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First tries with can

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0xFEEDC0DE64
2021-05-15 01:36:41 +02:00
parent a88af55928
commit 925001b8ef
3 changed files with 347 additions and 6 deletions
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7
CMakeLists.txt
View File

@@ -40,8 +40,10 @@ add_definitions(-DFEATURE_IGNORE_OTHER_MOTOR)
add_definitions(-DPETERS_PLATINE)
add_definitions(-DHUARN2)
#add_definitions(-DHUARN3)
add_definitions(-DFEATURE_SERIAL_CONTROL)
add_definitions(-DFEATURE_SERIAL_FEEDBACK)
#add_definitions(-DFEATURE_SERIAL_CONTROL)
#add_definitions(-DFEATURE_SERIAL_FEEDBACK)
add_definitions(-DLOG_TO_SERIAL)
add_definitions(-DFEATURE_CAN)
add_executable(firmware.elf
STM32CubeF1/Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal.c
@@ -59,6 +61,7 @@ add_executable(firmware.elf
STM32CubeF1/Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_adc.c
STM32CubeF1/Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_uart.c
STM32CubeF1/Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_dma.c
STM32CubeF1/Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_can.c
bobbycar-foc-model/BLDC_controller.h
bobbycar-foc-model/BLDC_controller.c

342
main.cpp
View File

@@ -57,6 +57,69 @@ DMA_HandleTypeDef hdma_usart3_rx;
DMA_HandleTypeDef hdma_usart3_tx;
#endif
#ifdef FEATURE_CAN
CAN_HandleTypeDef CanHandle;
/* Definition for CANx clock resources */
#define CANx CAN1
#define CANx_CLK_ENABLE() __HAL_RCC_CAN1_CLK_ENABLE()
#define CANx_GPIO_CLK_ENABLE() __HAL_RCC_GPIOB_CLK_ENABLE()
#define CANx_FORCE_RESET() __HAL_RCC_CAN1_FORCE_RESET()
#define CANx_RELEASE_RESET() __HAL_RCC_CAN1_RELEASE_RESET()
/* Definition for CANx Pins */
#define CANx_TX_PIN GPIO_PIN_9
#define CANx_TX_GPIO_PORT GPIOB
#define CANx_RX_PIN GPIO_PIN_8
#define CANx_RX_GPIO_PORT GPIOB
/* Definition for CANx AFIO Remap */
#define CANx_AFIO_REMAP_CLK_ENABLE() __HAL_RCC_AFIO_CLK_ENABLE()
#define CANx_AFIO_REMAP_RX_TX_PIN() __HAL_AFIO_REMAP_CAN1_2()
/* Definition for CAN's NVIC */
#define CANx_RX_IRQn USB_LP_CAN1_RX0_IRQn
#define CANx_RX_IRQHandler USB_LP_CAN1_RX0_IRQHandler
#define CANx_TX_IRQn USB_HP_CAN1_TX_IRQn
#define CANx_TX_IRQHandler USB_HP_CAN1_TX_IRQHandler
#endif
#ifdef LOG_TO_SERIAL
char logBuffer[512];
#endif
template<std::size_t formatLength, typename ... Targs>
void myPrintf(const char (&format)[formatLength], Targs ... args)
{
#ifdef LOG_TO_SERIAL
#ifdef HUARN2
#define UART_DMA_CHANNEL DMA1_Channel7
#endif
#ifdef HUARN3
#define UART_DMA_CHANNEL DMA1_Channel2
#endif
while (UART_DMA_CHANNEL->CNDTR != 0);
char processedFormat[formatLength+2];
std::copy(std::begin(format), std::end(format), std::begin(processedFormat));
processedFormat[formatLength-1] = '\r';
processedFormat[formatLength] = '\n';
processedFormat[formatLength+1] = '\0';
const auto size = std::snprintf(logBuffer, sizeof(logBuffer), processedFormat, args ...);
if (size < 0)
return;
UART_DMA_CHANNEL->CCR &= ~DMA_CCR_EN;
UART_DMA_CHANNEL->CNDTR = size;
UART_DMA_CHANNEL->CMAR = uint64_t(logBuffer);
UART_DMA_CHANNEL->CCR |= DMA_CCR_EN;
#endif
}
volatile struct {
uint16_t dcr;
uint16_t dcl;
@@ -127,6 +190,10 @@ void UART2_Init();
void UART3_Init();
#endif
#ifdef FEATURE_CAN
void CAN_Init();
#endif
void MX_GPIO_Init();
void MX_TIM_Init();
@@ -145,6 +212,10 @@ void parseCommand();
void sendFeedback();
#endif
#ifdef FEATURE_CAN
void sendCanFeedback();
#endif
} // anonymous namespace
int main()
@@ -241,6 +312,10 @@ int main()
UART3_Init();
#endif
#ifdef FEATURE_CAN
CAN_Init();
#endif
#ifdef MOTOR_TEST
int pwm = 0;
int8_t dir = 1;
@@ -296,10 +371,15 @@ int main()
board_temp_deg_c = (TEMP_CAL_HIGH_DEG_C - TEMP_CAL_LOW_DEG_C) * (board_temp_adcFilt - TEMP_CAL_LOW_ADC) / (TEMP_CAL_HIGH_ADC - TEMP_CAL_LOW_ADC) + TEMP_CAL_LOW_DEG_C;
#ifdef FEATURE_SERIAL_FEEDBACK
if (main_loop_counter % 50 != 0) // Send data periodically
if (main_loop_counter % 50 == 0) // Send data periodically
sendFeedback();
#endif
#ifdef FEATURE_CAN
if (main_loop_counter % 100 == 0)
sendCanFeedback();
#endif
#ifdef FEATURE_BUTTON
if (HAL_GPIO_ReadPin(BUTTON_PORT, BUTTON_PIN))
{
@@ -736,6 +816,222 @@ void UART3_Init()
}
#endif
#ifdef FEATURE_CAN
void CAN_MspInit(CAN_HandleTypeDef *hcan);
void CAN_MspDeInit(CAN_HandleTypeDef *hcan);
void CAN_MspDeInit(CAN_HandleTypeDef *hcan);
void CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *CanHandle);
void CAN_TxMailboxCompleteCallback(CAN_HandleTypeDef *hcan);
void CAN_Init()
{
myPrintf("CAN_Init() called");
CAN_FilterTypeDef sFilterConfig;
/* Configure the CAN peripheral */
CanHandle.Instance = CANx;
CanHandle.MspInitCallback = CAN_MspInit;
CanHandle.MspDeInitCallback = CAN_MspDeInit;
CanHandle.Init.TimeTriggeredMode = DISABLE;
CanHandle.Init.AutoBusOff = ENABLE;
CanHandle.Init.AutoWakeUp = DISABLE;
CanHandle.Init.AutoRetransmission = ENABLE;
CanHandle.Init.ReceiveFifoLocked = DISABLE;
CanHandle.Init.TransmitFifoPriority = DISABLE;
CanHandle.Init.Mode = CAN_MODE_NORMAL;
CanHandle.Init.SyncJumpWidth = CAN_SJW_1TQ;
CanHandle.Init.TimeSeg1 = CAN_BS1_6TQ;
CanHandle.Init.TimeSeg2 = CAN_BS2_1TQ;
CanHandle.Init.Prescaler = 4;
if (const auto result = HAL_CAN_Init(&CanHandle); result == HAL_OK)
myPrintf("HAL_CAN_Init() succeeded");
else
{
myPrintf("HAL_CAN_Init() failed with %i", result);
while (true);
}
/* Configure the CAN Filter */
sFilterConfig.FilterBank = 0;
sFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK;
sFilterConfig.FilterScale = CAN_FILTERSCALE_32BIT;
sFilterConfig.FilterIdHigh = 0x0000; // TODO
sFilterConfig.FilterIdLow = 0b11111111111; // TODO
sFilterConfig.FilterMaskIdHigh = 0x0000; // TODO
sFilterConfig.FilterMaskIdLow = 0b11111111111; // TODO
sFilterConfig.FilterFIFOAssignment = CAN_RX_FIFO0;
sFilterConfig.FilterActivation = ENABLE;
sFilterConfig.SlaveStartFilterBank = 14;
if (const auto result = HAL_CAN_ConfigFilter(&CanHandle, &sFilterConfig); result == HAL_OK)
myPrintf("HAL_CAN_ConfigFilter() succeeded");
else
{
myPrintf("HAL_CAN_ConfigFilter() failed with %i", result);
while (true);
}
if (const auto result = HAL_CAN_RegisterCallback(&CanHandle, HAL_CAN_RX_FIFO0_MSG_PENDING_CB_ID, CAN_RxFifo0MsgPendingCallback); result == HAL_OK)
myPrintf("HAL_CAN_RegisterCallback() HAL_CAN_RX_FIFO0_MSG_PENDING_CB_ID succeeded");
else
{
myPrintf("HAL_CAN_RegisterCallback() HAL_CAN_RX_FIFO0_MSG_PENDING_CB_ID failed with %i", result);
while (true);
}
if (const auto result = HAL_CAN_RegisterCallback(&CanHandle, HAL_CAN_TX_MAILBOX0_COMPLETE_CB_ID, CAN_TxMailboxCompleteCallback); result == HAL_OK)
myPrintf("HAL_CAN_RegisterCallback() HAL_CAN_TX_MAILBOX0_COMPLETE_CB_ID succeeded");
else
{
myPrintf("HAL_CAN_RegisterCallback() HAL_CAN_TX_MAILBOX0_COMPLETE_CB_ID failed with %i", result);
while (true);
}
if (const auto result = HAL_CAN_RegisterCallback(&CanHandle, HAL_CAN_TX_MAILBOX1_COMPLETE_CB_ID, CAN_TxMailboxCompleteCallback); result == HAL_OK)
myPrintf("HAL_CAN_RegisterCallback() HAL_CAN_TX_MAILBOX1_COMPLETE_CB_ID succeeded");
else
{
myPrintf("HAL_CAN_RegisterCallback() HAL_CAN_TX_MAILBOX1_COMPLETE_CB_ID failed with %i", result);
while (true);
}
if (const auto result = HAL_CAN_RegisterCallback(&CanHandle, HAL_CAN_TX_MAILBOX2_COMPLETE_CB_ID, CAN_TxMailboxCompleteCallback); result == HAL_OK)
myPrintf("HAL_CAN_RegisterCallback() HAL_CAN_TX_MAILBOX2_COMPLETE_CB_ID succeeded");
else
{
myPrintf("HAL_CAN_RegisterCallback() HAL_CAN_TX_MAILBOX2_COMPLETE_CB_ID failed with %i", result);
while (true);
}
/* Start the CAN peripheral */
if (const auto result = HAL_CAN_Start(&CanHandle); result == HAL_OK)
myPrintf("HAL_CAN_Start() succeeded");
else
{
myPrintf("HAL_CAN_Start() failed with %i", result);
while (true);
}
/* Activate CAN RX notification */
if (const auto result = HAL_CAN_ActivateNotification(&CanHandle, CAN_IT_RX_FIFO0_MSG_PENDING); result == HAL_OK)
myPrintf("HAL_CAN_ActivateNotification() CAN_IT_RX_FIFO0_MSG_PENDING succeeded");
else
{
myPrintf("HAL_CAN_ActivateNotification() CAN_IT_RX_FIFO0_MSG_PENDING failed with %i", result);
while (true);
}
/* Activate CAN TX notification */
if (const auto result = HAL_CAN_ActivateNotification(&CanHandle, CAN_IT_TX_MAILBOX_EMPTY); result == HAL_OK)
myPrintf("HAL_CAN_ActivateNotification() CAN_IT_TX_MAILBOX_EMPTY succeeded");
else
{
myPrintf("HAL_CAN_ActivateNotification() CAN_IT_TX_MAILBOX_EMPTY failed with %i", result);
while (true);
}
}
void CAN_MspInit(CAN_HandleTypeDef *hcan)
{
myPrintf("CAN_MspInit() called");
GPIO_InitTypeDef GPIO_InitStruct;
/*##-1- Enable peripherals and GPIO Clocks #################################*/
/* CAN1 Periph clock enable */
CANx_CLK_ENABLE();
/* Enable GPIO clock ****************************************/
CANx_GPIO_CLK_ENABLE();
/* Enable AFIO clock and Remap CAN PINs to PB8 and PB9*******/
CANx_AFIO_REMAP_CLK_ENABLE();
CANx_AFIO_REMAP_RX_TX_PIN();
/*##-2- Configure peripheral GPIO ##########################################*/
/* CAN1 TX GPIO pin configuration */
GPIO_InitStruct.Pin = CANx_TX_PIN;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
GPIO_InitStruct.Pull = GPIO_PULLUP;
HAL_GPIO_Init(CANx_TX_GPIO_PORT, &GPIO_InitStruct);
/* CAN1 RX GPIO pin configuration */
GPIO_InitStruct.Pin = CANx_RX_PIN;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
GPIO_InitStruct.Pull = GPIO_PULLUP;
HAL_GPIO_Init(CANx_RX_GPIO_PORT, &GPIO_InitStruct);
/*##-3- Configure the NVIC #################################################*/
/* NVIC configuration for CAN1 Reception complete interrupt */
HAL_NVIC_SetPriority(CANx_RX_IRQn, 1, 0);
HAL_NVIC_EnableIRQ(CANx_RX_IRQn);
HAL_NVIC_SetPriority(CANx_TX_IRQn, 1, 0);
HAL_NVIC_EnableIRQ(CANx_TX_IRQn);
}
void CAN_MspDeInit(CAN_HandleTypeDef *hcan)
{
myPrintf("CAN_MspDeInit() called");
/*##-1- Reset peripherals ##################################################*/
CANx_FORCE_RESET();
CANx_RELEASE_RESET();
/*##-2- Disable peripherals and GPIO Clocks ################################*/
/* De-initialize the CAN1 TX GPIO pin */
HAL_GPIO_DeInit(CANx_TX_GPIO_PORT, CANx_TX_PIN);
/* De-initialize the CAN1 RX GPIO pin */
HAL_GPIO_DeInit(CANx_RX_GPIO_PORT, CANx_RX_PIN);
/*##-4- Disable the NVIC for CAN reception #################################*/
HAL_NVIC_DisableIRQ(CANx_RX_IRQn);
}
void CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *CanHandle)
{
myPrintf("CAN_RxFifo0MsgPendingCallback() called");
CAN_RxHeaderTypeDef header;
uint8_t buf[8];
if (const auto result = HAL_CAN_GetRxMessage(CanHandle, CAN_RX_FIFO0, &header, buf); result != HAL_OK)
{
myPrintf("HAL_CAN_GetRxMessage() failed with %i", result);
while (true);
}
//if (header.IDE == CAN_ID_STD &&
// (header.StdId == CAN_ID_COMMAND_STW_TO_BOARD(BOARD_INDEX) ||
// header.StdId == CAN_ID_FEEDBACK_STW_TO_BOARD(BOARD_INDEX)))
//{
// can_feedc0de_handle_frame(header.StdId, RxData, dlc_to_len(header.DLC));
//}
// slightly yucky, but we don't want to block inside the IRQ handler
//if (HAL_CAN_GetTxMailboxesFreeLevel(CanHandle) >= 2)
//{
// can_feedc0de_poll();
//}
}
void CAN_TxMailboxCompleteCallback(CAN_HandleTypeDef *hcan)
{
myPrintf("CAN_TxMailboxCompleteCallback() called");
// slightly yucky, but we don't want to block inside the IRQ handler
//if (HAL_CAN_GetTxMailboxesFreeLevel(hcan) >= 2)
//{
// can_feedc0de_poll();
//}
}
#endif
void MX_GPIO_Init()
{
GPIO_InitTypeDef GPIO_InitStruct;
@@ -1138,7 +1434,7 @@ void parseCommand()
left.state = right.state = {.enable=true};
buzzer.state = { 24, 1 };
//buzzer.state = { 24, 1 };
HAL_GPIO_WritePin(LED_PORT, LED_PIN, GPIO_PIN_RESET);
@@ -1211,6 +1507,36 @@ void sendFeedback()
}
#endif
#ifdef FEATURE_CAN
void sendCanFeedback()
{
const auto free = HAL_CAN_GetTxMailboxesFreeLevel(&CanHandle);
myPrintf("sendCanFeedback() called (free=%u)", free);
if (free < 1)
return;
CAN_TxHeaderTypeDef TxHeader;
TxHeader.StdId = 0x321;
TxHeader.ExtId = 0x01;
TxHeader.RTR = CAN_RTR_DATA;
TxHeader.IDE = CAN_ID_STD;
TxHeader.DLC = 2;
TxHeader.TransmitGlobalTime = DISABLE;
uint8_t buf[8];
static uint32_t TxMailbox;
if (const auto result = HAL_CAN_AddTxMessage(&CanHandle, &TxHeader, buf, &TxMailbox); result == HAL_OK)
myPrintf("HAL_CAN_AddTxMessage() succeeded");
else
{
myPrintf("HAL_CAN_AddTxMessage() failed with %i", result);
while (true);
}
}
#endif
} // anonymous namespace
/******************************************************************************/
@@ -1409,3 +1735,15 @@ extern "C" void DMA1_Channel3_IRQHandler()
/* USER CODE END DMA1_Channel3_IRQn 1 */
}
#endif
#ifdef FEATURE_CAN
extern "C" void CANx_RX_IRQHandler(void)
{
HAL_CAN_IRQHandler(&CanHandle);
}
extern "C" void CANx_TX_IRQHandler(void)
{
HAL_CAN_IRQHandler(&CanHandle);
}
#endif

4
stm32f1xx_hal_conf.h
View File

@@ -36,7 +36,7 @@ extern "C" {
*/
#define HAL_MODULE_ENABLED
#define HAL_ADC_MODULE_ENABLED
/* #define HAL_CAN_MODULE_ENABLED */
#define HAL_CAN_MODULE_ENABLED
/* #define HAL_CAN_LEGACY_MODULE_ENABLED */
/* #define HAL_CEC_MODULE_ENABLED */
#define HAL_CORTEX_MODULE_ENABLED
@@ -129,7 +129,7 @@ extern "C" {
#define PREFETCH_ENABLE 1U
#define USE_HAL_ADC_REGISTER_CALLBACKS 0U /* ADC register callback disabled */
#define USE_HAL_CAN_REGISTER_CALLBACKS 0U /* CAN register callback disabled */
#define USE_HAL_CAN_REGISTER_CALLBACKS 1 /* CAN register callback disabled */
#define USE_HAL_CEC_REGISTER_CALLBACKS 0U /* CEC register callback disabled */
#define USE_HAL_DAC_REGISTER_CALLBACKS 0U /* DAC register callback disabled */
#define USE_HAL_ETH_REGISTER_CALLBACKS 0U /* ETH register callback disabled */