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3 Commits
6a772179c1
...
ec9fa4bb0f
Author | SHA1 | Date |
---|---|---|
Jasper Blanckenburg | ec9fa4bb0f | |
Jasper Blanckenburg | b28ff29f45 | |
Jasper Blanckenburg | bc3771c39a |
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@ -0,0 +1,137 @@
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---
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Language: Cpp
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# BasedOnStyle: LLVM
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AccessModifierOffset: -2
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AlignAfterOpenBracket: Align
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AllowAllArgumentsOnNextLine: true
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AllowAllConstructorInitializersOnNextLine: true
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AllowAllParametersOfDeclarationOnNextLine: true
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AllowShortBlocksOnASingleLine: Never
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AllowShortCaseLabelsOnASingleLine: false
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AllowShortFunctionsOnASingleLine: All
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AllowShortLambdasOnASingleLine: All
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AllowShortIfStatementsOnASingleLine: Never
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AllowShortLoopsOnASingleLine: false
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AlwaysBreakAfterDefinitionReturnType: None
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AlwaysBreakBeforeMultilineStrings: false
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AlwaysBreakTemplateDeclarations: MultiLine
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BinPackArguments: true
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BinPackParameters: true
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BreakInheritanceList: BeforeColon
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BreakBeforeTernaryOperators: true
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BreakConstructorInitializersBeforeComma: false
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BreakConstructorInitializers: BeforeColon
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BreakAfterJavaFieldAnnotations: false
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BreakStringLiterals: true
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ColumnLimit: 80
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CommentPragmas: "^ IWYU pragma:"
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CompactNamespaces: false
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ConstructorInitializerAllOnOneLineOrOnePerLine: false
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ConstructorInitializerIndentWidth: 4
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ContinuationIndentWidth: 4
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Cpp11BracedListStyle: true
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DerivePointerAlignment: false
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DisableFormat: false
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ExperimentalAutoDetectBinPacking: false
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FixNamespaceComments: true
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ForEachMacros:
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- foreach
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- Q_FOREACH
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- BOOST_FOREACH
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IncludeBlocks: Regroup
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IncludeCategories:
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- Regex: '^[<"]stm'
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Priority: 2
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SortPriority: 0
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- Regex: "^<std"
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Priority: 4
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SortPriority: 0
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- Regex: ".*"
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Priority: 1
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SortPriority: 0
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IncludeIsMainRegex: "(Test)?$"
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IncludeIsMainSourceRegex: ""
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IndentCaseLabels: false
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IndentGotoLabels: true
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IndentPPDirectives: None
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||||
IndentWidth: 2
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IndentWrappedFunctionNames: false
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JavaScriptQuotes: Leave
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JavaScriptWrapImports: true
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KeepEmptyLinesAtTheStartOfBlocks: true
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MacroBlockBegin: ""
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MacroBlockEnd: ""
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NamespaceIndentation: None
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ObjCBinPackProtocolList: Auto
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ObjCBlockIndentWidth: 2
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ObjCSpaceAfterProperty: false
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ObjCSpaceBeforeProtocolList: true
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PenaltyBreakAssignment: 2
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PenaltyBreakBeforeFirstCallParameter: 19
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SortIncludes: true
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SpaceBeforeAssignmentOperators: true
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SpaceBeforeCpp11BracedList: false
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SpaceBeforeInheritanceColon: true
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SpaceBeforeParens: ControlStatements
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SpaceBeforeRangeBasedForLoopColon: true
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SpaceInEmptyBlock: false
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SpaceInEmptyParentheses: false
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SpacesBeforeTrailingComments: 1
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SpacesInContainerLiterals: true
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SpacesInCStyleCastParentheses: false
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SpacesInSquareBrackets: false
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SpaceBeforeSquareBrackets: false
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Standard: Latest
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StatementMacros:
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TabWidth: 8
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UseTab: Never
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---
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@ -0,0 +1,8 @@
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[*]
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end_of_line = lf
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insert_final_newline = true
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charset = utf-8
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[*.{h,c}]
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indent_style = space
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indent_size = 2
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@ -42,7 +42,7 @@ typedef struct {
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* The event is deep-copied to the queue, so it can be deallocated after the
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* call is complete.
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*/
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void event_push(Event *ev);
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void event_push(Event* ev);
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/**
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* @brief Pop an event from the start of the queue.
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*
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@ -0,0 +1,6 @@
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#ifndef __LEDS_H
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#define __LEDS_H
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void leds_init();
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#endif // __LEDS_H
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@ -1,21 +1,21 @@
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/* USER CODE BEGIN Header */
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/**
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******************************************************************************
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* @file : main.h
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* @brief : Header for main.c file.
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* This file contains the common defines of the application.
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******************************************************************************
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* @attention
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*
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* Copyright (c) 2022 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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******************************************************************************
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||||
* @file : main.h
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* @brief : Header for main.c file.
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* This file contains the common defines of the application.
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******************************************************************************
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* @attention
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*
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* Copyright (c) 2022 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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/* Define to prevent recursive inclusion -------------------------------------*/
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@ -25,7 +25,7 @@ extern RPiI2CState rpi_i2c_state;
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extern size_t rpi_num_polls;
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void rpi_init(I2C_HandleTypeDef *handle);
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void rpi_init(I2C_HandleTypeDef* handle);
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void rpi_update_tx_buffer();
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void rpi_update_tx_buffer_mission_select();
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@ -55,6 +55,7 @@ void SVC_Handler(void);
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void DebugMon_Handler(void);
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void PendSV_Handler(void);
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void SysTick_Handler(void);
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void FDCAN1_IT0_IRQHandler(void);
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void I2C2_EV_IRQHandler(void);
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void EXTI15_10_IRQHandler(void);
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/* USER CODE BEGIN EFP */
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@ -2,10 +2,11 @@
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#define __FT_USER_INPUTS_H
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#include "events.h"
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#include "stm32g4xx_hal.h"
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void handle_button_press(const ButtonPressEvent *ev);
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void handle_button_press(const ButtonPressEvent* ev);
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void handle_button_press_mission_select(const ButtonPressEvent *ev);
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void handle_button_press_mission_select(const ButtonPressEvent* ev);
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#endif // __FT_USER_INPUTS_H
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@ -0,0 +1,16 @@
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#ifndef __VEHICLE_H
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#define __VEHICLE_H
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#include "state.h"
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#include "stm32g4xx_hal.h"
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#include "stm32g4xx_hal_fdcan.h"
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#define CAN_ID_MISSION_SELECT 0x400
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#define CAN_ID_AS_MISSION_FB 0x410
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void vehicle_init(FDCAN_HandleTypeDef* handle);
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void vehicle_send_mission_select(Mission mission);
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#endif // __VEHICLE_H
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@ -1,11 +1,13 @@
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#include "events.h"
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#include "main.h"
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#include "user_inputs.h"
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#include <stdint.h>
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static volatile EventQueue event_queue = {.read_idx = 0, .write_idx = 0};
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void event_push(Event *ev) {
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void event_push(Event* ev) {
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if (event_num_free() == 0) {
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// TODO: How do we handle this?
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return;
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@ -0,0 +1,29 @@
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#include "leds.h"
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#include "main.h"
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#include "stm32g4xx_hal.h"
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#include "stm32g4xx_hal_gpio.h"
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void leds_init() {
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HAL_GPIO_WritePin(LED_NOE_GPIO_Port, LED_NOE_Pin, GPIO_PIN_RESET);
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HAL_GPIO_WritePin(LED_NCLR_GPIO_Port, LED_NCLR_Pin, GPIO_PIN_SET);
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HAL_GPIO_WritePin(LED_OCLK_GPIO_Port, LED_OCLK_Pin, GPIO_PIN_RESET);
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HAL_GPIO_WritePin(LED_ICLK_GPIO_Port, LED_ICLK_Pin, GPIO_PIN_RESET);
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HAL_GPIO_WritePin(TOP_PWM_GPIO_Port, TOP_PWM_Pin, GPIO_PIN_SET);
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HAL_Delay(10);
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for (int i = 0; i < 12; i++) {
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GPIO_PinState state = (i % 2 == 0) ? GPIO_PIN_SET : GPIO_PIN_RESET;
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HAL_GPIO_WritePin(LED_SER_GPIO_Port, LED_SER_Pin, state);
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HAL_Delay(5);
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HAL_GPIO_WritePin(LED_ICLK_GPIO_Port, LED_ICLK_Pin, GPIO_PIN_SET);
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HAL_Delay(10);
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HAL_GPIO_WritePin(LED_ICLK_GPIO_Port, LED_ICLK_Pin, GPIO_PIN_RESET);
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HAL_Delay(10);
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}
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HAL_GPIO_WritePin(LED_OCLK_GPIO_Port, LED_OCLK_Pin, GPIO_PIN_SET);
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HAL_Delay(10);
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HAL_GPIO_WritePin(LED_OCLK_GPIO_Port, LED_OCLK_Pin, GPIO_PIN_RESET);
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}
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@ -22,8 +22,10 @@
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/* Private includes ----------------------------------------------------------*/
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/* USER CODE BEGIN Includes */
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#include "events.h"
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#include "leds.h"
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#include "rpi.h"
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#include "state.h"
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#include "vehicle.h"
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#include "stm32g4xx_hal.h"
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#include "stm32g4xx_hal_gpio.h"
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@ -104,13 +106,15 @@ int main(void) {
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MX_FDCAN1_Init();
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MX_I2C2_Init();
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/* USER CODE BEGIN 2 */
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leds_init();
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state_init();
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vehicle_init(&hfdcan1);
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rpi_init(&hi2c2);
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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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uint32_t rpi_active_since = 0;
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uint32_t last_can = 0;
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while (1) {
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/* USER CODE END WHILE */
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@ -122,6 +126,10 @@ int main(void) {
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HAL_GPIO_WritePin(DISP_RESET_GPIO_Port, DISP_RESET_Pin, GPIO_PIN_SET);
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}
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handle_events();
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if (now - last_can > 100) {
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// vehicle_send_mission_select(MISSION_ACCELERATION);
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last_can = now;
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}
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}
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/* USER CODE END 3 */
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}
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@ -144,7 +152,13 @@ void SystemClock_Config(void) {
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RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
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RCC_OscInitStruct.HSIState = RCC_HSI_ON;
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RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
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RCC_OscInitStruct.PLL.PLLState = RCC_PLL_NONE;
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RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
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RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
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RCC_OscInitStruct.PLL.PLLM = RCC_PLLM_DIV1;
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RCC_OscInitStruct.PLL.PLLN = 10;
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RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
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RCC_OscInitStruct.PLL.PLLQ = RCC_PLLQ_DIV2;
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RCC_OscInitStruct.PLL.PLLR = RCC_PLLR_DIV2;
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if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK) {
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Error_Handler();
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}
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@ -153,12 +167,12 @@ void SystemClock_Config(void) {
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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_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_HSI;
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RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
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RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
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RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1;
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RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
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if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_0) != HAL_OK) {
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if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK) {
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Error_Handler();
|
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}
|
||||
}
|
||||
|
@ -242,20 +256,20 @@ static void MX_FDCAN1_Init(void) {
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/* USER CODE END FDCAN1_Init 1 */
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hfdcan1.Instance = FDCAN1;
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hfdcan1.Init.ClockDivider = FDCAN_CLOCK_DIV1;
|
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hfdcan1.Init.FrameFormat = FDCAN_FRAME_CLASSIC;
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hfdcan1.Init.FrameFormat = FDCAN_FRAME_FD_BRS;
|
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hfdcan1.Init.Mode = FDCAN_MODE_NORMAL;
|
||||
hfdcan1.Init.AutoRetransmission = DISABLE;
|
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hfdcan1.Init.TransmitPause = DISABLE;
|
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hfdcan1.Init.AutoRetransmission = ENABLE;
|
||||
hfdcan1.Init.TransmitPause = ENABLE;
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||||
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;
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||||
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 +295,7 @@ static void MX_I2C2_Init(void) {
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|||
|
||||
/* 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;
|
||||
|
@ -381,7 +395,7 @@ void Error_Handler(void) {
|
|||
* @param line: assert_param error line source number
|
||||
* @retval None
|
||||
*/
|
||||
void assert_failed(uint8_t *file, uint32_t line) {
|
||||
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,
|
||||
|
|
|
@ -1,9 +1,12 @@
|
|||
#include "rpi.h"
|
||||
|
||||
#include "main.h"
|
||||
#include "state.h"
|
||||
|
||||
#include "stm32g4xx_hal_def.h"
|
||||
#include "stm32g4xx_hal_gpio.h"
|
||||
#include "stm32g4xx_hal_i2c.h"
|
||||
|
||||
#include <stdint.h>
|
||||
|
||||
uint8_t i2c_rx_buf[I2C_RX_BUF_SIZE];
|
||||
|
@ -12,10 +15,10 @@ uint8_t i2c_tx_len;
|
|||
RPiI2CState rpi_i2c_state;
|
||||
size_t rpi_num_polls;
|
||||
|
||||
static I2C_HandleTypeDef *bus;
|
||||
static I2C_HandleTypeDef* bus;
|
||||
static uint8_t current_command;
|
||||
|
||||
void rpi_init(I2C_HandleTypeDef *handle) {
|
||||
void rpi_init(I2C_HandleTypeDef* handle) {
|
||||
bus = handle;
|
||||
rpi_i2c_state = RPI_I2C_IDLE;
|
||||
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;
|
||||
}
|
||||
|
||||
void HAL_I2C_SlaveTxCpltCallback(I2C_HandleTypeDef *handle) {
|
||||
void HAL_I2C_SlaveTxCpltCallback(I2C_HandleTypeDef* handle) {
|
||||
switch (rpi_i2c_state) {
|
||||
case RPI_I2C_SENDING_DATA_SIZE:
|
||||
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) {
|
||||
// TODO: How do we handle this?
|
||||
return;
|
||||
|
@ -81,7 +84,7 @@ void HAL_I2C_SlaveRxCpltCallback(I2C_HandleTypeDef *handle) {
|
|||
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) {
|
||||
if (handle != bus) {
|
||||
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) {
|
||||
return;
|
||||
}
|
||||
|
|
|
@ -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 */
|
||||
|
|
|
@ -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.
|
||||
*/
|
||||
|
|
|
@ -3,6 +3,8 @@
|
|||
#include "events.h"
|
||||
#include "main.h"
|
||||
#include "state.h"
|
||||
#include "vehicle.h"
|
||||
|
||||
#include "stm32g4xx_hal_gpio.h"
|
||||
|
||||
void HAL_GPIO_EXTI_Callback(uint16_t pin) {
|
||||
|
@ -34,7 +36,7 @@ void HAL_GPIO_EXTI_Callback(uint16_t pin) {
|
|||
event_push(&ev);
|
||||
}
|
||||
|
||||
void handle_button_press(const ButtonPressEvent *ev) {
|
||||
void handle_button_press(const ButtonPressEvent* ev) {
|
||||
switch (stw_state.view) {
|
||||
case VIEW_MISSION_SELECT:
|
||||
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) {
|
||||
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) {
|
||||
*selection = MISSION_MANUAL;
|
||||
} else {
|
||||
|
@ -60,12 +62,10 @@ 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;
|
||||
Mission* selection = &stw_state.view_state.mission_select.selection;
|
||||
if (*selection == MISSION_MANUAL) {
|
||||
*selection = MISSION_ACCELERATION;
|
||||
} else {
|
||||
|
|
|
@ -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
2
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]
|
||||
##########################################################################################################################
|
||||
|
||||
# ------------------------------------------------
|
||||
|
|
|
@ -37,6 +37,7 @@ BUILD_DIR = build
|
|||
# C sources
|
||||
C_SOURCES = \
|
||||
Core/Src/events.c \
|
||||
Core/Src/leds.c \
|
||||
Core/Src/main.c \
|
||||
Core/Src/rpi.c \
|
||||
Core/Src/state.c \
|
||||
|
@ -44,6 +45,7 @@ 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 \
|
||||
|
|
|
@ -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=
|
||||
I2C2.IPParameters=OwnAddress
|
||||
GPIO.groupedBy=Group By Peripherals
|
||||
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.APB1Freq_Value=16000000
|
||||
RCC.APB1TimFreq_Value=16000000
|
||||
RCC.APB2Freq_Value=16000000
|
||||
RCC.APB2TimFreq_Value=16000000
|
||||
RCC.ADC12Freq_Value=80000000
|
||||
RCC.AHBFreq_Value=80000000
|
||||
RCC.APB1Freq_Value=80000000
|
||||
RCC.APB1TimFreq_Value=80000000
|
||||
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.FDCANFreq_Value=16000000
|
||||
RCC.FCLKCortexFreq_Value=80000000
|
||||
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.I2C2Freq_Value=16000000
|
||||
RCC.I2C3Freq_Value=16000000
|
||||
RCC.I2SFreq_Value=16000000
|
||||
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.LPTIM1Freq_Value=16000000
|
||||
RCC.LPUART1Freq_Value=16000000
|
||||
RCC.I2C1Freq_Value=80000000
|
||||
RCC.I2C2Freq_Value=80000000
|
||||
RCC.I2C3Freq_Value=80000000
|
||||
RCC.I2SFreq_Value=80000000
|
||||
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=80000000
|
||||
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.PLLQoutputFreq_Value=64000000
|
||||
RCC.PLLRCLKFreq_Value=64000000
|
||||
RCC.PWRFreq_Value=16000000
|
||||
RCC.RNGFreq_Value=64000000
|
||||
RCC.SAI1Freq_Value=16000000
|
||||
RCC.SYSCLKFreq_VALUE=16000000
|
||||
RCC.USART1Freq_Value=16000000
|
||||
RCC.USART2Freq_Value=16000000
|
||||
RCC.USART3Freq_Value=16000000
|
||||
RCC.USBFreq_Value=64000000
|
||||
RCC.PLLN=10
|
||||
RCC.PLLPoutputFreq_Value=80000000
|
||||
RCC.PLLQoutputFreq_Value=80000000
|
||||
RCC.PLLRCLKFreq_Value=80000000
|
||||
RCC.PWRFreq_Value=80000000
|
||||
RCC.RNGFreq_Value=80000000
|
||||
RCC.SAI1Freq_Value=80000000
|
||||
RCC.SYSCLKFreq_VALUE=80000000
|
||||
RCC.SYSCLKSource=RCC_SYSCLKSOURCE_PLLCLK
|
||||
RCC.USART1Freq_Value=80000000
|
||||
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
|
||||
|
|
Loading…
Reference in New Issue