Merge pull request #13 from atopile/mawildoer/check-CAN

Bring up basic CAN

.github/workflows/pio.yml

@@ -33,7 +33,7 @@ jobs:
       - name: Zip 3D files and CSVs
         run: |
           mkdir -p artifacts
-          zip -r artifacts/firmware_build_artifacts.zip .pio/build/debug/firmware.*
+          zip -r artifacts/firmware_build_artifacts.zip .pio/build/servo-*
 
       - name: Configure AWS Credentials
         if: github.event_name == 'push' && github.ref == 'refs/heads/main'
@@ -46,4 +46,4 @@ jobs:
       - name: Sync artifacts to S3
         if: github.event_name == 'push' && github.ref == 'refs/heads/main'
         run: |
-          aws s3 sync artifacts s3://atopile/spin/firmware --delete --cache-control max-age=0,no-cache
+          aws s3 sync artifacts s3://atopile/spin/firmware --delete --cache-control max-age=0,no-cache

firmware/.gitignore

@@ -20,7 +20,6 @@ dist/
 downloads/
 eggs/
 .eggs/
-lib/
 lib64/
 parts/
 sdist/

firmware/lib/simplecan/SimpleCan.cpp

@@ -0,0 +1,232 @@
+/*
+MIT License
+
+Copyright (c) 2020 Owen Williams
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
+
+From: https://github.com/owennewo/youtube_can/tree/main/canfd_stm32
+*/
+
+
+#include "SimpleCan.h"
+
+// will be called from: HAL_FDCAN_Init
+extern "C" void HAL_FDCAN_MspInit(FDCAN_HandleTypeDef *hfdcan);
+extern "C" void FDCAN1_IT0_IRQHandler();
+extern "C" void HAL_FDCAN_RxFifo0Callback(FDCAN_HandleTypeDef *hfdcan, uint32_t RxFifo0ITs);
+
+FDCAN_HandleTypeDef SimpleCan::_hfdcan1 = { };
+SimpleCan::RxHandler* SimpleCan::_rxHandler = NULL;
+
+SimpleCan::SimpleCan(int _shutdown_pin, int _terminate_transceiver_pin)
+{
+	if (_hfdcan1.Instance != NULL)
+	{
+		Error_Handler();
+	}
+
+	_hfdcan1.Instance = FDCAN1;
+
+	shutdown_pin = _shutdown_pin;
+
+	if (_shutdown_pin > 0) {
+		pinMode(_shutdown_pin, OUTPUT);
+		// digitalWrite(_shutdown_pin, HIGH);
+	}
+	if (_terminate_transceiver_pin > 0) {
+		pinMode(_terminate_transceiver_pin, OUTPUT);
+		digitalWrite(_terminate_transceiver_pin, HIGH);
+	}
+
+}
+
+HAL_StatusTypeDef SimpleCan::start(void)
+{
+	digitalWrite(shutdown_pin, LOW);
+	return HAL_FDCAN_Start(&_hfdcan1);
+}
+
+HAL_StatusTypeDef SimpleCan::stop(void)
+{
+	digitalWrite(shutdown_pin, HIGH);
+	return HAL_FDCAN_Stop(&_hfdcan1);
+}
+
+HAL_StatusTypeDef SimpleCan::init(CanSpeed speed)
+{
+	FDCAN_InitTypeDef *init = &_hfdcan1.Init;
+
+	init->ClockDivider = FDCAN_CLOCK_DIV1;
+	init->FrameFormat = FDCAN_FRAME_FD_BRS;
+	init->Mode = FDCAN_MODE_NORMAL;
+	init->AutoRetransmission = DISABLE;
+	init->TransmitPause = ENABLE;
+	init->ProtocolException = DISABLE;
+
+	// 1 MBit: NominalPrescaler = 10
+	// see: http://www.bittiming.can-wiki.info/
+	// 170MHz / Prescaler / SyncJumpWith / (TimeSeg1 + TimeSeg2 + SyncSeg)
+	// SyncSeg = SYNC_SEG = 1, TimeSeg1 = PROP_SEG + PHASE_SEG1, TimeSeg2 = PHASE_SEG2
+	init->NominalPrescaler = (uint16_t) speed;
+	init->NominalSyncJumpWidth = 1;
+	init->NominalTimeSeg1 = 14;
+	init->NominalTimeSeg2 = 2;
+
+	init->DataPrescaler = 1;
+	init->DataSyncJumpWidth = 4;
+	init->DataTimeSeg1 = 5;
+	init->DataTimeSeg2 = 4;
+	init->StdFiltersNbr = 1;
+	init->ExtFiltersNbr = 0;
+	init->TxFifoQueueMode = FDCAN_TX_FIFO_OPERATION;
+
+	return HAL_FDCAN_Init(&_hfdcan1);
+}
+
+HAL_StatusTypeDef SimpleCan::configFilter(FDCAN_FilterTypeDef *filterDef)
+{
+	return HAL_FDCAN_ConfigFilter(&_hfdcan1, filterDef);
+}
+
+HAL_StatusTypeDef SimpleCan::configGlobalFilter(
+	uint32_t nonMatchingStd,
+	uint32_t nonMatchingExt,
+	uint32_t rejectRemoteStd,
+	uint32_t rejectRemoteExt)
+{
+	return HAL_FDCAN_ConfigGlobalFilter(&_hfdcan1, nonMatchingStd, nonMatchingExt, rejectRemoteStd, rejectRemoteExt);
+}
+
+HAL_StatusTypeDef SimpleCan::activateNotification(RxHandler *rxHandler)
+{
+	if (_rxHandler != NULL)
+	{
+		return HAL_ERROR;
+	}
+#if USE_HAL_FDCAN_REGISTER_CALLBACKS
+	// This would make interrupt handling much easier and cleaner.
+	// But how to activate it on Arduino platform?
+	//_hfdcan1.Instance->RxFifo0Callback = ...;
+#endif
+	_rxHandler = rxHandler;
+	return HAL_FDCAN_ActivateNotification(&_hfdcan1, FDCAN_IT_RX_FIFO0_NEW_MESSAGE, 0);
+}
+
+HAL_StatusTypeDef SimpleCan::deactivateNotification()
+{
+	_rxHandler = NULL;
+	return HAL_FDCAN_DeactivateNotification(&_hfdcan1, FDCAN_IT_RX_FIFO0_NEW_MESSAGE);
+}
+
+HAL_StatusTypeDef SimpleCan::addMessageToTxFifoQ(
+	FDCAN_TxHeaderTypeDef *pTxHeader,
+	uint8_t *pTxData)
+{
+	return HAL_FDCAN_AddMessageToTxFifoQ(&_hfdcan1, pTxHeader, pTxData);
+}
+
+void HAL_FDCAN_MspInit(FDCAN_HandleTypeDef *hfdcan)
+{
+	if (hfdcan == NULL || hfdcan->Instance != FDCAN1)
+	{
+		return;
+	}
+
+	RCC_PeriphCLKInitTypeDef periphClkInit = { };
+
+	HAL_RCCEx_GetPeriphCLKConfig(&periphClkInit);
+
+	// Initializes the peripherals clocks
+	periphClkInit.PeriphClockSelection |= RCC_PERIPHCLK_FDCAN;
+	periphClkInit.FdcanClockSelection = RCC_FDCANCLKSOURCE_PCLK1;
+	if (HAL_RCCEx_PeriphCLKConfig(&periphClkInit) != HAL_OK)
+	{
+		Error_Handler();
+	}
+
+	// Peripheral clock enable
+	__HAL_RCC_FDCAN_CLK_ENABLE();
+
+	__HAL_RCC_GPIOA_CLK_ENABLE();
+	__HAL_RCC_GPIOB_CLK_ENABLE();
+
+	// FDCAN1 GPIO Configuration
+	// PA11 ------> FDCAN1_RX
+	GPIO_InitTypeDef GPIO_InitStruct = { 0 };
+	GPIO_InitStruct.Pin = GPIO_PIN_8;
+	GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+	GPIO_InitStruct.Pull = GPIO_NOPULL;
+	GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
+	GPIO_InitStruct.Alternate = GPIO_AF9_FDCAN1;
+	HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
+
+	// PB9 ------> FDCAN1_TX
+	GPIO_InitStruct.Pin = GPIO_PIN_9;
+	GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+	GPIO_InitStruct.Pull = GPIO_NOPULL;
+	GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
+	GPIO_InitStruct.Alternate = GPIO_AF9_FDCAN1;
+	HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
+
+	// FDCAN1 interrupt Init
+	HAL_NVIC_SetPriority(FDCAN1_IT0_IRQn, 0, 0);
+	HAL_NVIC_EnableIRQ(FDCAN1_IT0_IRQn);
+}
+
+void FDCAN1_IT0_IRQHandler(void)
+{
+	HAL_FDCAN_IRQHandler(&SimpleCan::_hfdcan1);
+}
+
+void HAL_FDCAN_RxFifo0Callback(FDCAN_HandleTypeDef *hfdcan, uint32_t RxFifo0ITs)
+{
+	if ((RxFifo0ITs & FDCAN_IT_RX_FIFO0_NEW_MESSAGE) != RESET)
+	{
+		if (SimpleCan::_rxHandler == NULL)
+		{
+			return;
+		}
+		SimpleCan::_rxHandler->notify(hfdcan);
+	}
+}
+
+SimpleCan::RxHandler::RxHandler(uint16_t dataLength, void (*callback)(FDCAN_RxHeaderTypeDef, uint8_t *))
+{
+	_rxData = new byte[dataLength];
+	_callback = callback;
+}
+
+SimpleCan::RxHandler::~RxHandler()
+{
+	delete[] _rxData;
+}
+
+void SimpleCan::RxHandler::notify(FDCAN_HandleTypeDef *hfdcan)
+{
+	if (HAL_FDCAN_GetRxMessage(hfdcan, FDCAN_RX_FIFO0, &_rxHeader, _rxData) != HAL_OK)
+	{
+		Error_Handler();
+	}
+
+	if (_callback != NULL)
+	{
+		_callback(_rxHeader, _rxData);
+	}
+}

firmware/lib/simplecan/SimpleCan.h

@@ -0,0 +1,81 @@
+/*
+MIT License
+
+Copyright (c) 2020 Owen Williams
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
+
+From: https://github.com/owennewo/youtube_can/tree/main/canfd_stm32
+*/
+
+
+#pragma once
+
+#include "Arduino.h"
+#include <stm32g4xx_hal_fdcan.h>
+
+enum CanSpeed
+{
+	Mbit1 = 10,
+	Kbit500 = 20,
+	Kbit250 = 40,
+	Kbit125 = 80
+};
+
+/**
+ CAN wrapper for G431 board.
+*/
+class SimpleCan
+{
+public:
+	class RxHandler
+	{
+	public:
+		RxHandler(uint16_t dataLength, void (*callback)(FDCAN_RxHeaderTypeDef rxHeader, uint8_t *rxData));
+		~RxHandler();
+
+		void notify(FDCAN_HandleTypeDef *hfdcan);
+
+	private:
+		FDCAN_RxHeaderTypeDef _rxHeader;
+		uint8_t *_rxData;
+		void (*_callback)(FDCAN_RxHeaderTypeDef, uint8_t *);
+	};
+
+	SimpleCan(int shutdown_pin = -1, int terminate_pin = -1);
+
+	HAL_StatusTypeDef init(CanSpeed speed);
+	HAL_StatusTypeDef configFilter(FDCAN_FilterTypeDef *filterDef);
+	HAL_StatusTypeDef configGlobalFilter(
+		uint32_t nonMatchingStd,
+		uint32_t nonMatchingExt,
+		uint32_t rejectRemoteStd,
+		uint32_t rejectRemoteExt);
+	HAL_StatusTypeDef activateNotification(RxHandler *rxHandler);
+	HAL_StatusTypeDef deactivateNotification();
+	HAL_StatusTypeDef start();
+	HAL_StatusTypeDef stop();
+	HAL_StatusTypeDef addMessageToTxFifoQ(
+		FDCAN_TxHeaderTypeDef *pTxHeader,
+		uint8_t *pTxData);
+	// private: interrupt handler needs access to it
+	static FDCAN_HandleTypeDef _hfdcan1;
+	static RxHandler *_rxHandler;
+	int shutdown_pin;
+};