Main Module 2025

CMakeLists.txt

@@ -60,7 +60,7 @@ add_subdirectory(common/common_defs)
 add_subdirectory(common/log)
 add_subdirectory(common/faults)
 add_subdirectory(common/daq)
-add_subdirectory(common/plettenberg)
+add_subdirectory(common/amk)
 add_subdirectory(common/modules/wheel_speeds)
 
 # Properties that are set for each firmware component

common/daq/can_parse_base.c

@@ -146,4 +146,4 @@ void canParseIRQHandler(CAN_TypeDef *can_h)
             can_stats.rx_of++;
         }
     }
-}
+}

common/daq/can_parse_base.h

@@ -55,4 +55,4 @@ void canTxUpdate(void);
 void canParseIRQHandler(CAN_TypeDef *can_h);
 void canTxSendToBack(CanMsgTypeDef_t *msg);
 
-#endif
+#endif

common/freertos/freertos.h

@@ -153,4 +153,4 @@ void rtosWrapper(void *);
 
 #define mDelay(ms) (osDelay(pdMS_TO_TICKS((ms))))
 
-#endif // __COMMON_FREERTOS_H__
+#endif // __COMMON_FREERTOS_H__

common/phal_F4_F7/can/can.h

@@ -73,4 +73,4 @@ bool PHAL_txCANMessage(CanMsgTypeDef_t* msg, uint8_t mbx);
 bool PHAL_txMailboxFree(CAN_TypeDef* bus, uint8_t mbx);
 void PHAL_txCANAbort(CAN_TypeDef* bus, uint8_t mbx);
 
-#endif // _PHAL_CAN_H
+#endif // _PHAL_CAN_H

source/f4_testing/can/can_parse.c

@@ -0,0 +1,104 @@
+/**
+ * @file can_parse.c
+ * @author Cole Roberts ([email protected])
+ * @brief Parsing of CAN messages using auto-generated structures with bit-fields
+ * @version 0.1
+ * @date 2024-09-27
+ *
+ * @copyright Copyright (c) 2024
+ *
+ */
+#include "can_parse.h"
+
+// prototypes
+bool initCANFilter();
+
+can_data_t can_data;
+volatile uint32_t last_can_rx_time_ms = 0;
+
+void initCANParse(void)
+{
+    initCANParseBase();
+    initCANFilter();
+}
+
+void canRxUpdate(void)
+{
+    CanMsgTypeDef_t msg_header;
+    CanParsedData_t* msg_data_a;
+
+    if(qReceive(&q_rx_can, &msg_header) == SUCCESS_G)
+    {
+        msg_data_a = (CanParsedData_t *) &msg_header.Data;
+        last_can_rx_time_ms = sched.os_ticks;
+        /* BEGIN AUTO CASES */
+        switch(msg_header.ExtId)
+        {
+            case ID_AMK_SETPOINTS:
+                can_data.AMK_Setpoints.AMK_Control_bReserve = msg_data_a->AMK_Setpoints.AMK_Control_bReserve;
+                can_data.AMK_Setpoints.AMK_Control_bInverterOn = msg_data_a->AMK_Setpoints.AMK_Control_bInverterOn;
+                can_data.AMK_Setpoints.AMK_Control_bDcOn = msg_data_a->AMK_Setpoints.AMK_Control_bDcOn;
+                can_data.AMK_Setpoints.AMK_Control_bEnable = msg_data_a->AMK_Setpoints.AMK_Control_bEnable;
+                can_data.AMK_Setpoints.AMK_Control_bErrorReset = msg_data_a->AMK_Setpoints.AMK_Control_bErrorReset;
+                can_data.AMK_Setpoints.AMK_Control_bReserve2 = msg_data_a->AMK_Setpoints.AMK_Control_bReserve2;
+                can_data.AMK_Setpoints.AMK_TorqueSetpoint = (int16_t) msg_data_a->AMK_Setpoints.AMK_TorqueSetpoint;
+                can_data.AMK_Setpoints.AMK_PositiveTorqueLimit = (int16_t) msg_data_a->AMK_Setpoints.AMK_PositiveTorqueLimit;
+                can_data.AMK_Setpoints.AMK_NegativeTorqueLimit = (int16_t) msg_data_a->AMK_Setpoints.AMK_NegativeTorqueLimit;
+                can_data.AMK_Setpoints.stale = 0;
+                can_data.AMK_Setpoints.last_rx = sched.os_ticks;
+                break;
+            default:
+                __asm__("nop");
+        }
+        /* END AUTO CASES */
+    }
+
+    /* BEGIN AUTO STALE CHECKS */
+    CHECK_STALE(can_data.AMK_Setpoints.stale,
+                sched.os_ticks, can_data.AMK_Setpoints.last_rx,
+                UP_AMK_SETPOINTS);
+    /* END AUTO STALE CHECKS */
+}
+
+bool initCANFilter()
+{
+    CAN1->MCR |= CAN_MCR_INRQ;                // Enter back into INIT state (required for changing scale)
+    uint32_t timeout = 0;
+    while(!(CAN1->MSR & CAN_MSR_INAK) && ++timeout < PHAL_CAN_INIT_TIMEOUT)
+         ;
+    if (timeout == PHAL_CAN_INIT_TIMEOUT)
+         return false;
+
+    CAN1->FMR  |= CAN_FMR_FINIT;              // Enter init mode for filter banks
+    CAN1->FM1R |= 0x07FFFFFF;                 // Set banks 0-27 to id mode
+    CAN1->FS1R |= 0x07FFFFFF;                 // Set banks 0-27 to 32-bit scale
+
+    /* BEGIN AUTO FILTER */
+    CAN1->FA1R |= (1 << 0);    // configure bank 0
+    CAN1->sFilterRegister[0].FR1 = (ID_AMK_SETPOINTS << 21);
+    /* END AUTO FILTER */
+
+    CAN1->FMR  &= ~CAN_FMR_FINIT;             // Enable Filters (exit filter init mode)
+
+    // Enter back into NORMAL mode
+    CAN1->MCR &= ~CAN_MCR_INRQ;
+    while((CAN1->MSR & CAN_MSR_INAK) && ++timeout < PHAL_CAN_INIT_TIMEOUT)
+         ;
+
+    return timeout != PHAL_CAN_INIT_TIMEOUT;
+}
+
+
+void canProcessRxIRQs(CanMsgTypeDef_t* rx)
+{
+    CanParsedData_t* msg_data_a;
+
+    msg_data_a = (CanParsedData_t *) rx->Data;
+    switch(rx->ExtId)
+    {
+        /* BEGIN AUTO RX IRQ */
+        /* END AUTO RX IRQ */
+        default:
+            __asm__("nop");
+    }
+}

source/f4_testing/can/can_parse.h

@@ -0,0 +1,244 @@
+/**
+ * @file can_parse.h
+ * @author Cole Roberts ([email protected])
+ * @brief Parsing of CAN messages using auto-generated structures with bit-fields
+ * @version 0.1
+ * @date 2024-09-27
+ *
+ * @copyright Copyright (c) 2024
+ *
+ */
+#ifndef _CAN_PARSE_H_
+#define _CAN_PARSE_H_
+
+#include "common/queue/queue.h"
+#include "common/psched/psched.h"
+#include "common/phal_F4_F7/can/can.h"
+#include "common/daq/can_parse_base.h"
+
+// Make this match the node name within the can_config.json
+#define NODE_NAME "Inverter1"
+
+
+// Used to represent a float as 32 bits
+typedef union {
+    float f;
+    uint32_t u;
+} FloatConvert_t;
+#define FLOAT_TO_UINT32(float_) (((FloatConvert_t) float_).u)
+#define UINT32_TO_FLOAT(uint32_) (((FloatConvert_t) ((uint32_t) uint32_)).f)
+
+// Message ID definitions
+/* BEGIN AUTO ID DEFS */
+#define ID_AMK_ACTUAL_VALUES_1 0x282
+#define ID_AMK_ACTUAL_VALUES_2 0x284
+#define ID_AMK_TEMPERATURES_1 0x286
+#define ID_AMK_TEMPERATURES_2 0x288
+#define ID_AMK_ERROR_1 0x290
+#define ID_AMK_ERROR_2 0x292
+#define ID_AMK_OVERLOAD 0x294
+#define ID_AMK_SETPOINTS 0x188
+/* END AUTO ID DEFS */
+
+// Message DLC definitions
+/* BEGIN AUTO DLC DEFS */
+#define DLC_AMK_ACTUAL_VALUES_1 8
+#define DLC_AMK_ACTUAL_VALUES_2 6
+#define DLC_AMK_TEMPERATURES_1 6
+#define DLC_AMK_TEMPERATURES_2 6
+#define DLC_AMK_ERROR_1 8
+#define DLC_AMK_ERROR_2 8
+#define DLC_AMK_OVERLOAD 4
+#define DLC_AMK_SETPOINTS 8
+/* END AUTO DLC DEFS */
+
+// Message sending macros
+/* BEGIN AUTO SEND MACROS */
+#define SEND_AMK_ACTUAL_VALUES_1(AMK_Status_bReserve_, AMK_Status_bSystemReady_, AMK_Status_bError_, AMK_Status_bWarn_, AMK_Status_bQuitDcOn_, AMK_Status_bDcOn_, AMK_Status_bQuitInverterOn_, AMK_Status_bInverterOn_, AMK_Status_bDerating_, AMK_ActualTorque_, AMK_MotorSerialNumber_) do {\
+        CanMsgTypeDef_t msg = {.Bus=CAN1, .ExtId=ID_AMK_ACTUAL_VALUES_1, .DLC=DLC_AMK_ACTUAL_VALUES_1, .IDE=1};\
+        CanParsedData_t* data_a = (CanParsedData_t *) &msg.Data;\
+        data_a->AMK_Actual_Values_1.AMK_Status_bReserve = AMK_Status_bReserve_;\
+        data_a->AMK_Actual_Values_1.AMK_Status_bSystemReady = AMK_Status_bSystemReady_;\
+        data_a->AMK_Actual_Values_1.AMK_Status_bError = AMK_Status_bError_;\
+        data_a->AMK_Actual_Values_1.AMK_Status_bWarn = AMK_Status_bWarn_;\
+        data_a->AMK_Actual_Values_1.AMK_Status_bQuitDcOn = AMK_Status_bQuitDcOn_;\
+        data_a->AMK_Actual_Values_1.AMK_Status_bDcOn = AMK_Status_bDcOn_;\
+        data_a->AMK_Actual_Values_1.AMK_Status_bQuitInverterOn = AMK_Status_bQuitInverterOn_;\
+        data_a->AMK_Actual_Values_1.AMK_Status_bInverterOn = AMK_Status_bInverterOn_;\
+        data_a->AMK_Actual_Values_1.AMK_Status_bDerating = AMK_Status_bDerating_;\
+        data_a->AMK_Actual_Values_1.AMK_ActualTorque = AMK_ActualTorque_;\
+        data_a->AMK_Actual_Values_1.AMK_MotorSerialNumber = AMK_MotorSerialNumber_;\
+        canTxSendToBack(&msg);\
+    } while(0)
+#define SEND_AMK_ACTUAL_VALUES_2(AMK_ActualSpeed_, AMK_DCBusVoltage_, AMK_SystemReset_) do {\
+        CanMsgTypeDef_t msg = {.Bus=CAN1, .ExtId=ID_AMK_ACTUAL_VALUES_2, .DLC=DLC_AMK_ACTUAL_VALUES_2, .IDE=1};\
+        CanParsedData_t* data_a = (CanParsedData_t *) &msg.Data;\
+        data_a->AMK_Actual_Values_2.AMK_ActualSpeed = AMK_ActualSpeed_;\
+        data_a->AMK_Actual_Values_2.AMK_DCBusVoltage = AMK_DCBusVoltage_;\
+        data_a->AMK_Actual_Values_2.AMK_SystemReset = AMK_SystemReset_;\
+        canTxSendToBack(&msg);\
+    } while(0)
+#define SEND_AMK_TEMPERATURES_1(AMK_MotorTemp_, AMK_InverterTemp_, AMK_IGBTTemp_) do {\
+        CanMsgTypeDef_t msg = {.Bus=CAN1, .ExtId=ID_AMK_TEMPERATURES_1, .DLC=DLC_AMK_TEMPERATURES_1, .IDE=1};\
+        CanParsedData_t* data_a = (CanParsedData_t *) &msg.Data;\
+        data_a->AMK_Temperatures_1.AMK_MotorTemp = AMK_MotorTemp_;\
+        data_a->AMK_Temperatures_1.AMK_InverterTemp = AMK_InverterTemp_;\
+        data_a->AMK_Temperatures_1.AMK_IGBTTemp = AMK_IGBTTemp_;\
+        canTxSendToBack(&msg);\
+    } while(0)
+#define SEND_AMK_TEMPERATURES_2(AMK_InternalTemp_, AMK_ExternalTemp_, AMK_TempSensorMotor_) do {\
+        CanMsgTypeDef_t msg = {.Bus=CAN1, .ExtId=ID_AMK_TEMPERATURES_2, .DLC=DLC_AMK_TEMPERATURES_2, .IDE=1};\
+        CanParsedData_t* data_a = (CanParsedData_t *) &msg.Data;\
+        data_a->AMK_Temperatures_2.AMK_InternalTemp = AMK_InternalTemp_;\
+        data_a->AMK_Temperatures_2.AMK_ExternalTemp = AMK_ExternalTemp_;\
+        data_a->AMK_Temperatures_2.AMK_TempSensorMotor = AMK_TempSensorMotor_;\
+        canTxSendToBack(&msg);\
+    } while(0)
+#define SEND_AMK_ERROR_1(AMK_DiagnosticNumber_, AMK_ErrorInfo1_) do {\
+        CanMsgTypeDef_t msg = {.Bus=CAN1, .ExtId=ID_AMK_ERROR_1, .DLC=DLC_AMK_ERROR_1, .IDE=1};\
+        CanParsedData_t* data_a = (CanParsedData_t *) &msg.Data;\
+        data_a->AMK_Error_1.AMK_DiagnosticNumber = AMK_DiagnosticNumber_;\
+        data_a->AMK_Error_1.AMK_ErrorInfo1 = AMK_ErrorInfo1_;\
+        canTxSendToBack(&msg);\
+    } while(0)
+#define SEND_AMK_ERROR_2(AMK_ErrorInfo2_, AMK_ErrorInfo3_) do {\
+        CanMsgTypeDef_t msg = {.Bus=CAN1, .ExtId=ID_AMK_ERROR_2, .DLC=DLC_AMK_ERROR_2, .IDE=1};\
+        CanParsedData_t* data_a = (CanParsedData_t *) &msg.Data;\
+        data_a->AMK_Error_2.AMK_ErrorInfo2 = AMK_ErrorInfo2_;\
+        data_a->AMK_Error_2.AMK_ErrorInfo3 = AMK_ErrorInfo3_;\
+        canTxSendToBack(&msg);\
+    } while(0)
+#define SEND_AMK_OVERLOAD(AMK_DisplayOverloadInverter_, AMK_DisplayOverloadMotor_) do {\
+        CanMsgTypeDef_t msg = {.Bus=CAN1, .ExtId=ID_AMK_OVERLOAD, .DLC=DLC_AMK_OVERLOAD, .IDE=1};\
+        CanParsedData_t* data_a = (CanParsedData_t *) &msg.Data;\
+        data_a->AMK_Overload.AMK_DisplayOverloadInverter = AMK_DisplayOverloadInverter_;\
+        data_a->AMK_Overload.AMK_DisplayOverloadMotor = AMK_DisplayOverloadMotor_;\
+        canTxSendToBack(&msg);\
+    } while(0)
+/* END AUTO SEND MACROS */
+
+// Stale Checking
+#define STALE_THRESH 30 / 2 // 5 / 2 would be 250% of period
+/* BEGIN AUTO UP DEFS (Update Period)*/
+#define UP_AMK_SETPOINTS 5
+/* END AUTO UP DEFS */
+
+#define CHECK_STALE(stale, curr, last, period) if(!stale && \
+                    (curr - last) > period * STALE_THRESH) stale = 1
+
+/* BEGIN AUTO CAN ENUMERATIONS */
+/* END AUTO CAN ENUMERATIONS */
+
+// Message Raw Structures
+/* BEGIN AUTO MESSAGE STRUCTURE */
+typedef union { 
+    struct {
+        uint64_t AMK_Status_bReserve: 8;
+        uint64_t AMK_Status_bSystemReady: 1;
+        uint64_t AMK_Status_bError: 1;
+        uint64_t AMK_Status_bWarn: 1;
+        uint64_t AMK_Status_bQuitDcOn: 1;
+        uint64_t AMK_Status_bDcOn: 1;
+        uint64_t AMK_Status_bQuitInverterOn: 1;
+        uint64_t AMK_Status_bInverterOn: 1;
+        uint64_t AMK_Status_bDerating: 1;
+        uint64_t AMK_ActualTorque: 16;
+        uint64_t AMK_MotorSerialNumber: 32;
+    } AMK_Actual_Values_1;
+    struct {
+        uint64_t AMK_ActualSpeed: 16;
+        uint64_t AMK_DCBusVoltage: 16;
+        uint64_t AMK_SystemReset: 16;
+    } AMK_Actual_Values_2;
+    struct {
+        uint64_t AMK_MotorTemp: 16;
+        uint64_t AMK_InverterTemp: 16;
+        uint64_t AMK_IGBTTemp: 16;
+    } AMK_Temperatures_1;
+    struct {
+        uint64_t AMK_InternalTemp: 16;
+        uint64_t AMK_ExternalTemp: 16;
+        uint64_t AMK_TempSensorMotor: 16;
+    } AMK_Temperatures_2;
+    struct {
+        uint64_t AMK_DiagnosticNumber: 32;
+        uint64_t AMK_ErrorInfo1: 32;
+    } AMK_Error_1;
+    struct {
+        uint64_t AMK_ErrorInfo2: 32;
+        uint64_t AMK_ErrorInfo3: 32;
+    } AMK_Error_2;
+    struct {
+        uint64_t AMK_DisplayOverloadInverter: 16;
+        uint64_t AMK_DisplayOverloadMotor: 16;
+    } AMK_Overload;
+    struct {
+        uint64_t AMK_Control_bReserve: 8;
+        uint64_t AMK_Control_bInverterOn: 1;
+        uint64_t AMK_Control_bDcOn: 1;
+        uint64_t AMK_Control_bEnable: 1;
+        uint64_t AMK_Control_bErrorReset: 1;
+        uint64_t AMK_Control_bReserve2: 4;
+        uint64_t AMK_TorqueSetpoint: 16;
+        uint64_t AMK_PositiveTorqueLimit: 16;
+        uint64_t AMK_NegativeTorqueLimit: 16;
+    } AMK_Setpoints;
+    uint8_t raw_data[8];
+} __attribute__((packed)) CanParsedData_t;
+/* END AUTO MESSAGE STRUCTURE */
+
+// contains most up to date received
+// type for each variable matches that defined in JSON
+/* BEGIN AUTO CAN DATA STRUCTURE */
+typedef struct {
+    struct {
+        uint8_t AMK_Control_bReserve;
+        uint8_t AMK_Control_bInverterOn;
+        uint8_t AMK_Control_bDcOn;
+        uint8_t AMK_Control_bEnable;
+        uint8_t AMK_Control_bErrorReset;
+        uint8_t AMK_Control_bReserve2;
+        int16_t AMK_TorqueSetpoint;
+        int16_t AMK_PositiveTorqueLimit;
+        int16_t AMK_NegativeTorqueLimit;
+        uint8_t stale;
+        uint32_t last_rx;
+    } AMK_Setpoints;
+} can_data_t;
+/* END AUTO CAN DATA STRUCTURE */
+
+extern can_data_t can_data;
+extern volatile uint32_t last_can_rx_time_ms;
+
+/* BEGIN AUTO EXTERN CALLBACK */
+extern void handleCallbacks(uint16_t id, bool latched);
+extern void set_fault_daq(uint16_t id, bool value);
+extern void return_fault_control(uint16_t id);
+extern void send_fault(uint16_t id, bool latched);
+/* END AUTO EXTERN CALLBACK */
+
+/* BEGIN AUTO EXTERN RX IRQ */
+/* END AUTO EXTERN RX IRQ */
+
+/**
+ * @brief Setup queue and message filtering
+ *
+ * @param q_rx_can RX buffer of CAN messages
+ */
+void initCANParse(void);
+
+/**
+ * @brief Pull message off of rx buffer,
+ *        update can_data struct,
+ *        check for stale messages
+ */
+void canRxUpdate(void);
+
+/**
+ * @brief Process any rx message callbacks from the CAN Rx IRQ
+ *
+ * @param rx rx data from message just recieved
+ */
+void canProcessRxIRQs(CanMsgTypeDef_t* rx);
+
+#endif

source/main_module/CMakeLists.txt

@@ -12,6 +12,6 @@ set_target_properties(${TARGET_NAME} PROPERTIES
     COMPONENT_NAME ${COMPONENT_NAME}
     COMPONENT_DIR  ${CMAKE_CURRENT_LIST_DIR}
     LINKER_SCRIPT  "STM32F407VGTx_FLASH"
-    COMMON_LIBS    "CMSIS_F407;PSCHED_F407;QUEUE;DAQ_F407;CAN_PARSE_F407;PHAL_F407;FAULTS_F407;PLETTENBERG;BOOTLOADER_COMMON_F407"
+    COMMON_LIBS    "CMSIS_F407;PSCHED_F407;QUEUE;DAQ_F407;CAN_PARSE_F407;PHAL_F407;FAULTS_F407;AMK;BOOTLOADER_COMMON_F407"
 )
 COMMON_FIRMWARE_COMPONENT(${TARGET_NAME})