Change CAN to 1 Mbaud instead of 666.667 Kbaud; put can_init in ifdef

Update CAN for multi-board support
Add CAN
2021-04-11 21:46:58 +02:00 · 2021-03-28 01:37:14 +01:00 · 2020-10-25 02:30:34 +02:00
15 changed files with 1224 additions and 1674 deletions
--- a/.github/workflows/workflow.yml
+++ b/.github/workflows/workflow.yml
@ -1,33 +0,0 @@
-name: CI
-on:
-  push:
-  release:
-    types:
-      - created
-#  pull_request:
-#    types: [opened, synchronize, reopened]
-
-# checkout, install make and try to build
-
-jobs:
-  build:
-    runs-on: ubuntu-latest
-    strategy:
-      fail-fast: false
-      matrix:
-        config: [motortest, motortest_peter, feedcode-front, feedcode-back, greyhash, pcbv2_front, pcbv2_back, pcbv2_test, commander_v2_front, commander_v2_back]
-    steps:
-      - uses: actions/checkout@v2
-        with:
-          submodules: 'true'
-
-      - name: Install make
-        run: |
-          sudo apt update -y
-          sudo apt install -y binutils-arm-none-eabi gcc-arm-none-eabi libnewlib-arm-none-eabi cmake make
-          
-      - name: Build
-        id: build
-        run: |
-          cmake -DCMAKE_BUILD_TYPE=Release .
-          make -j$(nproc) ${{ matrix.config }}
--- a/.gitignore
+++ b/.gitignore
@ -3,20 +3,3 @@ CMakeCache.txt
 CMakeFiles
 Makefile
 cmake_install.cmake
-
-build/
-
-# VS Code
-.vscode/
-.cache/
-
-# Jetbrains
-.idea/
-cmake-build-*/
-
-# other
-hover.map
-libemanuel_foc_model.a
-libstm32_hal.a
-/*.bin
-/*elf
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@ -10,11 +10,10 @@ SET(CMAKE_SYSTEM_NAME Generic)

 set(COMMON_FLAGS "-mcpu=cortex-m3 -mthumb -Wall -fdata-sections -ffunction-sections")
 set(CMAKE_ASM_FLAGS "${COMMON_FLAGS} -x assembler-with-cpp")
-set(CMAKE_C_FLAGS "${COMMON_FLAGS}")
-set(CMAKE_CXX_FLAGS "${COMMON_FLAGS} -Wno-volatile")
+set(CMAKE_C_FLAGS "${COMMON_FLAGS} -std=gnu11")
+set(CMAKE_CXX_FLAGS "${COMMON_FLAGS} -std=c++17")

-set(CMAKE_C_STANDARD 11)
-set(CMAKE_CXX_STANDARD 20)
+set(CMAKE_CXX_STANDARD 17)

 set(COMMON_LINKER_FLAGS "-specs=nosys.specs -T${CMAKE_SOURCE_DIR}/STM32F103RCTx_FLASH.ld -lc -lm -lnosys -lstdc++ -Wl,--gc-sections -Wl,-Map=${CMAKE_BINARY_DIR}/hover.map,--cref")
 set(CMAKE_EXE_LINKER_FLAGS "${COMMON_LINKER_FLAGS}")
@ -22,7 +21,7 @@ set(CMAKE_SHARED_LINKER_FLAGS "${COMMON_LINKER_FLAGS}")

 project(bobbycar-controller-firmware ASM C CXX)

-add_definitions(-DUSE_HAL_DRIVER -DSTM32F103xE)
+add_definitions(-DUSE_HAL_DRIVER -DSTM32F103xE -DFEATURE_CAN)

 include_directories(
    .
@ -34,7 +33,12 @@ include_directories(
    bobbycar-protocol
 )

-add_library(stm32_hal STATIC
+#add_definitions(-DMOTOR_TEST)
+#add_definitions(-DFEATURE_IGNORE_OTHER_MOTOR)
+add_definitions(-DFEATURE_BUTTON)
+#add_definitions(-DPETERS_PLATINE)
+
+add_executable(firmware.elf
    STM32CubeF1/Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal.c
    STM32CubeF1/Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_flash.c
    STM32CubeF1/Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_pwr.c
@ -51,417 +55,42 @@ add_library(stm32_hal STATIC
    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
-    startup_stm32f103xe.s
-    system_stm32f1xx.c
-)

-add_library(emanuel_foc_model STATIC
    bobbycar-foc-model/BLDC_controller.h
    bobbycar-foc-model/BLDC_controller.c
    bobbycar-foc-model/BLDC_controller_data.c
    bobbycar-foc-model/rtwtypes.h
+
+    bobbycar-protocol/protocol.h
+
+    startup_stm32f103xe.s
+    system_stm32f1xx.c
+
+    config.h
+    defines.h
+    main.cpp
+    can.c
+    can_feedc0de.cpp
 )

-add_library(bobbycar-protocol INTERFACE
-)
+add_custom_command(OUTPUT firmware.hex
+                   COMMAND arm-none-eabi-objcopy -O ihex firmware.elf firmware.hex
+                   DEPENDS firmware.elf)

+add_custom_command(OUTPUT firmware.bin
+                   COMMAND arm-none-eabi-objcopy -O binary -S firmware.elf firmware.bin
+                   DEPENDS firmware.elf)

+add_custom_target(firmware ALL
+                  SOURCES firmware.hex firmware.bin)

+add_custom_target(flash
+                  COMMAND st-flash --reset write firmware.bin 0x8000000
+                  SOURCES firmware.bin)

-#
-# motor test
-#
-add_executable(motortest.elf config.h defines.h main.cpp)
-target_link_libraries(motortest.elf stm32_hal emanuel_foc_model bobbycar-protocol)
-target_compile_options(motortest.elf PRIVATE
-    -DMOTOR_TEST
-    -DFEATURE_IGNORE_OTHER_MOTOR
-#    -DHALL_BCA
-#    -DPWM_FREQ_12KHZ
-#    -DFEATURE_BUTTON
-#    -DPETERS_PLATINE
-#    -DHUART2
-#    -DHUART3
-#    -DFEATURE_SERIAL_CONTROL
-#    -DFEATURE_SERIAL_FEEDBACK
-#    -DLOG_TO_SERIAL
-#    -DFEATURE_CAN
-#    -DCAN_LOG_UNKNOWN_ADDR
-#    -DIS_BACK
-)
-add_custom_command(OUTPUT motortest.hex COMMAND arm-none-eabi-objcopy -O ihex motortest.elf motortest.hex DEPENDS motortest.elf)
-add_custom_command(OUTPUT motortest.bin COMMAND arm-none-eabi-objcopy -O binary -S motortest.elf motortest.bin DEPENDS motortest.elf)
-add_custom_target(motortest ALL SOURCES motortest.hex motortest.bin)
-add_custom_target(flash-motortest COMMAND st-flash --reset write motortest.bin 0x8000000 SOURCES motortest.bin DEPENDS motortest.bin)
-
-#
-# motor test peter
-#
-add_executable(motortest_peter.elf config.h defines.h main.cpp)
-target_link_libraries(motortest_peter.elf stm32_hal emanuel_foc_model bobbycar-protocol)
-target_compile_options(motortest_peter.elf PRIVATE
-    #-DMOTOR_TEST
-    -DFEATURE_IGNORE_OTHER_MOTOR
-    -DHALL_ABC
-    #    -DPWM_FREQ_12KHZ
-    #    -DFEATURE_BUTTON
-    -DPETERS_PLATINE
-    #     -DFEATURE_INVERT_HALL
-    #    -DHUART2
-    #    -DHUART3
-    #    -DFEATURE_SERIAL_CONTROL
-    #    -DFEATURE_SERIAL_FEEDBACK
-    #    -DLOG_TO_SERIAL
-        -DFEATURE_CAN
-    #    -DCAN_LOG_UNKNOWN_ADDR
-        -DIS_BACK
-)
-add_custom_command(OUTPUT motortest_peter.hex COMMAND arm-none-eabi-objcopy -O ihex motortest_peter.elf motortest_peter.hex DEPENDS motortest_peter.elf)
-add_custom_command(OUTPUT motortest_peter.bin COMMAND arm-none-eabi-objcopy -O binary -S motortest_peter.elf motortest_peter.bin DEPENDS motortest_peter.elf)
-add_custom_target(motortest_peter ALL SOURCES motortest_peter.hex motortest_peter.bin)
-add_custom_target(flash-motortest_peter COMMAND st-flash --reset write motortest_peter.bin 0x8000000 SOURCES motortest_peter.bin DEPENDS motortest_peter.bin)
-
-
-#
-# feedc0de front
-#
-add_executable(feedcode-front.elf config.h defines.h main.cpp)
-target_link_libraries(feedcode-front.elf stm32_hal emanuel_foc_model bobbycar-protocol)
-target_compile_options(feedcode-front.elf PRIVATE
-#    -DMOTOR_TEST
-    -DFEATURE_IGNORE_OTHER_MOTOR
-    -DHALL_BCA
-#    -DPWM_FREQ_12KHZ
-#    -DFEATURE_BUTTON
-    -DPETERS_PLATINE
-#    -DHUART2
-#    -DHUART3
-#    -DFEATURE_SERIAL_CONTROL
-#    -DFEATURE_SERIAL_FEEDBACK
-#    -DLOG_TO_SERIAL
-    -DFEATURE_CAN
-#    -DCAN_LOG_UNKNOWN_ADDR
-#    -DIS_BACK
-)
-add_custom_command(OUTPUT feedcode-front.hex COMMAND arm-none-eabi-objcopy -O ihex feedcode-front.elf feedcode-front.hex DEPENDS feedcode-front.elf)
-add_custom_command(OUTPUT feedcode-front.bin COMMAND arm-none-eabi-objcopy -O binary -S feedcode-front.elf feedcode-front.bin DEPENDS feedcode-front.elf)
-add_custom_target(feedcode-front ALL SOURCES feedcode-front.hex feedcode-front.bin)
-add_custom_target(flash-feedcode-front COMMAND st-flash --reset write feedcode-front.bin 0x8000000 SOURCES feedcode-front.bin DEPENDS feedcode-front.bin)
-
-#
-# feedc0de back
-#
-add_executable(feedcode-back.elf config.h defines.h main.cpp)
-target_link_libraries(feedcode-back.elf stm32_hal emanuel_foc_model bobbycar-protocol)
-target_compile_options(feedcode-back.elf PRIVATE
-#    -DMOTOR_TEST
-    -DFEATURE_IGNORE_OTHER_MOTOR
-#    -DHALL_BCA
-#    -DPWM_FREQ_12KHZ
-#    -DFEATURE_BUTTON
-    -DPETERS_PLATINE
-#    -DHUART2
-#    -DHUART3
-#    -DFEATURE_SERIAL_CONTROL
-#    -DFEATURE_SERIAL_FEEDBACK
-#    -DLOG_TO_SERIAL
-    -DFEATURE_CAN
-#    -DCAN_LOG_UNKNOWN_ADDR
-    -DIS_BACK
-)
-add_custom_command(OUTPUT feedcode-back.hex COMMAND arm-none-eabi-objcopy -O ihex feedcode-back.elf feedcode-back.hex DEPENDS feedcode-back.elf)
-add_custom_command(OUTPUT feedcode-back.bin COMMAND arm-none-eabi-objcopy -O binary -S feedcode-back.elf feedcode-back.bin DEPENDS feedcode-back.elf)
-add_custom_target(feedcode-back ALL SOURCES feedcode-back.hex feedcode-back.bin)
-add_custom_target(flash-feedcode-back COMMAND st-flash --reset write feedcode-back.bin 0x8000000 SOURCES feedcode-back.bin DEPENDS feedcode-back.bin)
-
-
-#
-# feedc0de 2 front
-#
-add_executable(feedcode2-front.elf config.h defines.h main.cpp)
-target_link_libraries(feedcode2-front.elf stm32_hal emanuel_foc_model bobbycar-protocol)
-target_compile_options(feedcode2-front.elf PRIVATE
-#    -DMOTOR_TEST
-    -DFEATURE_IGNORE_OTHER_MOTOR
-    -DLEFT_HALL_ABC
-    -DRIGHT_HALL_ABC
-#    -DPWM_FREQ_12KHZ
-#    -DFEATURE_BUTTON
-    -DPETERS_PLATINE
-#    -DHUART2
-#    -DHUART3
-#    -DFEATURE_SERIAL_CONTROL
-#    -DFEATURE_SERIAL_FEEDBACK
-#    -DLOG_TO_SERIAL
-    -DFEATURE_CAN
-#    -DCAN_LOG_UNKNOWN_ADDR
-#    -DIS_BACK
-)
-add_custom_command(OUTPUT feedcode2-front.hex COMMAND arm-none-eabi-objcopy -O ihex feedcode2-front.elf feedcode2-front.hex DEPENDS feedcode2-front.elf)
-add_custom_command(OUTPUT feedcode2-front.bin COMMAND arm-none-eabi-objcopy -O binary -S feedcode2-front.elf feedcode2-front.bin DEPENDS feedcode2-front.elf)
-add_custom_target(feedcode2-front ALL SOURCES feedcode2-front.hex feedcode2-front.bin)
-add_custom_target(flash-feedcode2-front COMMAND st-flash --reset write feedcode2-front.bin 0x8000000 SOURCES feedcode2-front.bin DEPENDS feedcode2-front.bin)
-
-#
-# feedc0de 2 back
-#
-add_executable(feedcode2-back.elf config.h defines.h main.cpp)
-target_link_libraries(feedcode2-back.elf stm32_hal emanuel_foc_model bobbycar-protocol)
-target_compile_options(feedcode2-back.elf PRIVATE
-#    -DMOTOR_TEST
-    -DFEATURE_IGNORE_OTHER_MOTOR
-    -DLEFT_HALL_ACB
-    -DRIGHT_HALL_ACB
-#    -DPWM_FREQ_12KHZ
-#    -DFEATURE_BUTTON
-    -DPETERS_PLATINE
-#    -DHUART2
-#    -DHUART3
-#    -DFEATURE_SERIAL_CONTROL
-#    -DFEATURE_SERIAL_FEEDBACK
-#    -DLOG_TO_SERIAL
-    -DFEATURE_CAN
-#    -DCAN_LOG_UNKNOWN_ADDR
-    -DIS_BACK
-)
-add_custom_command(OUTPUT feedcode2-back.hex COMMAND arm-none-eabi-objcopy -O ihex feedcode2-back.elf feedcode2-back.hex DEPENDS feedcode2-back.elf)
-add_custom_command(OUTPUT feedcode2-back.bin COMMAND arm-none-eabi-objcopy -O binary -S feedcode2-back.elf feedcode2-back.bin DEPENDS feedcode2-back.elf)
-add_custom_target(feedcode2-back ALL SOURCES feedcode2-back.hex feedcode2-back.bin)
-add_custom_target(flash-feedcode2-back COMMAND st-flash --reset write feedcode2-back.bin 0x8000000 SOURCES feedcode2-back.bin DEPENDS feedcode2-back.bin)
-
-#
-# greyhash
-#
-add_executable(greyhash.elf config.h defines.h main.cpp)
-target_link_libraries(greyhash.elf stm32_hal emanuel_foc_model bobbycar-protocol)
-target_compile_options(greyhash.elf PRIVATE
-#    -DMOTOR_TEST
-    -DFEATURE_IGNORE_OTHER_MOTOR
-#    -DHALL_BCA
-    -DPWM_FREQ_12KHZ
-#    -DFEATURE_BUTTON
-    -DPETERS_PLATINE
-#    -DHUART2
-    -DHUART3
-    -DFEATURE_SERIAL_CONTROL
-    -DFEATURE_SERIAL_FEEDBACK
-#    -DLOG_TO_SERIAL
-#    -DFEATURE_CAN
-#    -DCAN_LOG_UNKNOWN_ADDR
-#    -DIS_BACK
-)
-add_custom_command(OUTPUT greyhash.hex COMMAND arm-none-eabi-objcopy -O ihex greyhash.elf greyhash.hex DEPENDS greyhash.elf)
-add_custom_command(OUTPUT greyhash.bin COMMAND arm-none-eabi-objcopy -O binary -S greyhash.elf greyhash.bin DEPENDS greyhash.elf)
-add_custom_target(greyhash ALL SOURCES greyhash.hex greyhash.bin)
-add_custom_target(flash-greyhash COMMAND st-flash --reset write greyhash.bin 0x8000000 SOURCES greyhash.bin DEPENDS greyhash.bin)
-
-#
-# peters platine v2 front
-#
-add_executable(pcbv2_front.elf config.h defines.h main.cpp)
-target_link_libraries(pcbv2_front.elf stm32_hal emanuel_foc_model bobbycar-protocol)
-target_compile_options(pcbv2_front.elf PRIVATE
-        #    -DMOTOR_TEST
-        -DFEATURE_IGNORE_OTHER_MOTOR
-        #    -DHALL_BCA
-        #    -DPWM_FREQ_12KHZ
-        #    -DFEATURE_BUTTON
-        -DPETERS_PLATINE
-        #    -DHUART2
-        #    -DHUART3
-        #    -DFEATURE_SERIAL_CONTROL
-        #    -DFEATURE_SERIAL_FEEDBACK
-        #    -DLOG_TO_SERIAL
-        -DFEATURE_CAN
-        #    -DCAN_LOG_UNKNOWN_ADDR
-        #     -DIS_BACK
-        -DAMPERE2BIT_CONV=28
-)
-add_custom_command(OUTPUT pcbv2_front.hex COMMAND arm-none-eabi-objcopy -O ihex pcbv2_front.elf pcbv2_front.hex DEPENDS pcbv2_front.elf)
-add_custom_command(OUTPUT pcbv2_front.bin COMMAND arm-none-eabi-objcopy -O binary -S pcbv2_front.elf pcbv2_front.bin DEPENDS pcbv2_front.elf)
-add_custom_target(pcbv2_front ALL SOURCES pcbv2_front.hex pcbv2_front.bin)
-add_custom_target(flash-pcbv2_front COMMAND st-flash --reset write pcbv2_front.bin 0x8000000 SOURCES pcbv2_front.bin DEPENDS pcbv2_front.bin)
-
-#
-# peters platine v2 back
-#
-add_executable(pcbv2_back.elf config.h defines.h main.cpp)
-target_link_libraries(pcbv2_back.elf stm32_hal emanuel_foc_model bobbycar-protocol)
-target_compile_options(pcbv2_back.elf PRIVATE
-        #    -DMOTOR_TEST
-        -DFEATURE_IGNORE_OTHER_MOTOR
-        #    -DHALL_BCA
-        #    -DPWM_FREQ_12KHZ
-        #    -DFEATURE_BUTTON
-        -DPETERS_PLATINE
-        #    -DHUART2
-        #    -DHUART3
-        #    -DFEATURE_SERIAL_CONTROL
-        #    -DFEATURE_SERIAL_FEEDBACK
-        #    -DLOG_TO_SERIAL
-        -DFEATURE_CAN
-        #    -DCAN_LOG_UNKNOWN_ADDR
-        -DIS_BACK
-        -DAMPERE2BIT_CONV=28
-)
-add_custom_command(OUTPUT pcbv2_back.hex COMMAND arm-none-eabi-objcopy -O ihex pcbv2_back.elf pcbv2_back.hex DEPENDS pcbv2_back.elf)
-add_custom_command(OUTPUT pcbv2_back.bin COMMAND arm-none-eabi-objcopy -O binary -S pcbv2_back.elf pcbv2_back.bin DEPENDS pcbv2_back.elf)
-add_custom_target(pcbv2_back ALL SOURCES pcbv2_back.hex pcbv2_back.bin)
-add_custom_target(flash-pcbv2_back COMMAND st-flash --reset write pcbv2_back.bin 0x8000000 SOURCES pcbv2_back.bin DEPENDS pcbv2_back.bin)
-
-#
-# peters platine v2 motortest
-#
-add_executable(pcbv2_test.elf config.h defines.h main.cpp)
-target_link_libraries(pcbv2_test.elf stm32_hal emanuel_foc_model bobbycar-protocol)
-target_compile_options(pcbv2_test.elf PRIVATE
-        -DMOTOR_TEST
-        -DFEATURE_IGNORE_OTHER_MOTOR
-        #    -DHALL_BCA
-        #    -DPWM_FREQ_12KHZ
-        #    -DFEATURE_BUTTON
-        -DPETERS_PLATINE
-        #    -DHUART2
-        #    -DHUART3
-        #    -DFEATURE_SERIAL_CONTROL
-        #    -DFEATURE_SERIAL_FEEDBACK
-        #    -DLOG_TO_SERIAL
-        #    -DFEATURE_CAN
-        #    -DCAN_LOG_UNKNOWN_ADDR
-        #    -DIS_BACK
-        -DAMPERE2BIT_CONV=28
-        -DLEFT_HALL_ABC
-        #-DLEFT_HALL_ACB
-        #-DLEFT_HALL_BAC
-        #-DLEFT_HALL_BCA
-        #-DLEFT_HALL_CAB
-        #-DLEFT_HALL_CBA
-
-        -DRIGHT_HALL_ABC
-        #-DRIGHT_HALL_ACB
-        #-DRIGHT_HALL_BAC
-        #-DRIGHT_HALL_BCA
-        #-DRIGHT_HALL_CAB
-        #-DRIGHT_HALL_CBA
-
-        #-DFEATURE_BETTER_FOC_CONFIG
-        #-DLEFT_PHASE_MEAS_AB
-        #-DLEFT_PHASE_MEAS_AC
-        #-DLEFT_PHASE_MEAS_BC
-
-        #-DRIGHT_PHASE_MEAS_AB
-        #-DRIGHT_PHASE_MEAS_AC
-        #-DRIGHT_PHASE_MEAS_BC
-)
-add_custom_command(OUTPUT pcbv2_test.hex COMMAND arm-none-eabi-objcopy -O ihex pcbv2_test.elf pcbv2_test.hex DEPENDS pcbv2_test.elf)
-add_custom_command(OUTPUT pcbv2_test.bin COMMAND arm-none-eabi-objcopy -O binary -S pcbv2_test.elf pcbv2_test.bin DEPENDS pcbv2_test.elf)
-add_custom_target(pcbv2_test ALL SOURCES pcbv2_test.hex pcbv2_test.bin)
-add_custom_target(flash-pcbv2_test COMMAND st-flash --reset write pcbv2_test.bin 0x8000000 SOURCES pcbv2_test.bin DEPENDS pcbv2_test.bin)
-
-
-#
-# commander v2 front
-#
-add_executable(commander_v2_front.elf config.h defines.h main.cpp)
-target_link_libraries(commander_v2_front.elf stm32_hal emanuel_foc_model bobbycar-protocol)
-target_compile_options(commander_v2_front.elf PRIVATE
-        #-DMOTOR_TEST
-        -DFEATURE_IGNORE_OTHER_MOTOR
-        #    -DHALL_BCA
-        #    -DPWM_FREQ_12KHZ
-        #    -DFEATURE_BUTTON
-        -DPETERS_PLATINE
-        #    -DHUART2
-        #    -DHUART3
-        #    -DFEATURE_SERIAL_CONTROL
-        #    -DFEATURE_SERIAL_FEEDBACK
-        #    -DLOG_TO_SERIAL
-        -DFEATURE_CAN
-        #    -DCAN_LOG_UNKNOWN_ADDR
-        #    -DIS_BACK
-        #-DAMPERE2BIT_CONV=28
-        -DLEFT_HALL_ABC
-        #-DLEFT_HALL_ACB
-        #-DLEFT_HALL_BAC
-        #-DLEFT_HALL_BCA
-        #-DLEFT_HALL_CAB
-        #-DLEFT_HALL_CBA
-
-        -DRIGHT_HALL_ABC
-        #-DRIGHT_HALL_ACB
-        #-DRIGHT_HALL_BAC
-        #-DRIGHT_HALL_BCA
-        #-DRIGHT_HALL_CAB
-        #-DRIGHT_HALL_CBA
-
-        #-DFEATURE_BETTER_FOC_CONFIG
-        #-DLEFT_PHASE_MEAS_AB
-        #-DLEFT_PHASE_MEAS_AC
-        #-DLEFT_PHASE_MEAS_BC
-
-        #-DRIGHT_PHASE_MEAS_AB
-        #-DRIGHT_PHASE_MEAS_AC
-        #-DRIGHT_PHASE_MEAS_BC
-)
-add_custom_command(OUTPUT commander_v2_front.hex COMMAND arm-none-eabi-objcopy -O ihex commander_v2_front.elf commander_v2_front.hex DEPENDS commander_v2_front.elf)
-add_custom_command(OUTPUT commander_v2_front.bin COMMAND arm-none-eabi-objcopy -O binary -S commander_v2_front.elf commander_v2_front.bin DEPENDS commander_v2_front.elf)
-add_custom_target(commander_v2_front ALL SOURCES commander_v2_front.hex commander_v2_front.bin)
-add_custom_target(flash-commander_v2_front COMMAND st-flash --reset write commander_v2_front.bin 0x8000000 SOURCES commander_v2_front.bin DEPENDS commander_v2_front.bin)
-
-
-#
-# commander v2 back
-#
-add_executable(commander_v2_back.elf config.h defines.h main.cpp)
-target_link_libraries(commander_v2_back.elf stm32_hal emanuel_foc_model bobbycar-protocol)
-target_compile_options(commander_v2_back.elf PRIVATE
-        #-DMOTOR_TEST
-        -DFEATURE_IGNORE_OTHER_MOTOR
-        #    -DHALL_BCA
-        #    -DPWM_FREQ_12KHZ
-        #    -DFEATURE_BUTTON
-        -DPETERS_PLATINE
-        #    -DHUART2
-        #    -DHUART3
-        #    -DFEATURE_SERIAL_CONTROL
-        #    -DFEATURE_SERIAL_FEEDBACK
-        #    -DLOG_TO_SERIAL
-        -DFEATURE_CAN
-        #    -DCAN_LOG_UNKNOWN_ADDR
-        -DIS_BACK
-        #-DAMPERE2BIT_CONV=28
-        -DLEFT_HALL_ABC
-        #-DLEFT_HALL_ACB
-        #-DLEFT_HALL_BAC
-        #-DLEFT_HALL_BCA
-        #-DLEFT_HALL_CAB
-        #-DLEFT_HALL_CBA
-
-        -DRIGHT_HALL_ABC
-        #-DRIGHT_HALL_ACB
-        #-DRIGHT_HALL_BAC
-        #-DRIGHT_HALL_BCA
-        #-DRIGHT_HALL_CAB
-        #-DRIGHT_HALL_CBA
-
-        #-DFEATURE_BETTER_FOC_CONFIG
-        #-DLEFT_PHASE_MEAS_AB
-        #-DLEFT_PHASE_MEAS_AC
-        #-DLEFT_PHASE_MEAS_BC
-
-        #-DRIGHT_PHASE_MEAS_AB
-        #-DRIGHT_PHASE_MEAS_AC
-        #-DRIGHT_PHASE_MEAS_BC
-)
-add_custom_command(OUTPUT commander_v2_back.hex COMMAND arm-none-eabi-objcopy -O ihex commander_v2_back.elf commander_v2_back.hex DEPENDS commander_v2_back.elf)
-add_custom_command(OUTPUT commander_v2_back.bin COMMAND arm-none-eabi-objcopy -O binary -S commander_v2_back.elf commander_v2_back.bin DEPENDS commander_v2_back.elf)
-add_custom_target(commander_v2_back ALL SOURCES commander_v2_back.hex commander_v2_back.bin)
-add_custom_target(flash-commander_v2_back COMMAND st-flash --reset write commander_v2_back.bin 0x8000000 SOURCES commander_v2_back.bin DEPENDS commander_v2_back.bin)
-
-
-# util targets
 add_custom_target(debug
                  COMMAND openocd -f interface/stlink-v2.cfg -f target/stm32f1x.cfg)
+
 add_custom_target(unlock0
                  COMMAND openocd -f interface/stlink-v2.cfg -f target/stm32f1x.cfg -c init -c "reset halt" -c "stm32f1x unlock 0")
 add_custom_target(unlock1
--- a/README.md
+++ b/README.md
@ -8,7 +8,6 @@ sudo pacman -Sy --noconfirm \
    arm-none-eabi-gdb \
    arm-none-eabi-newlib \
    cmake \
-    make \
    openocd \
    stlink

@ -16,10 +15,7 @@ git clone --recursive git@github.com:bobbycar-graz/bobbycar-controller-firmware.
 cd bobbycar-controller-firmware/
 cmake -DCMAKE_BUILD_TYPE=Release .
 make unlock0 # needed only once per board
-make flash-motortest
-make flash-feedc0de-front
-make flash-feedc0de-back
-make flash-greyhash
+make flash
 ```

 ## Hardware
--- a/2
+++ b/2
--- a/2
+++ b/2
--- a/can.c
+++ b/can.c
@ -0,0 +1,347 @@
+#include "stm32f1xx_hal.h"
+
+#include "can_feedc0de.h"
+#include "can.h"
+
+/* 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
+
+
+/**
+  ******************************************************************************
+  * @file    CAN/CAN_Networking/Src/main.c
+  * @author  MCD Application Team
+  * @brief   This example shows how to configure the CAN peripheral
+  *          to send and receive CAN frames in normal mode. The sent frames
+  *          are used to control Leds by pressing KEY Push Button.
+  ******************************************************************************
+  * @attention
+  *
+  * <h2><center>&copy; Copyright (c) 2016 STMicroelectronics.
+  * All rights reserved.</center></h2>
+  *
+  * This software component is licensed by ST under BSD 3-Clause license,
+  * the "License"; You may not use this file except in compliance with the
+  * License. You may obtain a copy of the License at:
+  *                        opensource.org/licenses/BSD-3-Clause
+  *
+  ******************************************************************************
+  */
+
+/* Private variables ---------------------------------------------------------*/
+uint8_t ubKeyNumber = 0x0;
+CAN_HandleTypeDef     CanHandle;
+CAN_TxHeaderTypeDef   TxHeader;
+CAN_RxHeaderTypeDef   RxHeader;
+uint8_t               TxData[8];
+uint8_t               RxData[8];
+uint32_t              TxMailbox;
+
+/* Private function prototypes -----------------------------------------------*/
+static void __NO_RETURN Error_Handler(void);
+static void CAN_MspInit(CAN_HandleTypeDef *hcan);
+static void CAN_MspDeInit(CAN_HandleTypeDef *hcan);
+static void CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan);
+static void CAN_TxMailboxCompleteCallback(CAN_HandleTypeDef *hcan);
+
+/* Private functions ---------------------------------------------------------*/
+
+static uint32_t len_to_dlc(uint8_t len)
+{
+  uint32_t len_u32 = len;
+
+  if (len_u32 <= 8)
+    return len_u32;
+
+  // CAN-FD-only lengths currently not supported
+  Error_Handler();
+}
+
+static uint8_t dlc_to_len(uint32_t dlc)
+{
+  // Check if DLC valid
+  if (dlc & ~0xFu)
+    Error_Handler();
+
+  // CAN-FD-only lengths currently not supported
+  if (dlc > 8)
+    Error_Handler();
+
+  return dlc;
+}
+
+void can_tx(uint16_t id, const uint8_t* data, uint8_t len)
+{
+  TxHeader.StdId = id;
+  TxHeader.DLC = len_to_dlc(len);
+
+  while (HAL_CAN_GetTxMailboxesFreeLevel(&CanHandle) < 1)
+  {
+  }
+
+  /* Start the Transmission process */
+  if (HAL_CAN_AddTxMessage(&CanHandle, &TxHeader, (uint8_t *)data, &TxMailbox) != HAL_OK)
+  {
+    /* Transmission request Error */
+    Error_Handler();
+  }
+}
+
+/**
+  * @brief  This function is executed in case of error occurrence.
+  * @param  None
+  * @retval None
+  */
+static void __NO_RETURN Error_Handler(void)
+{
+  while (1)
+  {
+  }
+}
+
+/**
+  * @brief  Configures the CAN.
+  * @param  None
+  * @retval None
+  */
+void can_init(void)
+{
+  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 (HAL_CAN_Init(&CanHandle) != HAL_OK)
+  {
+    /* Initialization Error */
+    Error_Handler();
+  }
+
+  /* Configure the CAN Filter */
+  sFilterConfig.FilterBank = 0;
+  sFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK;
+  sFilterConfig.FilterScale = CAN_FILTERSCALE_32BIT;
+  sFilterConfig.FilterIdHigh = 0x0000;
+  sFilterConfig.FilterIdLow = CAN_ID_BOARD | (BOARD_INDEX << 4) | CAN_DIRECTION_STW_TO_BOARD;
+  sFilterConfig.FilterMaskIdHigh = 0x0000;
+  sFilterConfig.FilterMaskIdLow = 0x07F1;
+  sFilterConfig.FilterFIFOAssignment = CAN_RX_FIFO0;
+  sFilterConfig.FilterActivation = ENABLE;
+  sFilterConfig.SlaveStartFilterBank = 14;
+
+  if (HAL_CAN_ConfigFilter(&CanHandle, &sFilterConfig) != HAL_OK)
+  {
+    /* Filter configuration Error */
+    Error_Handler();
+  }
+
+  if (HAL_CAN_RegisterCallback(&CanHandle, HAL_CAN_RX_FIFO0_MSG_PENDING_CB_ID, CAN_RxFifo0MsgPendingCallback) != HAL_OK)
+  {
+    Error_Handler();
+  }
+
+  if (HAL_CAN_RegisterCallback(&CanHandle, HAL_CAN_TX_MAILBOX0_COMPLETE_CB_ID, CAN_TxMailboxCompleteCallback) != HAL_OK)
+  {
+    Error_Handler();
+  }
+
+  if (HAL_CAN_RegisterCallback(&CanHandle, HAL_CAN_TX_MAILBOX1_COMPLETE_CB_ID, CAN_TxMailboxCompleteCallback) != HAL_OK)
+  {
+    Error_Handler();
+  }
+
+  if (HAL_CAN_RegisterCallback(&CanHandle, HAL_CAN_TX_MAILBOX2_COMPLETE_CB_ID, CAN_TxMailboxCompleteCallback) != HAL_OK)
+  {
+    Error_Handler();
+  }
+
+  /* Start the CAN peripheral */
+  if (HAL_CAN_Start(&CanHandle) != HAL_OK)
+  {
+    /* Start Error */
+    Error_Handler();
+  }
+
+  /* Activate CAN RX notification */
+  if (HAL_CAN_ActivateNotification(&CanHandle, CAN_IT_RX_FIFO0_MSG_PENDING) != HAL_OK)
+  {
+    /* Notification Error */
+    Error_Handler();
+  }
+
+  /* Activate CAN TX notification */
+  if (HAL_CAN_ActivateNotification(&CanHandle, CAN_IT_TX_MAILBOX_EMPTY) != HAL_OK)
+  {
+    /* Notification Error */
+    Error_Handler();
+  }
+
+  /* Configure Transmission process */
+  TxHeader.StdId = 0x321;
+  TxHeader.ExtId = 0x01;
+  TxHeader.RTR = CAN_RTR_DATA;
+  TxHeader.IDE = CAN_ID_STD;
+  TxHeader.DLC = 2;
+  TxHeader.TransmitGlobalTime = DISABLE;
+}
+
+/**
+  * @brief  Rx Fifo 0 message pending callback in non blocking mode
+  * @param  CanHandle: pointer to a CAN_HandleTypeDef structure that contains
+  *         the configuration information for the specified CAN.
+  * @retval None
+  */
+static void CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *CanHandle)
+{
+  /* Get RX message */
+  if (HAL_CAN_GetRxMessage(CanHandle, CAN_RX_FIFO0, &RxHeader, RxData) != HAL_OK)
+  {
+    /* Reception Error */
+    Error_Handler();
+  }
+
+  if (RxHeader.IDE == CAN_ID_STD &&
+      (RxHeader.StdId == CAN_ID_COMMAND_STW_TO_BOARD(BOARD_INDEX) ||
+       RxHeader.StdId == CAN_ID_FEEDBACK_STW_TO_BOARD(BOARD_INDEX)))
+  {
+    can_feedc0de_handle_frame(RxHeader.StdId, RxData, dlc_to_len(RxHeader.DLC));
+  }
+
+  // slightly yucky, but we don't want to block inside the IRQ handler
+  if (HAL_CAN_GetTxMailboxesFreeLevel(CanHandle) >= 2)
+  {
+    can_feedc0de_poll();
+  }
+}
+
+static void CAN_TxMailboxCompleteCallback(CAN_HandleTypeDef *hcan)
+{
+  // slightly yucky, but we don't want to block inside the IRQ handler
+  if (HAL_CAN_GetTxMailboxesFreeLevel(hcan) >= 2)
+  {
+    can_feedc0de_poll();
+  }
+}
+
+/**
+  * @brief CAN MSP Initialization
+  *        This function configures the hardware resources used in this example:
+  *           - Peripheral's clock enable
+  *           - Peripheral's GPIO Configuration
+  *           - NVIC configuration for DMA interrupt request enable
+  * @param hcan: CAN handle pointer
+  * @retval None
+  */
+static void CAN_MspInit(CAN_HandleTypeDef *hcan)
+{
+  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);
+}
+
+/**
+  * @brief CAN MSP De-Initialization
+  *        This function frees the hardware resources used in this example:
+  *          - Disable the Peripheral's clock
+  *          - Revert GPIO to their default state
+  * @param hcan: CAN handle pointer
+  * @retval None
+  */
+static void CAN_MspDeInit(CAN_HandleTypeDef *hcan)
+{
+  /*##-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);
+}
+
+/**
+* @brief  This function handles CAN1 RX0 interrupt request.
+* @param  None
+* @retval None
+*/
+void CANx_RX_IRQHandler(void)
+{
+  HAL_CAN_IRQHandler(&CanHandle);
+}
+
+void CANx_TX_IRQHandler(void)
+{
+  HAL_CAN_IRQHandler(&CanHandle);
+}
--- a/can.h
+++ b/can.h
@ -0,0 +1,38 @@
+#pragma once
+
+#define BOARD_INDEX 0
+
+#define CAN_ID_BOARD                    0x300
+
+#define CAN_SUBID_COMMAND               0x000
+#define CAN_SUBID_FEEDBACK              0x002
+#define CAN_SUBID_RESERVED0             0x004
+#define CAN_SUBID_RESERVED1             0x006
+#define CAN_SUBID_RESERVED2             0x008
+#define CAN_SUBID_RESERVED3             0x00a
+#define CAN_SUBID_RESERVED4             0x00c
+#define CAN_SUBID_RESERVED5             0x00e
+
+#define CAN_DIRECTION_STW_TO_BOARD      0x000
+#define CAN_DIRECTION_BOARD_TO_STW      0x001
+
+#define CAN_ID_COMMAND_STW_TO_BOARD(board_index) \
+    (CAN_ID_BOARD | ((board_index) << 4) | CAN_SUBID_COMMAND | CAN_DIRECTION_STW_TO_BOARD)
+#define CAN_ID_COMMAND_BOARD_TO_STW(board_index) \
+    (CAN_ID_BOARD | ((board_index) << 4) | CAN_SUBID_COMMAND | CAN_DIRECTION_BOARD_TO_STW)
+#define CAN_ID_FEEDBACK_STW_TO_BOARD(board_index) \
+    (CAN_ID_BOARD | ((board_index) << 4) | CAN_SUBID_FEEDBACK | CAN_DIRECTION_STW_TO_BOARD)
+#define CAN_ID_FEEDBACK_BOARD_TO_STW(board_index) \
+    (CAN_ID_BOARD | ((board_index) << 4) | CAN_SUBID_FEEDBACK | CAN_DIRECTION_BOARD_TO_STW)
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+void can_init(void);
+void can_tx(uint16_t address, const uint8_t* data, uint8_t len);
+
+#ifdef __cplusplus
+}
+#endif
--- a/can_fc.h
+++ b/can_fc.h
@ -0,0 +1,216 @@
+#pragma once
+
+#ifdef __cplusplus
+#include <cstdint>
+#include <cstddef>
+#include <cstring>
+#include <algorithm>
+
+#include "can.h"
+
+//#define FC_STRICT
+
+#define FC_PROTOCOL_ERROR()
+#define Error_Handler() while(1)
+
+constexpr const uint8_t FC_CHUNK_SIZE = 7;
+constexpr const uint8_t FC_TAG_INIT = 0x45;
+constexpr const uint8_t FC_TAG_END = 0x7d;
+
+static uint8_t next_tag(uint8_t tag)
+{
+  if (tag == 0)
+  {
+    return FC_TAG_INIT;
+  }
+  else
+  {
+    return tag + 0x04;
+  }
+}
+
+class FCSender
+{
+public:
+  FCSender(uint16_t id) : id(id)
+  {
+  }
+
+  bool tx_pending()
+  {
+    return pos_sent != len && pos_sent == pos_acked;
+  }
+
+  bool transfer_in_progress()
+  {
+    return data != nullptr && pos_acked != len;
+  }
+
+  bool transfer_finished()
+  {
+    return data != nullptr && pos_acked == len;
+  }
+
+  void reset(const uint8_t* data, size_t len)
+  {
+    pos_sent = 0;
+    pos_acked = 0;
+    tag_sent = 0;
+
+    this->data = data;
+    this->len = len;
+  }
+
+  void handle_frame(const uint8_t* payload, uint8_t payload_len)
+  {
+    if (pos_sent == 0)
+      return;
+
+    if (payload_len != 1)
+      return;
+
+    if (payload[0] != tag_sent)
+      return;
+
+    pos_acked = pos_sent;
+  }
+
+  void tx()
+  {
+    uint8_t payload[1 + FC_CHUNK_SIZE];
+
+    // Still waiting for ack, or done transmitting
+    if (!tx_pending())
+      return;
+
+    size_t new_pos_sent = std::min(pos_sent + FC_CHUNK_SIZE, len);
+    uint8_t sent_size = new_pos_sent - pos_sent;
+    uint8_t new_tag_sent = next_tag(tag_sent);
+    if (new_tag_sent == FC_TAG_END)
+      Error_Handler();
+
+    payload[0] = new_tag_sent;
+    memcpy(&payload[1], data + pos_sent, sent_size);
+    can_tx(id, payload, 1 + sent_size);
+
+    pos_sent = new_pos_sent;
+    tag_sent = new_tag_sent;
+  }
+
+private:
+  uint16_t id;
+  const uint8_t* data;
+  size_t len;
+  size_t pos_sent;
+  size_t pos_acked;
+  uint8_t tag_sent;
+};
+
+class FCReceiver
+{
+public:
+  FCReceiver(uint16_t id, uint8_t* data, size_t len) : id(id)
+  {
+    reset(data, len);
+  }
+
+  bool ack_pending()
+  {
+    return pos_received != pos_acked;
+  }
+
+  bool transfer_in_progress()
+  {
+    return ready && data != nullptr && pos_acked != len;
+  }
+
+  bool transfer_finished()
+  {
+    return ready && data != nullptr && pos_acked == len;
+  }
+
+  void reset(uint8_t* data, size_t len)
+  {
+    // Poor man's mutex
+    ready = false;
+
+    pos_received = 0;
+    pos_acked = 0;
+    tag_expected = next_tag(0);
+
+    this->data = data;
+    this->len = len;
+
+    ready = true;
+  }
+
+  void handle_frame(const uint8_t* payload, uint8_t payload_len)
+  {
+    if (!transfer_in_progress())
+      return;
+
+    if (tag_expected == FC_TAG_END)
+      return;
+
+    if (payload_len < 1)
+      return;
+
+    // Reset receiver if frame with FC_TAG_INIT received when expecting different one
+    if (payload[0] == FC_TAG_INIT && tag_expected != FC_TAG_INIT)
+      reset(data, len);
+
+    // Don't accept new data if we haven't acked the previous data yet
+    if (ack_pending())
+      return;
+
+    uint8_t data_len = payload_len - 1;
+    if (data_len > len - pos_received)
+      return;
+
+    // Ignore all other tags
+    if (payload[0] != tag_expected)
+      return;
+
+    memcpy(&data[pos_received], &payload[1], data_len);
+
+    pos_received += data_len;
+  }
+
+  void ack()
+  {
+    uint8_t payload[1];
+
+    if (!ack_pending())
+      return;
+
+    // Poor man's mutex
+    ready = false;
+
+    // ISR may have called reset() in the mean time
+    if (!ack_pending())
+    {
+      ready = true;
+      return;
+    }
+
+    payload[0] = tag_expected;
+    can_tx(id, payload, sizeof(payload));
+
+    pos_acked = pos_received;
+    tag_expected = next_tag(tag_expected);
+
+    ready = true;
+  }
+
+private:
+  bool ready;
+
+  uint16_t id;
+  uint8_t* data;
+  size_t len;
+  size_t pos_received;
+  size_t pos_acked;
+  uint8_t tag_expected;
+};
+
+#endif // __cplusplus
--- a/can_feedc0de.cpp
+++ b/can_feedc0de.cpp
@ -0,0 +1,100 @@
+#include <cstdint>
+#include <cstddef>
+#include <cstring>
+
+#include "config.h"
+#include "protocol.h"
+#include "can_fc.h"
+
+#include "can_feedc0de.h"
+
+
+static_assert((sizeof(Command) + FC_CHUNK_SIZE - 1) / FC_CHUNK_SIZE < 15);
+
+template <class Sent, class Received>
+void CANFeedc0de<Sent, Received>::poll()
+{
+  feedc0de_fcs.tx();
+  feedc0de_fcr.ack();
+}
+
+template <class Sent, class Received>
+void CANFeedc0de<Sent, Received>::send(const Sent& in)
+{
+  sent = in;
+  feedc0de_fcs.reset(((uint8_t*)&sent) + 2, sizeof(sent) - 4);
+}
+
+template <class Sent, class Received>
+bool CANFeedc0de<Sent, Received>::get(Received& out)
+{
+  if (!feedc0de_fcr.transfer_finished())
+    return false;
+
+  out = received;
+  feedc0de_fcr.reset(((uint8_t*)&received) + 2, sizeof(received) - 4);
+
+  return true;
+}
+
+template <class Sent, class Received>
+bool CANFeedc0de<Sent, Received>::handle_frame(uint16_t id, uint8_t* frame, uint8_t len)
+{
+  if (id == fcs_rx_can_id)
+  {
+    feedc0de_fcs.handle_frame(frame, len);
+    return true;
+  }
+  else if (id == fcr_rx_can_id)
+  {
+    feedc0de_fcr.handle_frame(frame, len);
+    return true;
+  }
+
+  return false;
+}
+
+#ifdef CAN_FEEDCODE_STW
+template class CANFeedc0de<Command, Feedback>;
+
+extern "C"
+{
+
+void can_feedc0de_handle_frame(uint16_t id, uint8_t* frame, uint8_t len)
+{
+  extern CANFeedc0de<Command, Feedback> can_instances[NUM_BOARDS_MAX];
+
+  bool handled = false;
+  for (size_t i = 0; i < NUM_BOARDS_MAX; i++)
+  {
+    if (can_instances[i].handle_frame(id, frame, len))
+      handled = true;
+  }
+
+  if (!handled)
+    Error_Handler();
+}
+
+}
+
+#else
+template class CANFeedc0de<Feedback, Command>;
+
+extern "C"
+{
+
+void can_feedc0de_handle_frame(uint16_t id, uint8_t* frame, uint8_t len)
+{
+  extern CANFeedc0de<Feedback, Command> can_feedc0de;
+  if (!can_feedc0de.handle_frame(id, frame, len))
+    Error_Handler();
+}
+
+void can_feedc0de_poll()
+{
+  extern CANFeedc0de<Feedback, Command> can_feedc0de;
+  can_feedc0de.poll();
+}
+
+}
+#endif
--- a/can_feedc0de.h
+++ b/can_feedc0de.h
@ -0,0 +1,46 @@
+#pragma once
+
+#ifdef __cplusplus
+#include <cstdint>
+#include "protocol.h"
+#include "can_fc.h"
+
+template <class Sent, class Received>
+class CANFeedc0de
+{
+public:
+  CANFeedc0de(uint16_t fcs_tx_can_id, uint16_t fcs_rx_can_id,
+              uint16_t fcr_tx_can_id, uint16_t fcr_rx_can_id)
+    : fcs_rx_can_id(fcs_rx_can_id),
+      fcr_rx_can_id(fcr_rx_can_id),
+      feedc0de_fcs(fcs_tx_can_id),
+      feedc0de_fcr(fcr_tx_can_id, (uint8_t *)&received + 2, sizeof(received) - 4)
+  {
+  };
+
+  void poll();
+  bool handle_frame(uint16_t id, uint8_t* frame, uint8_t len);
+  void send(const Sent& in);
+  bool get(Received& out);
+
+private:
+  Sent sent;
+  Received received;
+
+  uint16_t fcs_rx_can_id;
+  uint16_t fcr_rx_can_id;
+
+  FCSender feedc0de_fcs;
+  FCReceiver feedc0de_fcr;
+};
+
+extern "C"
+{
+#endif
+
+void can_feedc0de_handle_frame(uint16_t id, uint8_t* frame, uint8_t len);
+void can_feedc0de_poll();
+
+#ifdef __cplusplus
+}
+#endif
--- a/config.h
+++ b/config.h
@ -1,15 +1,18 @@
 #pragma once

-#ifdef PWM_FREQ_12KHZ
+#ifdef PETERS_PLATINE
 #define PWM_FREQ            12000     // PWM frequency in Hz
 #else
 #define PWM_FREQ            16000     // PWM frequency in Hz
 #endif
 #define DEAD_TIME              48     // PWM deadtime
-
-#ifndef AMPERE2BIT_CONV
-#define AMPERE2BIT_CONV        50     // Ampere to bit for current conversion on ADC. Example: 1 A = 50, 2 A = 100, etc
-#endif
+//#ifdef MOTOR_TEST
+//  #define DELAY_IN_MAIN_LOOP    10
+//#else
+  #define DELAY_IN_MAIN_LOOP    5
+//#endif
+#define TIMEOUT                 5     // number of wrong / missing input commands before emergency off
+#define A2BIT_CONV             50     // A to bit for current conversion on ADC. Example: 1 A = 50, 2 A = 100, etc

 // ADC conversion time definitions
 #define ADC_CONV_TIME_1C5       (14)  //Total ADC clock cycles / conversion = (  1.5+12.5)
@ -47,7 +50,13 @@
 #define BAT_CALIB_REAL_VOLTAGE  3970      // input voltage measured by multimeter (multiplied by 100). For example 43.00 V * 100 = 4300
 #define BAT_CALIB_ADC           1492      // adc-value measured by mainboard (value nr 5 on UART debug output)

-#define BAT_CELLS               12        // battery number of cells. Normal Hoverboard battery: 10s
+#define BAT_CELLS               10        // battery number of cells. Normal Hoverboard battery: 10s
+#define BAT_LOW_LVL1_ENABLE     0         // to beep or not to beep, 1 or 0
+#define BAT_LOW_LVL2_ENABLE     1         // to beep or not to beep, 1 or 0
+#define BAT_LOW_LVL1            (360 * BAT_CELLS * BAT_CALIB_ADC) / BAT_CALIB_REAL_VOLTAGE    // gently beeps at this voltage level. [V*100/cell]. In this case 3.60 V/cell
+#define BAT_LOW_LVL2            (350 * BAT_CELLS * BAT_CALIB_ADC) / BAT_CALIB_REAL_VOLTAGE    // your battery is almost empty. Charge now! [V*100/cell]. In this case 3.50 V/cell
+#define BAT_LOW_DEAD            (337 * BAT_CELLS * BAT_CALIB_ADC) / BAT_CALIB_REAL_VOLTAGE    // undervoltage poweroff. (while not driving) [V*100/cell]. In this case 3.37 V/cell
+

 /* Board overheat detection: the sensor is inside the STM/GD chip.
 * It is very inaccurate without calibration (up to 45°C). So only enable this funcion after calibration!
@ -61,6 +70,13 @@
 #define TEMP_CAL_LOW_DEG_C      358       // temperature 1: measured temperature [°C * 10]. Here 35.8 °C
 #define TEMP_CAL_HIGH_ADC       1588      // temperature 2: ADC value
 #define TEMP_CAL_HIGH_DEG_C     489       // temperature 2: measured temperature [°C * 10]. Here 48.9 °C
+#define TEMP_WARNING_ENABLE     0         // to beep or not to beep, 1 or 0, DO NOT ACTIVITE WITHOUT CALIBRATION!
+#define TEMP_WARNING            600       // annoying fast beeps [°C * 10].  Here 60.0 °C
+#define TEMP_POWEROFF_ENABLE    0         // to poweroff or not to poweroff, 1 or 0, DO NOT ACTIVITE WITHOUT CALIBRATION!
+#define TEMP_POWEROFF           650       // overheat poweroff. (while not driving) [°C * 10]. Here 65.0 °C
+
+#define INACTIVITY_TIMEOUT      8         // minutes of not driving until poweroff. it is not very precise.
+


 // ############################### INPUT ###############################
--- a/defines.h
+++ b/defines.h
@ -23,96 +23,33 @@
 #include "stm32f1xx_hal.h"

 #ifdef PETERS_PLATINE
-
-#ifdef LEFT_HALL_CAB
-    #define LEFT_HALL_U_PIN GPIO_PIN_11
-    #define LEFT_HALL_V_PIN GPIO_PIN_12
-    #define LEFT_HALL_W_PIN GPIO_PIN_10
-#elif LEFT_HALL_CBA
-    #define LEFT_HALL_U_PIN GPIO_PIN_11
-    #define LEFT_HALL_V_PIN GPIO_PIN_10
-    #define LEFT_HALL_W_PIN GPIO_PIN_12
-#elif LEFT_HALL_BAC
-    #define LEFT_HALL_U_PIN GPIO_PIN_10
-    #define LEFT_HALL_V_PIN GPIO_PIN_12
-    #define LEFT_HALL_W_PIN GPIO_PIN_11
-#elif LEFT_HALL_BCA
-    #define LEFT_HALL_U_PIN GPIO_PIN_10
-    #define LEFT_HALL_V_PIN GPIO_PIN_11
-    #define LEFT_HALL_W_PIN GPIO_PIN_12
-#elif LEFT_HALL_ABC
-    #define LEFT_HALL_U_PIN GPIO_PIN_12
-    #define LEFT_HALL_V_PIN GPIO_PIN_10
-    #define LEFT_HALL_W_PIN GPIO_PIN_11
-#else //LEFT_HALL_ACB
-#ifndef LEFT_HALL_ACB
-    #warning "No left Hall configuration defined, using default ACB"
-#endif
    #define LEFT_HALL_U_PIN GPIO_PIN_12
    #define LEFT_HALL_V_PIN GPIO_PIN_11
    #define LEFT_HALL_W_PIN GPIO_PIN_10
-#endif

-#define LEFT_HALL_U_PORT GPIOC
-#define LEFT_HALL_V_PORT GPIOC
-#define LEFT_HALL_W_PORT GPIOC
+    #define LEFT_HALL_U_PORT GPIOC
+    #define LEFT_HALL_V_PORT GPIOC
+    #define LEFT_HALL_W_PORT GPIOC

-#ifdef RIGHT_HALL_CAB
-    #define RIGHT_HALL_U_PIN GPIO_PIN_6
-    #define RIGHT_HALL_V_PIN GPIO_PIN_5
-    #define RIGHT_HALL_W_PIN GPIO_PIN_7
-#elif RIGHT_HALL_CBA
-    #define RIGHT_HALL_U_PIN GPIO_PIN_6
-    #define RIGHT_HALL_V_PIN GPIO_PIN_7
-    #define RIGHT_HALL_W_PIN GPIO_PIN_5
-#elif RIGHT_HALL_BAC
-    #define RIGHT_HALL_U_PIN GPIO_PIN_7
-    #define RIGHT_HALL_V_PIN GPIO_PIN_5
-    #define RIGHT_HALL_W_PIN GPIO_PIN_6
-#elif RIGHT_HALL_BCA
-    #define RIGHT_HALL_U_PIN GPIO_PIN_7
-    #define RIGHT_HALL_V_PIN GPIO_PIN_6
-    #define RIGHT_HALL_W_PIN GPIO_PIN_5
-#elif RIGHT_HALL_ABC
-    #define RIGHT_HALL_U_PIN GPIO_PIN_5
-    #define RIGHT_HALL_V_PIN GPIO_PIN_7
-    #define RIGHT_HALL_W_PIN GPIO_PIN_6
-#else //RIGHT_HALL_ACB
-#ifndef RIGHT_HALL_ACB
-    #warning "No right Hall configuration defined, using default ACB"
-#endif
    #define RIGHT_HALL_U_PIN GPIO_PIN_5
    #define RIGHT_HALL_V_PIN GPIO_PIN_6
    #define RIGHT_HALL_W_PIN GPIO_PIN_7
-#endif

    #define RIGHT_HALL_U_PORT GPIOB
    #define RIGHT_HALL_V_PORT GPIOB
    #define RIGHT_HALL_W_PORT GPIOB
-#else // defined(PETERS_PLATINE)
-#ifdef HALL_BCA
-    #define LEFT_HALL_U_PIN GPIO_PIN_7
-    #define LEFT_HALL_V_PIN GPIO_PIN_6
-    #define LEFT_HALL_W_PIN GPIO_PIN_5
 #else
    #define LEFT_HALL_U_PIN GPIO_PIN_5
    #define LEFT_HALL_V_PIN GPIO_PIN_6
    #define LEFT_HALL_W_PIN GPIO_PIN_7
-#endif

    #define LEFT_HALL_U_PORT GPIOB
    #define LEFT_HALL_V_PORT GPIOB
    #define LEFT_HALL_W_PORT GPIOB

-#ifdef HALL_BCA
-    #define RIGHT_HALL_U_PIN GPIO_PIN_12
-    #define RIGHT_HALL_V_PIN GPIO_PIN_11
-    #define RIGHT_HALL_W_PIN GPIO_PIN_10
-#else
    #define RIGHT_HALL_U_PIN GPIO_PIN_10
    #define RIGHT_HALL_V_PIN GPIO_PIN_11
    #define RIGHT_HALL_W_PIN GPIO_PIN_12
-#endif

    #define RIGHT_HALL_U_PORT GPIOC
    #define RIGHT_HALL_V_PORT GPIOC
--- a/main.cpp
+++ b/main.cpp
--- a/stm32f1xx_hal_conf.h
+++ b/stm32f1xx_hal_conf.h
@ -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         1  /* CAN register callback disabled       */
+#define  USE_HAL_CAN_REGISTER_CALLBACKS         1U /* 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       */
Author	SHA1	Message	Date
Michael Ehrenreich	4452a54226	Change CAN to 1 Mbaud instead of 666.667 Kbaud; put can_init in ifdef	2021-04-11 21:46:58 +02:00
Michael Ehrenreich	b167180b91	Update CAN for multi-board support	2021-03-28 01:37:14 +01:00
Michael Ehrenreich	67defc0450	Add CAN	2020-10-25 02:30:34 +02:00