CAN status and tasks stuff

firmware/PowerDistributionUnit_Mk1/Makefile

@@ -25,8 +25,8 @@ TEST ?= main
 PROJECT_TARGET ?= stm32g473xx
 
 # SOURCE AND INCLUDE DIRECTORIES
-PROJECT_C_INCLUDES = $(wildcard core/inc) $(wildcard ../driver/inc)
-PROJECT_C_SOURCES = $(wildcard core/src/*.c) $(wildcard ../driver/src/*.c)
+PROJECT_C_INCLUDES = $(wildcard core/inc) $(wildcard ../driver/inc) $(wildcard tasks/inc)
+PROJECT_C_SOURCES = $(wildcard core/src/*.c) $(wildcard ../driver/src/*.c) $(wildcard tasks/src/*.c)
 PROJECT_MAIN_DIR ?= core/src
 
 # BUILD DIRECTORIES
@@ -41,7 +41,7 @@ MADEFILE_DIR = ${MAKEFILE_DIR}
 # remove main and add test folders if running test
 ifneq ($(TEST), "main")
 	PROJECT_C_SOURCES := $(filter-out $(PROJECT_MAIN_DIR)/main.c, $(PROJECT_C_SOURCES))
-	PROJECT_C_SOURCES += $(wildcard test/src/${TEST}.c)
+	PROJECT_C_SOURCES += $(wildcard test/src/Test_${TEST}.c)
 
 	PROJECT_C_INCLUDES += $(wildcard test/inc)
 endif

firmware/PowerDistributionUnit_Mk1/core/inc/PDU_Mk1.h

@@ -7,3 +7,5 @@
 #define PDU_MK1_NUM_CHANNELS 16
 
 #define PDU_MK1_REV_A true
+
+#define PDU_MK1_PRINT_STATUS_VIA_UART true

firmware/PowerDistributionUnit_Mk1/core/inc/PDU_Mk1_CAN.h

@@ -0,0 +1,32 @@
+// PDU_Mk1_CAN.h
+// ----------------------------------------------------------------------------
+// BBPDU Mk1 CAN stuff
+
+#pragma once
+
+#include "stm32xx_hal.h"
+
+// drivers
+#include "CAN_FD.h"
+
+// DEFINES --------------------------------------------------------------------
+
+#define PDU_MK1_CAN_ID_PDUSTATUS 0x350
+#define PDU_MK1_CAN_MSGLEN_PDUSTATUS 5
+#define PDU_MK1_CAN_PDUSTATUS_FAULT_LSHIFT 4
+#define PDU_MK1_CAN_PDUSTATUS_ENABLED_LSHIFT 5
+#define PDU_MK1_CAN_PDUSTATUS_VOLTAGE_INDEX 1
+#define PDU_MK1_CAN_PDUSTATUS_VOLTAGE_INVFACTOR 1000		// 1/0.001 = 1000
+#define PDU_MK1_CAN_PDUSTATUS_CURRENT_INDEX 3
+#define PDU_MK1_CAN_PDUSTATUS_CURRENT_INVFACTOR 1000		// 1/0.001 = 1000
+
+// VARIABLE DECLARATIONS ------------------------------------------------------
+
+// FUNCTIONS ------------------------------------------------------------------
+
+/**
+	* @brief Initializes CAN stuff.
+	* @param None
+	* @retval bool: true if successful, false otherwise
+	*/
+can_status_t PDU_Mk1_CAN_Init();

firmware/PowerDistributionUnit_Mk1/core/src/PDU_Mk1_CAN.c

@@ -0,0 +1,175 @@
+// PDU_Mk1_CAN.c
+
+#include "PDU_Mk1_CAN.h"
+#include "printf.h"
+
+#define FDCAN_NVIC_PRIO configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY + 3
+
+uint32_t HAL_RCC_FDCAN_CLK_ENABLED = 0;
+
+can_status_t PDU_Mk1_CAN_Init()
+{
+	can_status_t status;
+	hfdcan3->Instance = FDCAN3;
+	hfdcan3->Init.ClockDivider = FDCAN_CLOCK_DIV1;
+	hfdcan3->Init.FrameFormat = FDCAN_FRAME_CLASSIC;
+	hfdcan3->Init.Mode = FDCAN_MODE_EXTERNAL_LOOPBACK;
+	hfdcan3->Init.AutoRetransmission = DISABLE;
+	hfdcan3->Init.TransmitPause = DISABLE;
+	hfdcan3->Init.ProtocolException = DISABLE;
+	hfdcan3->Init.NominalPrescaler = 20;
+	hfdcan3->Init.NominalSyncJumpWidth = 1;
+	hfdcan3->Init.NominalTimeSeg1 = 13;
+	hfdcan3->Init.NominalTimeSeg2 = 2;
+	hfdcan3->Init.DataPrescaler = 1;
+	hfdcan3->Init.DataSyncJumpWidth = 1;
+	hfdcan3->Init.DataTimeSeg1 = 1;
+	hfdcan3->Init.DataTimeSeg2 = 1;
+	hfdcan3->Init.StdFiltersNbr = 1;
+	hfdcan3->Init.ExtFiltersNbr = 0;
+	hfdcan3->Init.TxFifoQueueMode = FDCAN_TX_FIFO_OPERATION;
+
+	// FDCAN1 Filter Config
+	FDCAN_FilterTypeDef sFilterConfig;
+	sFilterConfig.IdType = FDCAN_STANDARD_ID;
+	sFilterConfig.FilterIndex = 0;
+	sFilterConfig.FilterType = FDCAN_FILTER_MASK;
+	sFilterConfig.FilterConfig = FDCAN_FILTER_TO_RXFIFO0; // directs frames to FIFO0
+	sFilterConfig.FilterID1 = 0x000;
+	sFilterConfig.FilterID2 = 0x000;
+
+	status = can_fd_init(hfdcan3, &sFilterConfig);
+	if(status != CAN_OK)
+	{
+		return status;
+	}
+
+	status = can_fd_start(hfdcan3);
+	if(status != CAN_OK){
+		return status;
+	}
+
+	return CAN_OK;
+}
+
+void HAL_FDCAN_MspInit(FDCAN_HandleTypeDef* fdcanHandle)
+{
+
+  GPIO_InitTypeDef GPIO_InitStruct = {0};
+  RCC_PeriphCLKInitTypeDef PeriphClkInit = {0};
+
+  if(0){ // placeholder for if else if there are no FDCANs defined
+
+  }
+#ifdef FDCAN1
+  else if(fdcanHandle->Instance==FDCAN1)
+  {
+
+	PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_FDCAN;
+	PeriphClkInit.FdcanClockSelection = RCC_FDCANCLKSOURCE_PCLK1;
+	if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK)
+	{
+	  Error_Handler();
+	}
+
+	/* FDCAN1 clock enable */
+	HAL_RCC_FDCAN_CLK_ENABLED++;
+	if(HAL_RCC_FDCAN_CLK_ENABLED==1){
+	  __HAL_RCC_FDCAN_CLK_ENABLE();
+	}
+
+	__HAL_RCC_GPIOA_CLK_ENABLE();
+	/**FDCAN1 GPIO Configuration
+	PA11     ------> FDCAN1_RX
+	PA12     ------> FDCAN1_TX
+	*/ 
+	GPIO_InitStruct.Pin = GPIO_PIN_11|GPIO_PIN_12;
+	GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+	GPIO_InitStruct.Pull = GPIO_NOPULL;
+	GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+	GPIO_InitStruct.Alternate = GPIO_AF9_FDCAN1;
+	HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
+
+	/* FDCAN1 interrupt Init */
+	HAL_NVIC_SetPriority(FDCAN1_IT0_IRQn, FDCAN_NVIC_PRIO, 0);
+	HAL_NVIC_EnableIRQ(FDCAN1_IT0_IRQn);
+	HAL_NVIC_SetPriority(FDCAN1_IT1_IRQn, FDCAN_NVIC_PRIO, 0);
+	HAL_NVIC_EnableIRQ(FDCAN1_IT1_IRQn);
+  }
+#endif // FDCAN1
+#ifdef FDCAN2
+  else if(fdcanHandle->Instance==FDCAN2)
+  {
+
+	PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_FDCAN;
+	PeriphClkInit.FdcanClockSelection = RCC_FDCANCLKSOURCE_PCLK1;
+	if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK)
+	{
+	  Error_Handler();
+	}
+
+	/* FDCAN2 clock enable */
+	HAL_RCC_FDCAN_CLK_ENABLED++;
+	if(HAL_RCC_FDCAN_CLK_ENABLED==1){
+	  __HAL_RCC_FDCAN_CLK_ENABLE();
+	}
+
+	__HAL_RCC_GPIOB_CLK_ENABLE();
+	/**FDCAN2 GPIO Configuration
+	PB12     ------> FDCAN2_RX
+	PB13     ------> FDCAN2_TX
+	*/
+	GPIO_InitStruct.Pin = GPIO_PIN_12|GPIO_PIN_13;
+	GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+	GPIO_InitStruct.Pull = GPIO_NOPULL;
+	GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+	GPIO_InitStruct.Alternate = GPIO_AF9_FDCAN2;
+	HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
+
+	/* FDCAN2 interrupt Init */
+	HAL_NVIC_SetPriority(FDCAN2_IT0_IRQn, FDCAN_NVIC_PRIO, 0);
+	HAL_NVIC_EnableIRQ(FDCAN2_IT0_IRQn);
+	HAL_NVIC_SetPriority(FDCAN2_IT1_IRQn, FDCAN_NVIC_PRIO, 0);
+	HAL_NVIC_EnableIRQ(FDCAN2_IT1_IRQn);
+
+  }
+#endif // FDCAN2
+
+#ifdef FDCAN3
+  else if(fdcanHandle->Instance==FDCAN3)
+  {
+  /** Initializes the peripherals clocks
+  */
+	PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_FDCAN;
+	PeriphClkInit.FdcanClockSelection = RCC_FDCANCLKSOURCE_PCLK1;
+	if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK)
+	{
+	  Error_Handler();
+	}
+
+	/* FDCAN3 clock enable */
+	HAL_RCC_FDCAN_CLK_ENABLED++;
+	if(HAL_RCC_FDCAN_CLK_ENABLED==1){
+	  __HAL_RCC_FDCAN_CLK_ENABLE();
+	}
+
+	__HAL_RCC_GPIOA_CLK_ENABLE();
+	/**FDCAN3 GPIO Configuration
+	PA8     ------> FDCAN3_RX
+	PA15     ------> FDCAN3_TX
+	*/
+	GPIO_InitStruct.Pin = GPIO_PIN_8|GPIO_PIN_15;
+	GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+	GPIO_InitStruct.Pull = GPIO_NOPULL;
+	GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+	GPIO_InitStruct.Alternate = GPIO_AF11_FDCAN3;
+	HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
+
+	/* FDCAN3 interrupt Init */
+	HAL_NVIC_SetPriority(FDCAN3_IT0_IRQn, FDCAN_NVIC_PRIO, 0);
+	HAL_NVIC_EnableIRQ(FDCAN3_IT0_IRQn);
+	HAL_NVIC_SetPriority(FDCAN3_IT1_IRQn, FDCAN_NVIC_PRIO, 0);
+	HAL_NVIC_EnableIRQ(FDCAN3_IT1_IRQn);
+  }
+#endif
+}

firmware/PowerDistributionUnit_Mk1/tasks/inc/Task_Blink.h

@@ -0,0 +1,24 @@
+// Task_Blink.h
+// ----------------------------------------------------------------------------
+// Task blinks LED at fixed interval.
+
+#pragma once
+
+// INCLUDES -------------------------------------------------------------------
+
+#include "stm32xx_hal.h"
+
+#include "PDU_Mk1_Pins.h"
+
+// DEFINES --------------------------------------------------------------------
+
+#define TASK_BLINK_STACK_SIZE configMINIMAL_STACK_SIZE
+#define TASK_BLINK_PRIORITY tskIDLE_PRIORITY + 2
+
+#define TASK_BLINK_INTERVAL_MS 500
+
+// VARIABLE DECLARATIONS ------------------------------------------------------
+
+// FUNCTIONS ------------------------------------------------------------------
+
+void Task_Blink(void *argument);

firmware/PowerDistributionUnit_Mk1/tasks/inc/Task_CanSendStatus.h

@@ -0,0 +1,30 @@
+// Task_ReadCurrents.h
+// ----------------------------------------------------------------------------
+// Task sends PDU status on CAN. 
+
+#pragma once
+
+// INCLUDES -------------------------------------------------------------------
+
+#include "stm32xx_hal.h"
+#include "printf.h"
+
+#include "PDU_Mk1.h"
+#include "PDU_Mk1_CAN.h"
+#include "PDU_Mk1_CurrentSensing.h"
+#include "PDU_Mk1_HSSControl.h"
+
+// DEFINES --------------------------------------------------------------------
+
+#define TASK_CANSENDSTATUS_STACK_SIZE configMINIMAL_STACK_SIZE+200
+#define TASK_CANSENDSTATUS_PRIORITY tskIDLE_PRIORITY + 2
+
+// sets how often the CAN status is sent
+#define TASK_CANSENDSTATUS_CH_INTERVAL_MS 100		// single channel mode
+// #define TASK_CANSENDSTATUS_INTERVAL_MS 1000		// spam all channels (doesn't work)
+
+// VARIABLE DECLARATIONS ------------------------------------------------------
+
+// FUNCTIONS ------------------------------------------------------------------
+
+void Task_CanSendStatus(void *argument);

firmware/PowerDistributionUnit_Mk1/tasks/inc/Task_HSSControl.h

@@ -0,0 +1,26 @@
+// Task_HSSControl.h
+// ----------------------------------------------------------------------------
+// Task controls PDU output channels. 
+
+#pragma once
+
+// INCLUDES -------------------------------------------------------------------
+
+#include "stm32xx_hal.h"
+#include "printf.h"
+
+// BBPDU peripherals
+#include "PDU_Mk1_HSSControl.h"
+
+// DEFINES --------------------------------------------------------------------
+
+#define TASK_HSSCONTROL_STACK_SIZE configMINIMAL_STACK_SIZE+200
+#define TASK_HSSCONTROL_PRIORITY tskIDLE_PRIORITY + 2
+
+#define TASK_HSSCONTROL_INTERVAL_MS 1000
+
+// VARIABLE DECLARATIONS ------------------------------------------------------
+
+// FUNCTIONS ------------------------------------------------------------------
+
+void Task_HSSControl(void *argument);

firmware/PowerDistributionUnit_Mk1/tasks/inc/Task_Init.h

@@ -0,0 +1,50 @@
+// Task_Init.h
+// ----------------------------------------------------------------------------
+// Task inits everything.
+
+#pragma once
+
+// INCLUDES -------------------------------------------------------------------
+
+#include "stm32xx_hal.h"
+
+#include "PDU_Mk1_Pins.h"
+#include "PDU_Mk1_GPIO.h"
+#include "PDU_Mk1_SPI.h"
+#include "PDU_Mk1_UART.h"
+#include "PDU_Mk1_CAN.h"
+
+#include "PDU_Mk1_CurrentSensing.h"
+#include "PDU_Mk1_HSSControl.h"
+
+// DEFINES --------------------------------------------------------------------
+
+#define TASK_INIT_STACK_SIZE configMINIMAL_STACK_SIZE+1000
+#define TASK_INIT_PRIORITY tskIDLE_PRIORITY + 3
+
+// VARIABLE DECLARATIONS ------------------------------------------------------
+
+extern TaskHandle_t task_blink;
+extern TaskHandle_t task_readcurrents;
+extern TaskHandle_t task_cansendstatus;
+
+extern SemaphoreHandle_t spi1_mutex;           // Mutex to prevent simultaneous SPI access
+extern StaticSemaphore_t spi1_mutex_buffer;    // Static buffer for mutex allocation
+extern SemaphoreHandle_t spi1_done_sem;        // Semaphore to signal SPI IT completion
+extern StaticSemaphore_t spi1_done_sem_buffer; // Static buffer for completion semaphore
+
+extern SemaphoreHandle_t spi2_mutex;           // Mutex to prevent simultaneous SPI access
+extern StaticSemaphore_t spi2_mutex_buffer;    // Static buffer for mutex allocation
+extern SemaphoreHandle_t spi2_done_sem;        // Semaphore to signal SPI IT completion
+extern StaticSemaphore_t spi2_done_sem_buffer; // Static buffer for completion semaphore
+
+extern SemaphoreHandle_t spi3_mutex;           // Mutex to prevent simultaneous SPI access
+extern StaticSemaphore_t spi3_mutex_buffer;    // Static buffer for mutex allocation
+extern SemaphoreHandle_t spi3_done_sem;        // Semaphore to signal SPI IT completion
+extern StaticSemaphore_t spi3_done_sem_buffer; // Static buffer for completion semaphore
+
+// FUNCTIONS ------------------------------------------------------------------
+
+void PDU_Mk1_StartTasks();
+
+void Task_Init(void *argument);