "main.h"
/* Private includes ----------------------------------------------------------*/ /* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */ /* USER CODE BEGIN Includes */
#include "events.h" #include "events.h"
#include "rpi.h" #include "leds.h"
#include "state.h" #include "rpi.h"
#include "state.h"
#include "stm32g4xx_hal.h" #include "vehicle.h"
#include "stm32g4xx_hal_gpio.h"
#include "stm32g4xx_hal.h"
#include <stdint.h> #include "stm32g4xx_hal_gpio.h"
/* USER CODE END Includes */ #include <stdint.h>
/* Private typedef -----------------------------------------------------------*/ /* USER CODE END Includes */
/* USER CODE BEGIN PTD */
/* Private typedef -----------------------------------------------------------*/
/* USER CODE END PTD */ /* USER CODE BEGIN PTD */
/* Private define ------------------------------------------------------------*/ /* USER CODE END PTD */
/* USER CODE BEGIN PD */
/* USER CODE END PD */ /* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
/* Private macro -------------------------------------------------------------*/ /* USER CODE END PD */
/* USER CODE BEGIN PM */
/* Private macro -------------------------------------------------------------*/
/* USER CODE END PM */ /* USER CODE BEGIN PM */
/* Private variables ---------------------------------------------------------*/ /* USER CODE END PM */
ADC_HandleTypeDef hadc1;
/* Private variables ---------------------------------------------------------*/
FDCAN_HandleTypeDef hfdcan1; ADC_HandleTypeDef hadc1;
I2C_HandleTypeDef hi2c2; FDCAN_HandleTypeDef hfdcan1;
/* USER CODE BEGIN PV */ I2C_HandleTypeDef hi2c2;
/* USER CODE END PV */ /* USER CODE BEGIN PV */
/* Private function prototypes -----------------------------------------------*/ /* USER CODE END PV */
void SystemClock_Config(void);
static void MX_GPIO_Init(void); /* Private function prototypes -----------------------------------------------*/
static void MX_ADC1_Init(void); void SystemClock_Config(void);
static void MX_FDCAN1_Init(void); static void MX_GPIO_Init(void);
static void MX_I2C2_Init(void); static void MX_ADC1_Init(void);
/* USER CODE BEGIN PFP */ static void MX_FDCAN1_Init(void);
static void MX_I2C2_Init(void);
/* USER CODE END PFP */ /* USER CODE BEGIN PFP */
/* Private user code ---------------------------------------------------------*/ /* USER CODE END PFP */
/* USER CODE BEGIN 0 */
/* Private user code ---------------------------------------------------------*/
/* USER CODE END 0 */ /* USER CODE BEGIN 0 */
/** /* USER CODE END 0 */
* @brief The application entry point.
* @retval int /**
*/ * @brief The application entry point.
int main(void) { * @retval int
/* USER CODE BEGIN 1 */ */
int main(void) {
/* USER CODE END 1 */ /* USER CODE BEGIN 1 */
/* MCU Configuration--------------------------------------------------------*/ /* USER CODE END 1 */
/* Reset of all peripherals, Initializes the Flash interface and the Systick. /* MCU Configuration--------------------------------------------------------*/
*/
HAL_Init(); /* Reset of all peripherals, Initializes the Flash interface and the Systick.
*/
/* USER CODE BEGIN Init */ HAL_Init();
/* USER CODE END Init */ /* USER CODE BEGIN Init */
/* Configure the system clock */ /* USER CODE END Init */
SystemClock_Config();
/* Configure the system clock */
/* USER CODE BEGIN SysInit */ SystemClock_Config();
/* USER CODE END SysInit */ /* USER CODE BEGIN SysInit */
/* Initialize all configured peripherals */ /* USER CODE END SysInit */
MX_GPIO_Init();
MX_ADC1_Init(); /* Initialize all configured peripherals */
MX_FDCAN1_Init(); MX_GPIO_Init();
MX_I2C2_Init(); MX_ADC1_Init();
/* USER CODE BEGIN 2 */ MX_FDCAN1_Init();
state_init(); MX_I2C2_Init();
rpi_init(&hi2c2); /* USER CODE BEGIN 2 */
/* USER CODE END 2 */ leds_init();
state_init();
/* Infinite loop */ vehicle_init(&hfdcan1);
/* USER CODE BEGIN WHILE */ rpi_init(&hi2c2);
uint32_t rpi_active_since = 0; /* USER CODE END 2 */
while (1) {
/* USER CODE END WHILE */ /* Infinite loop */
/* USER CODE BEGIN WHILE */
/* USER CODE BEGIN 3 */ uint32_t last_can = 0;
uint32_t now = HAL_GetTick(); while (1) {
if (now < 1000) { /* USER CODE END WHILE */
HAL_GPIO_WritePin(DISP_RESET_GPIO_Port, DISP_RESET_Pin, GPIO_PIN_RESET);
} else { /* USER CODE BEGIN 3 */
HAL_GPIO_WritePin(DISP_RESET_GPIO_Port, DISP_RESET_Pin, GPIO_PIN_SET); uint32_t now = HAL_GetTick();
} if (now < 1000) {
handle_events(); HAL_GPIO_WritePin(DISP_RESET_GPIO_Port, DISP_RESET_Pin, GPIO_PIN_RESET);
} } else {
/* USER CODE END 3 */ HAL_GPIO_WritePin(DISP_RESET_GPIO_Port, DISP_RESET_Pin, GPIO_PIN_SET);
} }
handle_events();
/** if (now - last_can > 100) {
* @brief System Clock Configuration // vehicle_send_mission_select(MISSION_ACCELERATION);
* @retval None last_can = now;
*/ }
void SystemClock_Config(void) { }
RCC_OscInitTypeDef RCC_OscInitStruct = {0}; /* USER CODE END 3 */
RCC_ClkInitTypeDef RCC_ClkInitStruct = {0}; }
/** Configure the main internal regulator output voltage /**
*/ * @brief System Clock Configuration
HAL_PWREx_ControlVoltageScaling(PWR_REGULATOR_VOLTAGE_SCALE1); * @retval None
*/
/** Initializes the RCC Oscillators according to the specified parameters void SystemClock_Config(void) {
* in the RCC_OscInitTypeDef structure. RCC_OscInitTypeDef RCC_OscInitStruct = {0};
*/ RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
RCC_OscInitStruct.HSIState = RCC_HSI_ON; /** Configure the main internal regulator output voltage
RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT; */
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_NONE; HAL_PWREx_ControlVoltageScaling(PWR_REGULATOR_VOLTAGE_SCALE1);
if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK) {
Error_Handler(); /** Initializes the RCC Oscillators according to the specified parameters
} * in the RCC_OscInitTypeDef structure.
*/
/** Initializes the CPU, AHB and APB buses clocks RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
*/ RCC_OscInitStruct.HSIState = RCC_HSI_ON;
RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK | RCC_CLOCKTYPE_SYSCLK | RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
RCC_CLOCKTYPE_PCLK1 | RCC_CLOCKTYPE_PCLK2; RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_HSI; RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1; RCC_OscInitStruct.PLL.PLLM = RCC_PLLM_DIV1;
RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1; RCC_OscInitStruct.PLL.PLLN = 10;
RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1; RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
RCC_OscInitStruct.PLL.PLLQ = RCC_PLLQ_DIV2;
if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_0) != HAL_OK) { RCC_OscInitStruct.PLL.PLLR = RCC_PLLR_DIV2;
Error_Handler(); if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK) {
} Error_Handler();
} }
/** /** Initializes the CPU, AHB and APB buses clocks
* @brief ADC1 Initialization Function */
* @param None RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK | RCC_CLOCKTYPE_SYSCLK |
* @retval None RCC_CLOCKTYPE_PCLK1 | RCC_CLOCKTYPE_PCLK2;
*/ RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
static void MX_ADC1_Init(void) { RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1;
/* USER CODE BEGIN ADC1_Init 0 */ RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
/* USER CODE END ADC1_Init 0 */ if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK) {
Error_Handler();
ADC_MultiModeTypeDef multimode = {0}; }
ADC_ChannelConfTypeDef sConfig = {0}; }
/* USER CODE BEGIN ADC1_Init 1 */ /**
* @brief ADC1 Initialization Function
/* USER CODE END ADC1_Init 1 */ * @param None
* @retval None
/** Common config */
*/ static void MX_ADC1_Init(void) {
hadc1.Instance = ADC1;
hadc1.Init.ClockPrescaler = ADC_CLOCK_SYNC_PCLK_DIV2; /* USER CODE BEGIN ADC1_Init 0 */
hadc1.Init.Resolution = ADC_RESOLUTION_12B;
hadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT; /* USER CODE END ADC1_Init 0 */
hadc1.Init.GainCompensation = 0;
hadc1.Init.ScanConvMode = ADC_SCAN_DISABLE; ADC_MultiModeTypeDef multimode = {0};
hadc1.Init.EOCSelection = ADC_EOC_SINGLE_CONV; ADC_ChannelConfTypeDef sConfig = {0};
hadc1.Init.LowPowerAutoWait = DISABLE;
hadc1.Init.ContinuousConvMode = DISABLE; /* USER CODE BEGIN ADC1_Init 1 */
hadc1.Init.NbrOfConversion = 1;
hadc1.Init.DiscontinuousConvMode = DISABLE; /* USER CODE END ADC1_Init 1 */
hadc1.Init.ExternalTrigConv = ADC_SOFTWARE_START;
hadc1.Init.ExternalTrigConvEdge = ADC_EXTERNALTRIGCONVEDGE_NONE; /** Common config
hadc1.Init.DMAContinuousRequests = DISABLE; */
hadc1.Init.Overrun = ADC_OVR_DATA_PRESERVED; hadc1.Instance = ADC1;
hadc1.Init.OversamplingMode = DISABLE; hadc1.Init.ClockPrescaler = ADC_CLOCK_SYNC_PCLK_DIV2;
if (HAL_ADC_Init(&hadc1) != HAL_OK) { hadc1.Init.Resolution = ADC_RESOLUTION_12B;
Error_Handler(); hadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT;
} hadc1.Init.GainCompensation = 0;
hadc1.Init.ScanConvMode = ADC_SCAN_DISABLE;
/** Configure the ADC multi-mode hadc1.Init.EOCSelection = ADC_EOC_SINGLE_CONV;
*/ hadc1.Init.LowPowerAutoWait = DISABLE;
multimode.Mode = ADC_MODE_INDEPENDENT; hadc1.Init.ContinuousConvMode = DISABLE;
if (HAL_ADCEx_MultiModeConfigChannel(&hadc1, &multimode) != HAL_OK) { hadc1.Init.NbrOfConversion = 1;
Error_Handler(); hadc1.Init.DiscontinuousConvMode = DISABLE;
} hadc1.Init.ExternalTrigConv = ADC_SOFTWARE_START;
hadc1.Init.ExternalTrigConvEdge = ADC_EXTERNALTRIGCONVEDGE_NONE;
/** Configure Regular Channel hadc1.Init.DMAContinuousRequests = DISABLE;
*/ hadc1.Init.Overrun = ADC_OVR_DATA_PRESERVED;
sConfig.Channel = ADC_CHANNEL_14; hadc1.Init.OversamplingMode = DISABLE;
sConfig.Rank = ADC_REGULAR_RANK_1; if (HAL_ADC_Init(&hadc1) != HAL_OK) {
sConfig.SamplingTime = ADC_SAMPLETIME_2CYCLES_5; Error_Handler();
sConfig.SingleDiff = ADC_SINGLE_ENDED; }
sConfig.OffsetNumber = ADC_OFFSET_NONE;
sConfig.Offset = 0; /** Configure the ADC multi-mode
if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) { */
Error_Handler(); multimode.Mode = ADC_MODE_INDEPENDENT;
} if (HAL_ADCEx_MultiModeConfigChannel(&hadc1, &multimode) != HAL_OK) {
/* USER CODE BEGIN ADC1_Init 2 */ Error_Handler();
}
/* USER CODE END ADC1_Init 2 */
} /** Configure Regular Channel
*/
/** sConfig.Channel = ADC_CHANNEL_14;
* @brief FDCAN1 Initialization Function sConfig.Rank = ADC_REGULAR_RANK_1;
* @param None sConfig.SamplingTime = ADC_SAMPLETIME_2CYCLES_5;
* @retval None sConfig.SingleDiff = ADC_SINGLE_ENDED;
*/ sConfig.OffsetNumber = ADC_OFFSET_NONE;
static void MX_FDCAN1_Init(void) { sConfig.Offset = 0;
if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) {
/* USER CODE BEGIN FDCAN1_Init 0 */ Error_Handler();
}
/* USER CODE END FDCAN1_Init 0 */ /* USER CODE BEGIN ADC1_Init 2 */
/* USER CODE BEGIN FDCAN1_Init 1 */ /* USER CODE END ADC1_Init 2 */
}
/* USER CODE END FDCAN1_Init 1 */
hfdcan1.Instance = FDCAN1; /**
hfdcan1.Init.ClockDivider = FDCAN_CLOCK_DIV1; * @brief FDCAN1 Initialization Function
hfdcan1.Init.FrameFormat = FDCAN_FRAME_CLASSIC; * @param None
hfdcan1.Init.Mode = FDCAN_MODE_NORMAL; * @retval None
hfdcan1.Init.AutoRetransmission = DISABLE; */
hfdcan1.Init.TransmitPause = DISABLE; static void MX_FDCAN1_Init(void) {
hfdcan1.Init.ProtocolException = DISABLE;
hfdcan1.Init.NominalPrescaler = 1; /* USER CODE BEGIN FDCAN1_Init 0 */
hfdcan1.Init.NominalSyncJumpWidth = 1;
hfdcan1.Init.NominalTimeSeg1 = 2; /* USER CODE END FDCAN1_Init 0 */
hfdcan1.Init.NominalTimeSeg2 = 2;
hfdcan1.Init.DataPrescaler = 1; /* USER CODE BEGIN FDCAN1_Init 1 */
hfdcan1.Init.DataSyncJumpWidth = 1;
hfdcan1.Init.DataTimeSeg1 = 1; /* USER CODE END FDCAN1_Init 1 */
hfdcan1.Init.DataTimeSeg2 = 1; hfdcan1.Instance = FDCAN1;
hfdcan1.Init.StdFiltersNbr = 0; hfdcan1.Init.ClockDivider = FDCAN_CLOCK_DIV1;
hfdcan1.Init.ExtFiltersNbr = 0; hfdcan1.Init.FrameFormat = FDCAN_FRAME_FD_BRS;
hfdcan1.Init.TxFifoQueueMode = FDCAN_TX_FIFO_OPERATION; hfdcan1.Init.Mode = FDCAN_MODE_NORMAL;
if (HAL_FDCAN_Init(&hfdcan1) != HAL_OK) { hfdcan1.Init.AutoRetransmission = ENABLE;
Error_Handler(); hfdcan1.Init.TransmitPause = ENABLE;
} hfdcan1.Init.ProtocolException = DISABLE;
/* USER CODE BEGIN FDCAN1_Init 2 */ hfdcan1.Init.NominalPrescaler = 1;
hfdcan1.Init.NominalSyncJumpWidth = 16;
/* USER CODE END FDCAN1_Init 2 */ hfdcan1.Init.NominalTimeSeg1 = 63;
} hfdcan1.Init.NominalTimeSeg2 = 16;
hfdcan1.Init.DataPrescaler = 1;
/** hfdcan1.Init.DataSyncJumpWidth = 4;
* @brief I2C2 Initialization Function hfdcan1.Init.DataTimeSeg1 = 5;
* @param None hfdcan1.Init.DataTimeSeg2 = 4;
* @retval None hfdcan1.Init.StdFiltersNbr = 2;
*/ hfdcan1.Init.ExtFiltersNbr = 0;
static void MX_I2C2_Init(void) { hfdcan1.Init.TxFifoQueueMode = FDCAN_TX_FIFO_OPERATION;
if (HAL_FDCAN_Init(&hfdcan1) != HAL_OK) {
/* USER CODE BEGIN I2C2_Init 0 */ Error_Handler();
}
/* USER CODE END I2C2_Init 0 */ /* USER CODE BEGIN FDCAN1_Init 2 */
/* USER CODE BEGIN I2C2_Init 1 */ /* USER CODE END FDCAN1_Init 2 */
}
/* USER CODE END I2C2_Init 1 */
hi2c2.Instance = I2C2; /**
hi2c2.Init.Timing = 0x00303D5B; * @brief I2C2 Initialization Function
hi2c2.Init.OwnAddress1 = 64; * @param None
hi2c2.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT; * @retval None
hi2c2.Init.DualAddressMode = I2C_DUALADDRESS_DISABLE; */
hi2c2.Init.OwnAddress2 = 0; static void MX_I2C2_Init(void) {
hi2c2.Init.OwnAddress2Masks = I2C_OA2_NOMASK;
hi2c2.Init.GeneralCallMode = I2C_GENERALCALL_DISABLE; /* USER CODE BEGIN I2C2_Init 0 */
hi2c2.Init.NoStretchMode = I2C_NOSTRETCH_DISABLE;
if (HAL_I2C_Init(&hi2c2) != HAL_OK) { /* USER CODE END I2C2_Init 0 */
Error_Handler();
} /* USER CODE BEGIN I2C2_Init 1 */
/** Configure Analogue filter /* USER CODE END I2C2_Init 1 */
*/ hi2c2.Instance = I2C2;
if (HAL_I2CEx_ConfigAnalogFilter(&hi2c2, I2C_ANALOGFILTER_ENABLE) != HAL_OK) { hi2c2.Init.Timing = 0x10909CEC;
Error_Handler(); hi2c2.Init.OwnAddress1 = 64;
} hi2c2.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT;
hi2c2.Init.DualAddressMode = I2C_DUALADDRESS_DISABLE;
/** Configure Digital filter hi2c2.Init.OwnAddress2 = 0;
*/ hi2c2.Init.OwnAddress2Masks = I2C_OA2_NOMASK;
if (HAL_I2CEx_ConfigDigitalFilter(&hi2c2, 0) != HAL_OK) { hi2c2.Init.GeneralCallMode = I2C_GENERALCALL_DISABLE;
Error_Handler(); hi2c2.Init.NoStretchMode = I2C_NOSTRETCH_DISABLE;
} if (HAL_I2C_Init(&hi2c2) != HAL_OK) {
/* USER CODE BEGIN I2C2_Init 2 */ Error_Handler();
}
/* USER CODE END I2C2_Init 2 */
} /** Configure Analogue filter
*/
/** if (HAL_I2CEx_ConfigAnalogFilter(&hi2c2, I2C_ANALOGFILTER_ENABLE) != HAL_OK) {
* @brief GPIO Initialization Function Error_Handler();
* @param None }
* @retval None
*/ /** Configure Digital filter
static void MX_GPIO_Init(void) { */
GPIO_InitTypeDef GPIO_InitStruct = {0}; if (HAL_I2CEx_ConfigDigitalFilter(&hi2c2, 0) != HAL_OK) {
Error_Handler();
/* GPIO Ports Clock Enable */ }
__HAL_RCC_GPIOA_CLK_ENABLE(); /* USER CODE BEGIN I2C2_Init 2 */
__HAL_RCC_GPIOB_CLK_ENABLE();
/* USER CODE END I2C2_Init 2 */
/*Configure GPIO pin Output Level */ }
HAL_GPIO_WritePin(GPIOA,
TOP_PWM_Pin | LOGO_PWM_Pin | LED_ICLK_Pin | LED_OCLK_Pin | /**
LED_NCLR_Pin | LED_SER_Pin | LED_NOE_Pin | * @brief GPIO Initialization Function
DISP_RESET_Pin, * @param None
GPIO_PIN_RESET); * @retval None
*/
/*Configure GPIO pins : TOP_PWM_Pin LOGO_PWM_Pin LED_ICLK_Pin LED_OCLK_Pin static void MX_GPIO_Init(void) {
LED_NCLR_Pin LED_SER_Pin LED_NOE_Pin DISP_RESET_Pin GPIO_InitTypeDef GPIO_InitStruct = {0};
*/
GPIO_InitStruct.Pin = TOP_PWM_Pin | LOGO_PWM_Pin | LED_ICLK_Pin | /* GPIO Ports Clock Enable */
LED_OCLK_Pin | LED_NCLR_Pin | LED_SER_Pin | __HAL_RCC_GPIOA_CLK_ENABLE();
LED_NOE_Pin | DISP_RESET_Pin; __HAL_RCC_GPIOB_CLK_ENABLE();
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL; /*Configure GPIO pin Output Level */
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; HAL_GPIO_WritePin(GPIOA,
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct); TOP_PWM_Pin | LOGO_PWM_Pin | LED_ICLK_Pin | LED_OCLK_Pin |
LED_NCLR_Pin | LED_SER_Pin | LED_NOE_Pin |
/*Configure GPIO pins : BTN0_Pin BTN1_Pin BTN2_Pin BTN3_Pin */ DISP_RESET_Pin,
GPIO_InitStruct.Pin = BTN0_Pin | BTN1_Pin | BTN2_Pin | BTN3_Pin; GPIO_PIN_RESET);
GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING;
GPIO_InitStruct.Pull = GPIO_PULLUP; /*Configure GPIO pins : TOP_PWM_Pin LOGO_PWM_Pin LED_ICLK_Pin LED_OCLK_Pin
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct); LED_NCLR_Pin LED_SER_Pin LED_NOE_Pin DISP_RESET_Pin
*/
/*Configure GPIO pins : ENC0A_Pin ENC0B_Pin ENC1A_Pin ENC1B_Pin */ GPIO_InitStruct.Pin = TOP_PWM_Pin | LOGO_PWM_Pin | LED_ICLK_Pin |
GPIO_InitStruct.Pin = ENC0A_Pin | ENC0B_Pin | ENC1A_Pin | ENC1B_Pin; LED_OCLK_Pin | LED_NCLR_Pin | LED_SER_Pin |
GPIO_InitStruct.Mode = GPIO_MODE_INPUT; LED_NOE_Pin | DISP_RESET_Pin;
GPIO_InitStruct.Pull = GPIO_PULLUP; GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct); GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
/* EXTI interrupt init*/ HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
HAL_NVIC_SetPriority(EXTI15_10_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(EXTI15_10_IRQn); /*Configure GPIO pins : BTN0_Pin BTN1_Pin BTN2_Pin BTN3_Pin */
} GPIO_InitStruct.Pin = BTN0_Pin | BTN1_Pin | BTN2_Pin | BTN3_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING;
/* USER CODE BEGIN 4 */ GPIO_InitStruct.Pull = GPIO_PULLUP;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
/* USER CODE END 4 */
/*Configure GPIO pins : ENC0A_Pin ENC0B_Pin ENC1A_Pin ENC1B_Pin */
/** GPIO_InitStruct.Pin = ENC0A_Pin | ENC0B_Pin | ENC1A_Pin | ENC1B_Pin;
* @brief This function is executed in case of error occurrence. GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
* @retval None GPIO_InitStruct.Pull = GPIO_PULLUP;
*/ HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
void Error_Handler(void) {
/* USER CODE BEGIN Error_Handler_Debug */ /* EXTI interrupt init*/
/* User can add his own implementation to report the HAL error return state */ HAL_NVIC_SetPriority(EXTI15_10_IRQn, 0, 0);
__disable_irq(); HAL_NVIC_EnableIRQ(EXTI15_10_IRQn);
while (1) { }
}
/* USER CODE END Error_Handler_Debug */ /* USER CODE BEGIN 4 */
}
/* USER CODE END 4 */
#ifdef USE_FULL_ASSERT
/** /**
* @brief Reports the name of the source file and the source line number * @brief This function is executed in case of error occurrence.
* where the assert_param error has occurred. * @retval None
* @param file: pointer to the source file name */
* @param line: assert_param error line source number void Error_Handler(void) {
* @retval None /* USER CODE BEGIN Error_Handler_Debug */
*/ /* User can add his own implementation to report the HAL error return state */
void assert_failed(uint8_t *file, uint32_t line) { __disable_irq();
/* USER CODE BEGIN 6 */ while (1) {
/* 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, /* USER CODE END Error_Handler_Debug */
line) */ }
/* USER CODE END 6 */
} #ifdef USE_FULL_ASSERT
#endif /* 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 */

17
Core/Src/rpi.c
View File

@ -1,9 +1,12 @@
#include "rpi.h" #include "rpi.h"
#include "main.h" #include "main.h"
#include "state.h" #include "state.h"
#include "stm32g4xx_hal_def.h" #include "stm32g4xx_hal_def.h"
#include "stm32g4xx_hal_gpio.h" #include "stm32g4xx_hal_gpio.h"
#include "stm32g4xx_hal_i2c.h" #include "stm32g4xx_hal_i2c.h"
#include <stdint.h> #include <stdint.h>
uint8_t i2c_rx_buf[I2C_RX_BUF_SIZE]; uint8_t i2c_rx_buf[I2C_RX_BUF_SIZE];
@ -12,10 +15,10 @@ uint8_t i2c_tx_len;
RPiI2CState rpi_i2c_state; RPiI2CState rpi_i2c_state;
size_t rpi_num_polls; size_t rpi_num_polls;
static I2C_HandleTypeDef *bus; static I2C_HandleTypeDef* bus;
static uint8_t current_command; static uint8_t current_command;
void rpi_init(I2C_HandleTypeDef *handle) { void rpi_init(I2C_HandleTypeDef* handle) {
bus = handle; bus = handle;
rpi_i2c_state = RPI_I2C_IDLE; rpi_i2c_state = RPI_I2C_IDLE;
rpi_num_polls = 0; rpi_num_polls = 0;
@ -51,7 +54,7 @@ void rpi_update_tx_buffer_ami() {
i2c_tx_buf[1] = stw_state.view_state.ami.current_mission; i2c_tx_buf[1] = stw_state.view_state.ami.current_mission;
} }
void HAL_I2C_SlaveTxCpltCallback(I2C_HandleTypeDef *handle) { void HAL_I2C_SlaveTxCpltCallback(I2C_HandleTypeDef* handle) {
switch (rpi_i2c_state) { switch (rpi_i2c_state) {
case RPI_I2C_SENDING_DATA_SIZE: case RPI_I2C_SENDING_DATA_SIZE:
if (HAL_I2C_Slave_Seq_Transmit_IT(bus, i2c_tx_buf, i2c_tx_len, if (HAL_I2C_Slave_Seq_Transmit_IT(bus, i2c_tx_buf, i2c_tx_len,
@ -70,7 +73,7 @@ void HAL_I2C_SlaveTxCpltCallback(I2C_HandleTypeDef *handle) {
} }
} }
void HAL_I2C_SlaveRxCpltCallback(I2C_HandleTypeDef *handle) { void HAL_I2C_SlaveRxCpltCallback(I2C_HandleTypeDef* handle) {
if (rpi_i2c_state != RPI_I2C_WAITING_FOR_COMMAND) { if (rpi_i2c_state != RPI_I2C_WAITING_FOR_COMMAND) {
// TODO: How do we handle this? // TODO: How do we handle this?
return; return;
@ -81,7 +84,7 @@ void HAL_I2C_SlaveRxCpltCallback(I2C_HandleTypeDef *handle) {
rpi_i2c_state = RPI_I2C_WAITING_FOR_MASTER_RECEIVE; rpi_i2c_state = RPI_I2C_WAITING_FOR_MASTER_RECEIVE;
} }
void HAL_I2C_AddrCallback(I2C_HandleTypeDef *handle, uint8_t TransferDirection, void HAL_I2C_AddrCallback(I2C_HandleTypeDef* handle, uint8_t TransferDirection,
uint16_t AddrMatchCode) { uint16_t AddrMatchCode) {
if (handle != bus) { if (handle != bus) {
HAL_GPIO_WritePin(LED_SER_GPIO_Port, LED_SER_Pin, GPIO_PIN_RESET); HAL_GPIO_WritePin(LED_SER_GPIO_Port, LED_SER_Pin, GPIO_PIN_RESET);
@ -116,7 +119,7 @@ void HAL_I2C_AddrCallback(I2C_HandleTypeDef *handle, uint8_t TransferDirection,
} }
} }
void HAL_I2C_ListenCpltCallback(I2C_HandleTypeDef *handle) { void HAL_I2C_ListenCpltCallback(I2C_HandleTypeDef* handle) {
if (handle != bus) { if (handle != bus) {
return; return;
} }
@ -124,4 +127,4 @@ void HAL_I2C_ListenCpltCallback(I2C_HandleTypeDef *handle) {
if (rpi_i2c_state == RPI_I2C_IDLE) { if (rpi_i2c_state == RPI_I2C_IDLE) {
HAL_I2C_EnableListen_IT(bus); HAL_I2C_EnableListen_IT(bus);
} }
} }

2
Core/Src/state.c
View File

@ -5,4 +5,4 @@ STWState stw_state;
void state_init() { void state_init() {
stw_state.view = VIEW_MISSION_SELECT; stw_state.view = VIEW_MISSION_SELECT;
stw_state.view_state.mission_select.selection = MISSION_ACCELERATION; stw_state.view_state.mission_select.selection = MISSION_ACCELERATION;
} }

5
Core/Src/stm32g4xx_hal_msp.c
View File

@ -192,6 +192,9 @@ void HAL_FDCAN_MspInit(FDCAN_HandleTypeDef* hfdcan)
GPIO_InitStruct.Alternate = GPIO_AF9_FDCAN1; GPIO_InitStruct.Alternate = GPIO_AF9_FDCAN1;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct); 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 BEGIN FDCAN1_MspInit 1 */
/* USER CODE END 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); 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 BEGIN FDCAN1_MspDeInit 1 */
/* USER CODE END FDCAN1_MspDeInit 1 */ /* USER CODE END FDCAN1_MspDeInit 1 */

15
Core/Src/stm32g4xx_it.c
View File

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

16
Core/Src/user_inputs.c
View File

@ -3,6 +3,8 @@
#include "events.h" #include "events.h"
#include "main.h" #include "main.h"
#include "state.h" #include "state.h"
#include "vehicle.h"
#include "stm32g4xx_hal_gpio.h" #include "stm32g4xx_hal_gpio.h"
void HAL_GPIO_EXTI_Callback(uint16_t pin) { void HAL_GPIO_EXTI_Callback(uint16_t pin) {
@ -34,7 +36,7 @@ void HAL_GPIO_EXTI_Callback(uint16_t pin) {
event_push(&ev); event_push(&ev);
} }
void handle_button_press(const ButtonPressEvent *ev) { void handle_button_press(const ButtonPressEvent* ev) {
switch (stw_state.view) { switch (stw_state.view) {
case VIEW_MISSION_SELECT: case VIEW_MISSION_SELECT:
handle_button_press_mission_select(ev); handle_button_press_mission_select(ev);
@ -46,10 +48,10 @@ void handle_button_press(const ButtonPressEvent *ev) {
} }
} }
void handle_button_press_mission_select(const ButtonPressEvent *ev) { void handle_button_press_mission_select(const ButtonPressEvent* ev) {
switch (*ev) { switch (*ev) {
case BTN_PRESS_PREV: { case BTN_PRESS_PREV: {
Mission *selection = &stw_state.view_state.mission_select.selection; Mission* selection = &stw_state.view_state.mission_select.selection;
if (*selection == MISSION_ACCELERATION || *selection == MISSION_NONE) { if (*selection == MISSION_ACCELERATION || *selection == MISSION_NONE) {
*selection = MISSION_MANUAL; *selection = MISSION_MANUAL;
} else { } else {
@ -60,12 +62,10 @@ void handle_button_press_mission_select(const ButtonPressEvent *ev) {
case BTN_PRESS_R2D: case BTN_PRESS_R2D:
break; break;
case BTN_PRESS_OK: 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; break;
case BTN_PRESS_NEXT: { case BTN_PRESS_NEXT: {
Mission *selection = &stw_state.view_state.mission_select.selection; Mission* selection = &stw_state.view_state.mission_select.selection;
if (*selection == MISSION_MANUAL) { if (*selection == MISSION_MANUAL) {
*selection = MISSION_ACCELERATION; *selection = MISSION_ACCELERATION;
} else { } else {
@ -74,4 +74,4 @@ void handle_button_press_mission_select(const ButtonPressEvent *ev) {
break; break;
} }
} }
} }

107
Core/Src/vehicle.c Normal file
View File

@ -0,0 +1,107 @@
#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 */

2
Makefile
View File

@ -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]
########################################################################################################################## ##########################################################################################################################
# ------------------------------------------------ # ------------------------------------------------

2
STM32Make.make
View File

@ -37,6 +37,7 @@ BUILD_DIR = build
# C sources # C sources
C_SOURCES = \ C_SOURCES = \
Core/Src/events.c \ Core/Src/events.c \
Core/Src/leds.c \
Core/Src/main.c \ Core/Src/main.c \
Core/Src/rpi.c \ Core/Src/rpi.c \
Core/Src/state.c \ Core/Src/state.c \
@ -44,6 +45,7 @@ Core/Src/stm32g4xx_hal_msp.c \
Core/Src/stm32g4xx_it.c \ Core/Src/stm32g4xx_it.c \
Core/Src/system_stm32g4xx.c \ Core/Src/system_stm32g4xx.c \
Core/Src/user_inputs.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.c \
Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_adc.c \ Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_adc.c \
Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_adc_ex.c \ Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_adc_ex.c \

77
steering-wheel-stm.ioc
View File

@ -6,10 +6,23 @@ ADC1.OffsetNumber-0\#ChannelRegularConversion=ADC_OFFSET_NONE
ADC1.Rank-0\#ChannelRegularConversion=1 ADC1.Rank-0\#ChannelRegularConversion=1
ADC1.SamplingTime-0\#ChannelRegularConversion=ADC_SAMPLETIME_2CYCLES_5 ADC1.SamplingTime-0\#ChannelRegularConversion=ADC_SAMPLETIME_2CYCLES_5
ADC1.master=1 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 File.Version=6
GPIO.groupedBy= GPIO.groupedBy=Group By Peripherals
I2C2.IPParameters=OwnAddress I2C2.IPParameters=OwnAddress,Timing
I2C2.OwnAddress=0x20 I2C2.OwnAddress=0x20
I2C2.Timing=0x10909CEC
KeepUserPlacement=false KeepUserPlacement=false
Mcu.CPN=STM32G441CBT6 Mcu.CPN=STM32G441CBT6
Mcu.Family=STM32G4 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.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:true
NVIC.DebugMonitor_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.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.ForceEnableDMAVector=true
NVIC.HardFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\: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 NVIC.I2C2_EV_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true
@ -185,45 +199,48 @@ ProjectManager.TargetToolchain=Makefile
ProjectManager.ToolChainLocation= ProjectManager.ToolChainLocation=
ProjectManager.UnderRoot=false 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 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.CRSFreq_Value=48000000
RCC.CortexFreq_Value=16000000 RCC.CortexFreq_Value=80000000
RCC.EXTERNAL_CLOCK_VALUE=12288000 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.FamilyName=M
RCC.HCLKFreq_Value=16000000 RCC.HCLKFreq_Value=80000000
RCC.HSE_VALUE=8000000 RCC.HSE_VALUE=8000000
RCC.HSI48_VALUE=48000000 RCC.HSI48_VALUE=48000000
RCC.HSI_VALUE=16000000 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.LSCOPinFreq_Value=32000
RCC.LSE_VALUE=32768 RCC.LSE_VALUE=32768
RCC.LSI_VALUE=32000 RCC.LSI_VALUE=32000
RCC.MCO1PinFreq_Value=16000000 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.VCOInputFreq_Value=16000000
RCC.VCOOutputFreq_Value=128000000 RCC.VCOOutputFreq_Value=160000000
SH.GPXTI12.0=GPIO_EXTI12 SH.GPXTI12.0=GPIO_EXTI12
SH.GPXTI12.ConfNb=1 SH.GPXTI12.ConfNb=1
SH.GPXTI13.0=GPIO_EXTI13 SH.GPXTI13.0=GPIO_EXTI13