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CAN Update

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This commit is contained in:
Dmitriy Semenov
2023-04-03 21:51:33 +03:00
parent 68f478625e
commit 9c2667bbe5
16 changed files with 854 additions and 288 deletions
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10
firmware/.cproject
View File

@@ -52,6 +52,8 @@
<listOptionValue builtIn="false" value="../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc"/>
<listOptionValue builtIn="false" value="../Drivers/CMSIS/Device/ST/STM32F1xx/Include"/>
<listOptionValue builtIn="false" value="../Drivers/CMSIS/Include"/>
<listOptionValue builtIn="false" value="../Libs/"/>
<listOptionValue builtIn="false" value="../Libs/CAN/"/>
<listOptionValue builtIn="false" value="&quot;${workspace_loc:/BMS_v3/Middlewares/Third_Party/FatFs/src}&quot;"/>
</option>
<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.definedsymbols.1889788482" name="Define symbols (-D)" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.definedsymbols" useByScannerDiscovery="false" valueType="definedSymbols">
@@ -81,6 +83,8 @@
<listOptionValue builtIn="false" value="../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc"/>
<listOptionValue builtIn="false" value="../Drivers/CMSIS/Device/ST/STM32F1xx/Include"/>
<listOptionValue builtIn="false" value="../Drivers/CMSIS/Include"/>
<listOptionValue builtIn="false" value="../Libs/"/>
<listOptionValue builtIn="false" value="../Libs/CAN/"/>
</option>
<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.definedsymbols.739392240" name="Define symbols (-D)" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.definedsymbols" useByScannerDiscovery="false" valueType="definedSymbols">
<listOptionValue builtIn="false" value="USE_HAL_DRIVER"/>
@@ -121,6 +125,7 @@
<entry flags="VALUE_WORKSPACE_PATH" kind="sourcePath" name="Middlewares"/>
<entry flags="VALUE_WORKSPACE_PATH" kind="sourcePath" name="Drivers"/>
<entry flags="VALUE_WORKSPACE_PATH" kind="sourcePath" name="Core"/>
<entry flags="VALUE_WORKSPACE_PATH" kind="sourcePath" name="Libs"/>
</sourceEntries>
</configuration>
</storageModule>
@@ -178,6 +183,8 @@
<listOptionValue builtIn="false" value="../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc"/>
<listOptionValue builtIn="false" value="../Drivers/CMSIS/Device/ST/STM32F1xx/Include"/>
<listOptionValue builtIn="false" value="../Drivers/CMSIS/Include"/>
<listOptionValue builtIn="false" value="../Libs/"/>
<listOptionValue builtIn="false" value="../Libs/CAN/"/>
<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/Middlewares/Third_Party/FatFs/src}&quot;"/>
</option>
<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.definedsymbols.390483859" name="Define symbols (-D)" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.definedsymbols" useByScannerDiscovery="false" valueType="definedSymbols">
@@ -206,6 +213,8 @@
<listOptionValue builtIn="false" value="../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc"/>
<listOptionValue builtIn="false" value="../Drivers/CMSIS/Device/ST/STM32F1xx/Include"/>
<listOptionValue builtIn="false" value="../Drivers/CMSIS/Include"/>
<listOptionValue builtIn="false" value="../Libs/"/>
<listOptionValue builtIn="false" value="../Libs/CAN/"/>
</option>
<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="true" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.otherflags.1890454030" name="Other flags" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.otherflags" useByScannerDiscovery="true" valueType="stringList"/>
</tool>
@@ -245,6 +254,7 @@
<entry flags="VALUE_WORKSPACE_PATH" kind="sourcePath" name="Middlewares"/>
<entry flags="VALUE_WORKSPACE_PATH" kind="sourcePath" name="Drivers"/>
<entry flags="VALUE_WORKSPACE_PATH" kind="sourcePath" name="Core"/>
<entry flags="VALUE_WORKSPACE_PATH" kind="sourcePath" name="Libs"/>
</sourceEntries>
</configuration>
</storageModule>

10
firmware/.cproject_org
View File

@@ -46,6 +46,8 @@
<listOptionValue builtIn="false" value="../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc"/>
<listOptionValue builtIn="false" value="../Drivers/CMSIS/Device/ST/STM32F1xx/Include"/>
<listOptionValue builtIn="false" value="../Drivers/CMSIS/Include"/>
<listOptionValue builtIn="false" value="../Libs/"/>
<listOptionValue builtIn="false" value="../Libs/CAN/"/>
</option>
<option id="gnu.c.compiler.option.preprocessor.def.symbols.903935306" name="Defined symbols (-D)" superClass="gnu.c.compiler.option.preprocessor.def.symbols" useByScannerDiscovery="false" valueType="definedSymbols">
<listOptionValue builtIn="false" value="USE_HAL_DRIVER"/>
@@ -69,6 +71,8 @@
<listOptionValue builtIn="false" value="../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc"/>
<listOptionValue builtIn="false" value="../Drivers/CMSIS/Device/ST/STM32F1xx/Include"/>
<listOptionValue builtIn="false" value="../Drivers/CMSIS/Include"/>
<listOptionValue builtIn="false" value="../Libs/"/>
<listOptionValue builtIn="false" value="../Libs/CAN/"/>
</option>
<option id="gnu.cpp.compiler.option.preprocessor.def.593685131" name="Defined symbols (-D)" superClass="gnu.cpp.compiler.option.preprocessor.def" useByScannerDiscovery="false" valueType="definedSymbols">
<listOptionValue builtIn="false" value="USE_HAL_DRIVER"/>
@@ -114,6 +118,7 @@
<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="Middlewares"/>
<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="Drivers"/>
<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="Core"/>
<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="Libs"/>
</sourceEntries>
</configuration>
</storageModule>
@@ -164,6 +169,8 @@
<listOptionValue builtIn="false" value="../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc"/>
<listOptionValue builtIn="false" value="../Drivers/CMSIS/Device/ST/STM32F1xx/Include"/>
<listOptionValue builtIn="false" value="../Drivers/CMSIS/Include"/>
<listOptionValue builtIn="false" value="../Libs/"/>
<listOptionValue builtIn="false" value="../Libs/CAN/"/>
</option>
<option id="gnu.c.compiler.option.preprocessor.def.symbols.903935306" name="Defined symbols (-D)" superClass="gnu.c.compiler.option.preprocessor.def.symbols" useByScannerDiscovery="false" valueType="definedSymbols">
<listOptionValue builtIn="false" value="USE_HAL_DRIVER"/>
@@ -186,6 +193,8 @@
<listOptionValue builtIn="false" value="../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc"/>
<listOptionValue builtIn="false" value="../Drivers/CMSIS/Device/ST/STM32F1xx/Include"/>
<listOptionValue builtIn="false" value="../Drivers/CMSIS/Include"/>
<listOptionValue builtIn="false" value="../Libs/"/>
<listOptionValue builtIn="false" value="../Libs/CAN/"/>
</option>
<option id="gnu.cpp.compiler.option.preprocessor.def.symbols.1054182349" name="Defined symbols (-D)" superClass="gnu.cpp.compiler.option.preprocessor.def.symbols" useByScannerDiscovery="false" valueType="definedSymbols">
<listOptionValue builtIn="false" value="USE_HAL_DRIVER"/>
@@ -231,6 +240,7 @@
<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="Middlewares"/>
<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="Drivers"/>
<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="Core"/>
<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="Libs"/>
</sourceEntries>
</configuration>
</storageModule>

1
firmware/.idea/misc.xml generated
View File

@@ -5,6 +5,7 @@
<sourceRoots>
<file path="$PROJECT_DIR$/Core" />
<file path="$PROJECT_DIR$/Drivers" />
<file path="$PROJECT_DIR$/Libs" />
<file path="$PROJECT_DIR$/Middlewares" />
<file path="$PROJECT_DIR$/USB_DEVICE" />
<file path="$PROJECT_DIR$/USB_Device_Library" />

7
firmware/CMakeLists.txt
View File

@@ -1,7 +1,7 @@
#THIS FILE IS AUTO GENERATED FROM THE TEMPLATE! DO NOT CHANGE!
set(CMAKE_SYSTEM_NAME Generic)
set(CMAKE_SYSTEM_VERSION 1)
cmake_minimum_required(VERSION 3.24)
cmake_minimum_required(VERSION 3.25)
# specify cross-compilers and tools
set(CMAKE_C_COMPILER arm-none-eabi-gcc)
@@ -63,6 +63,9 @@ include_directories(
Drivers/STM32F1xx_HAL_Driver/Inc
Drivers/STM32F1xx_HAL_Driver/Inc/Legacy
Libs/
Libs/CAN
Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc
Middlewares/ST/STM32_USB_Device_Library/Core/Inc
@@ -76,7 +79,7 @@ include_directories(
add_definitions(-DDEBUG -DUSE_HAL_DRIVER -DSTM32F107xC)
file(GLOB_RECURSE SOURCES "startup/*.*" "USB_DEVICE/*.*" "Middlewares/*.*" "Drivers/*.*" "Core/*.*")
file(GLOB_RECURSE SOURCES "startup/*.*" "USB_DEVICE/*.*" "Middlewares/*.*" "Drivers/*.*" "Core/*.*" "Libs/*.*")
#set(LINKER_SCRIPT ${CMAKE_SOURCE_DIR}/)

3
firmware/CMakeLists_template.txt
View File

@@ -62,6 +62,9 @@ include_directories(
Drivers/STM32F1xx_HAL_Driver/Inc
Drivers/STM32F1xx_HAL_Driver/Inc/Legacy
Libs/
Libs/CAN
Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc
Middlewares/ST/STM32_USB_Device_Library/Core/Inc

4
firmware/Core/Src/driverSWUART2.c
View File

@@ -25,9 +25,9 @@ char driverSWUART2PutCharInOutputBuffer(char character, FILE *stream) {
bool driverSWUART2Task(void) {
char outputChar;
if(!driverSWUART2OutputBuffer->isEmpty(driverSWUART2OutputBuffer)){ // Check if there is data in the ouput buffer
if(!driverSWUART2OutputBuffer->isEmpty(driverSWUART2OutputBuffer)){ // Check if there is data in the ouput buffer
driverSWUART2OutputBuffer->pull(driverSWUART2OutputBuffer,&outputChar); // Pull the data from ouput buffer
driverHWUART2SendChar(outputChar); // And send it to the uart
driverHWUART2SendChar(outputChar); // And send it to the uart
}
return !driverSWUART2OutputBuffer->isEmpty(driverSWUART2OutputBuffer);

300
firmware/Core/Src/main.c
View File

@@ -38,7 +38,9 @@
#include "DPC_Timeout.h"
#include "GSM.h"
#include "time.h"
#include "can.h"
#include "../../Libs/CAN/can.h"
#include "../../Libs/CAN/can_messenger.h"
#include "SD_Card.h"
@@ -279,14 +281,6 @@ uint64_t output_control_clock = 0;
bool need_shunt_charging_contractor = false;
uint64_t shunt_charging_contractor_clock = 0;
uint64_t can1_transmit_clock = 0;
uint64_t can2_transmit_clock = 0;
uint8_t can1_transmit_queue[500];
uint8_t can2_transmit_queue[100];
uint16_t can1_transmit_queue_size = 0;
uint16_t can2_transmit_queue_size = 0;
#define __MA_WIN_SIZE (500)
@@ -315,8 +309,6 @@ void Save_data_to_Backup();
void Restore_shutdown_data();
void updateLimitsFromMem();
void addCanPacketToQueue(uint16_t id, uint8_t* data, uint8_t* queue, uint16_t* queueSize);
void transmitCanPacketFromQueue(uint8_t* queue, uint16_t* queueSize, CAN_HandleTypeDef* hcan);
void modem_init();
@@ -372,7 +364,6 @@ void usbTIM(uint8_t OnOff) {
}
}
u8_t TestData[8] = {1,2,3,4,5,6,7,8};
void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
{
@@ -385,15 +376,23 @@ void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
{
if (TIM3_Clock % 10 == 0)
{
CAN_TransmitRTR(0x500, 8, &hcan2);
CAN_TransmitRTR(CAN_BMS_HEARTBEAT, 8, &hcan2);
}
else if (TIM3_Clock % 3 == 0)
if (TIM3_Clock % 4 == 0)
{
transmitCanPacketFromQueue(can1_transmit_queue, &can1_transmit_queue_size, &hcan1);
// transmitCanPacketFromQueue(can1_transmit_queue, &can1_transmit_queue_size, &hcan1);
transmitCanPacketFromQueueCan1();
}
else if (TIM3_Clock % 3 == 1)
#include "../../Libs/Utils/micros.h"
if (TIM3_Clock % 3 == 0)
{
transmitCanPacketFromQueue(can2_transmit_queue, &can2_transmit_queue_size, &hcan2);
volatile u32_t measure = 0;
// StartCodeMeasure();
// transmitCanPacketFromQueue(can2_transmit_queue, &can2_transmit_queue_size, &hcan2);
transmitCanPacketFromQueueCan2();
// StopCodeMeasure(&measure);
// __NOP();
}
TIM3_Clock++;
@@ -426,8 +425,6 @@ void load_switch(uint8_t state) {
/* USER CODE END 0 */
uint16_t MA_Filter(uint16_t input, uint8_t array)
{
uint16_t Result = 0;
@@ -1103,269 +1100,6 @@ void outputControl()
output_control_clock = TIM_Clock;
}
void transmitCan1Packet()
{
if ((TIM_Clock - can1_transmit_clock) < 1000)
{
return;
}
uint8_t data1[8] = {0x45};
CAN_Transmit(300, data1, 8, &hcan1);
can1_transmit_clock = TIM_Clock;
return;
CAN_TxHeaderTypeDef header;
header.IDE = CAN_ID_STD;
header.RTR = CAN_RTR_DATA;
header.StdId = 0x444;
header.DLC = 1;
uint8_t data[32] = {};
uint32_t mailbox = 0;
// sending SOC, SOH and number of cells
uint16_t id = 0x101;
memcpy(data, &id, sizeof(id));
memcpy(data + 2, &packState.SoC, sizeof(packState.SoC));
memcpy(data + 6, &packState.SoCCapacityAh, sizeof(packState.SoCCapacityAh));
memcpy(data + 10, &generalConfig->noOfCellsSeries, sizeof(generalConfig->noOfCellsSeries));
header.DLC = 11;
HAL_CAN_AddTxMessage(&hcan1, &header, data, &mailbox);
// sending charge current, discharge current // TODO
id = 0x102;
memcpy(data, &id, sizeof(id));
memcpy(data + 2, &packState.packCurrent, sizeof(packState.packCurrent));
memcpy(data + 6, &packState.loCurrentLoadCurrent, sizeof(packState.loCurrentLoadCurrent));
header.DLC = 10;
HAL_CAN_AddTxMessage(&hcan1, &header, data, &mailbox);
// sending BMS state, input state, output state // TODO
id = 0x103;
memcpy(data, &id, sizeof(id));
memcpy(data + 2, &packState.cellVoltageLow, sizeof(packState.cellVoltageLow));
memcpy(data + 6, &packState.cellVoltageAverage, sizeof(packState.cellVoltageAverage));
memcpy(data + 10, &packState.cellVoltageHigh, sizeof(packState.cellVoltageHigh));
header.DLC = 12;
HAL_CAN_AddTxMessage(&hcan1, &header, data, &mailbox);
// sending cell voltages
id = 0x200;
for (int cellPointer = 0; cellPointer < generalConfig->noOfCellsSeries * generalConfig->noOfParallelModules; ++cellPointer)
{
++id;
memcpy(data, &id, sizeof(id));
float voltage = 0;
if (packState.cellVoltagesIndividual[cellPointer].cellBleedActive)
voltage = packState.cellVoltagesIndividual[cellPointer].cellVoltage * -1000;
else
voltage = packState.cellVoltagesIndividual[cellPointer].cellVoltage * 1000;
memcpy(data + 2, &voltage, sizeof(voltage));
header.DLC = 6;
HAL_CAN_AddTxMessage(&hcan1, &header, data, &mailbox);
}
// sending temperatures
id = 0x300;
for (int sensorPointer = 0; sensorPointer < NoOfTempSensors; ++sensorPointer)
{
++id;
memcpy(data, &id, sizeof(id));
float temperature = packState.temperatures[sensorPointer];
memcpy(data + 2, &temperature, sizeof(temperature));
header.DLC = 6;
HAL_CAN_AddTxMessage(&hcan1, &header, data, &mailbox);
}
can1_transmit_clock = TIM_Clock;
}
int getIndexBySoc()
{
const float soc = packState.SoC;
if (soc <= 0)
{
return 0;
}
else if (soc <= 10 && soc > 0)
{
return 1;
}
else if (soc <= 20 && soc > 10)
{
return 2;
}
else if (soc <= 30 && soc > 20)
{
return 3;
}
else if (soc <= 40 && soc > 30)
{
return 4;
}
else if (soc <= 50 && soc > 40)
{
return 5;
}
else if (soc <= 60 && soc > 50)
{
return 6;
}
else if (soc <= 70 && soc > 60)
{
return 7;
}
else if (soc <= 80 && soc > 70)
{
return 8;
}
else if (soc <= 95 && soc > 80)
{
return 9;
}
else if (soc > 95)
{
return 10;
}
return -1;
}
int getIndexByTemperature()
{
const float temp = packState.tempBatteryAverage;
if (temp < 0)
{
return 0;
}
else if (temp < 2 && temp >= 0)
{
return 1;
}
else if (temp < 7 && temp >= 2)
{
return 2;
}
else if (temp < 15 && temp >= 7)
{
return 3;
}
else if (temp < 20 && temp >= 15)
{
return 4;
}
else if (temp < 45 && temp >= 20)
{
return 5;
}
else if (temp < 50 && temp >= 45)
{
return 6;
}
else if (temp < 55 && temp >= 50)
{
return 7;
}
else if (temp >= 55)
{
return 8;
}
return -1;
}
void transmitCan2Packet()
{
if ((TIM_Clock - can2_transmit_clock) < 500)
{
return;
}
can2_transmit_clock = TIM_Clock;
uint8_t buffer[8] = {0};
// sending common current and voltage command
memcpy(buffer, &packState.packCurrent, sizeof(packState.packCurrent));
memcpy(buffer + 4, &packState.packVoltage, sizeof(packState.packVoltage));
addCanPacketToQueue(0x501, buffer, can2_transmit_queue, &can2_transmit_queue_size);
// sending charge voltages (start, end) command
const float startVoltage = generalConfig->cellHardUnderVoltage * generalConfig->noOfCellsSeries;
const float endVoltage = generalConfig->cellHardOverVoltage * generalConfig->noOfCellsSeries;
memcpy(buffer, &startVoltage, sizeof(startVoltage));
memcpy(buffer + 4, &endVoltage, sizeof(endVoltage));
addCanPacketToQueue(0x502, buffer, can2_transmit_queue, &can2_transmit_queue_size);
// sending fault voltages (under, over) command
const float startFaultVoltage = generalConfig->cellLCSoftUnderVoltage * generalConfig->noOfCellsSeries;
const float endFaultVoltage = generalConfig->cellSoftOverVoltage * generalConfig->noOfCellsSeries;
memcpy(buffer, &startFaultVoltage, sizeof(startFaultVoltage));
memcpy(buffer + 4, &endFaultVoltage, sizeof(endFaultVoltage));
addCanPacketToQueue(0x503, buffer, can2_transmit_queue, &can2_transmit_queue_size);
// sending charge start current
float chargeStartingCurrent = 15; // TODO move to generalConfig
uint32_t chargeStartingCurrentInterval = 20; // in seconds TODO move to generalConfig
memcpy(buffer, &chargeStartingCurrent, sizeof(chargeStartingCurrent));
memcpy(buffer + 4, &chargeStartingCurrentInterval, sizeof(chargeStartingCurrentInterval));
addCanPacketToQueue(0x504, buffer, can2_transmit_queue, &can2_transmit_queue_size);
// sending table current and end-of-charge current command
const int socIndex = getIndexBySoc();
const int temperatureIndex = getIndexByTemperature();
float tableCurrent = 0;
if (socIndex != -1 && temperatureIndex != -1)
{
float tableValue = generalConfig->externalChargeCurrentTable[temperatureIndex][socIndex];
float pureCurrent = generalConfig->externalChargeUnitTable[temperatureIndex][socIndex];
tableCurrent = pureCurrent ? tableValue : generalConfig->batteryCapacity * tableValue;
}
float chargeEndingCurrent = 5; // TODO move to generalConfig
memcpy(buffer + 0, &tableCurrent, sizeof(tableCurrent));
memcpy(buffer + 4, &chargeEndingCurrent, sizeof(chargeEndingCurrent));
addCanPacketToQueue(0x505, buffer, can2_transmit_queue, &can2_transmit_queue_size);
// sending charge permission, charge ending, charge/discharge state command
const uint8_t chargeAllowed = packState.chargeAllowed ? 0xFF : 0x00;
const uint8_t chargeEnding = packState.SoC > 95 ? 0xFF : 0x00;
const uint8_t chargeSwitchState = charge_switch_state ? 0xFF : 0x00;
memset(buffer, '\0', sizeof(buffer));
memcpy(buffer + 0, &chargeAllowed, sizeof(chargeAllowed));
memcpy(buffer + 1, &chargeEnding, sizeof(chargeEnding));
memcpy(buffer + 2, &chargeSwitchState, sizeof(chargeSwitchState));
addCanPacketToQueue(0x506, buffer, can2_transmit_queue, &can2_transmit_queue_size);
}
void addCanPacketToQueue(uint16_t id, uint8_t* data, uint8_t* queue, uint16_t* queueSize)
{
memcpy(queue + *queueSize, &id, 2);
memcpy(queue + *queueSize + 2, data, 8);
*queueSize += 10;
}
void transmitCanPacketFromQueue(uint8_t* queue, uint16_t* queueSize, CAN_HandleTypeDef* hcan)
{
if (*queueSize < 10)
return;
uint16_t id = 0;
uint8_t data[8] = {};
memcpy(&id, queue, 2);
memcpy(data, queue + 2, 8);
*queueSize -= 10;
memmove(queue, queue + 10, *queueSize);
CAN_Transmit(id, data, 8, hcan);
}
void modem_init(){
SIM800_Var_Init(&SIM800_Struct);
@@ -2236,7 +1970,7 @@ int main(void)
//MX_CAN1_Init();
//MX_CAN2_Init();
can_msgr_init();
CAN_SetSpeed(CAN_SPD_100, &hcan1);
CAN_SetSpeed(CAN_SPD_100, &hcan2);

3
firmware/Core/Src/can.c → firmware/Libs/CAN/can.c
View File

@@ -12,7 +12,7 @@
#define CAN_BASIC_MODE CAN_MODE_NORMAL
#endif
//#include "can_messenger.h"
#include "can_messenger.h"
extern CAN_HandleTypeDef hcan1;
extern CAN_HandleTypeDef hcan2;
@@ -324,6 +324,7 @@ void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan) {
void HAL_CAN_RxFifo1MsgPendingCallback(CAN_HandleTypeDef *hcan) {
if (HAL_CAN_GetRxMessage(hcan, CAN_RX_FIFO1, &can2RX, can2Data) == HAL_OK) {
can2_receive_from_irq(&can2RX, can2Data);
//can_irq_receive(&can2RX, can2Data, 2);
}
}

0
firmware/Core/Inc/can.h → firmware/Libs/CAN/can.h
View File

354
firmware/Libs/CAN/can_messenger.c Normal file
View File

@@ -0,0 +1,354 @@
//
// Created by enik on 03.04.23.
//
#include "can_messenger.h"
#include "can.h"
//#include "modCommands.h"
#include "modPowerElectronics.h"
#include <string.h>
#include "../RingBuffer/RingBuffer.h"
extern uint64_t TIM_Clock;
extern CAN_HandleTypeDef hcan1;
extern CAN_HandleTypeDef hcan2;
uint64_t can1_transmit_clock = 0;
uint64_t can2_transmit_clock = 0;
typedef struct CAN_MSG_t {
u16_t id;
u8_t len;
u8_t msg[8];
} CAN_MSG_t;
static volatile CAN_MSG_t can1_transmit_q_msg[45]; // 540 bytes
static volatile CAN_MSG_t can2_transmit_q_msg[10]; // 120 bytes
static volatile RINGBUF_t can1_ring;
static volatile RINGBUF_t can2_ring;
static volatile CAN_MSG_t can1_buf = {0,}; // Buf for 1 packet
static volatile CAN_MSG_t can2_buf = {0,}; // Buf for 1 packet
static volatile CAN_MSG_t can1_tx_buf = {0,}; // Buf for 1 TX packet
static volatile CAN_MSG_t can2_tx_buf = {0,}; // Buf for 1 TX packet
extern modPowerElectronicsPackStateTypedef packState;
extern modConfigGeneralConfigStructTypedef *generalConfig;
static volatile bool threshold_request = 0;
static volatile bool active_request = 0;
void can_msgr_init() {
RingBuf_Init((void *) &can1_transmit_q_msg, 45, sizeof(CAN_MSG_t), (RINGBUF_t *) &can1_ring);
RingBuf_Init((void *) &can2_transmit_q_msg, 10, sizeof(CAN_MSG_t), (RINGBUF_t *) &can2_ring);
}
void transmitCan1Packet() {
if ((TIM_Clock - can1_transmit_clock) < 1000) {
return;
}
uint8_t data1[8] = {0x45};
CAN_Transmit(300, data1, 8, &hcan1);
can1_transmit_clock = TIM_Clock;
return;
CAN_TxHeaderTypeDef header;
header.IDE = CAN_ID_STD;
header.RTR = CAN_RTR_DATA;
header.StdId = 0x444;
header.DLC = 1;
uint8_t data[32] = {};
uint32_t mailbox = 0;
// sending SOC, SOH and number of cells
uint16_t id = 0x101;
memcpy(data, &id, sizeof(id));
memcpy(data + 2, &packState.SoC, sizeof(packState.SoC));
memcpy(data + 6, &packState.SoCCapacityAh, sizeof(packState.SoCCapacityAh));
memcpy(data + 10, &generalConfig->noOfCellsSeries, sizeof(generalConfig->noOfCellsSeries));
header.DLC = 11;
HAL_CAN_AddTxMessage(&hcan1, &header, data, &mailbox);
// sending charge current, discharge current // TODO
id = 0x102;
memcpy(data, &id, sizeof(id));
memcpy(data + 2, &packState.packCurrent, sizeof(packState.packCurrent));
memcpy(data + 6, &packState.loCurrentLoadCurrent, sizeof(packState.loCurrentLoadCurrent));
header.DLC = 10;
HAL_CAN_AddTxMessage(&hcan1, &header, data, &mailbox);
// sending BMS state, input state, output state // TODO
id = 0x103;
memcpy(data, &id, sizeof(id));
memcpy(data + 2, &packState.cellVoltageLow, sizeof(packState.cellVoltageLow));
memcpy(data + 6, &packState.cellVoltageAverage, sizeof(packState.cellVoltageAverage));
memcpy(data + 10, &packState.cellVoltageHigh, sizeof(packState.cellVoltageHigh));
header.DLC = 12;
HAL_CAN_AddTxMessage(&hcan1, &header, data, &mailbox);
// sending cell voltages
id = 0x200;
for (int cellPointer = 0;
cellPointer < generalConfig->noOfCellsSeries * generalConfig->noOfParallelModules; ++cellPointer) {
++id;
memcpy(data, &id, sizeof(id));
float voltage = 0;
if (packState.cellVoltagesIndividual[cellPointer].cellBleedActive)
voltage = packState.cellVoltagesIndividual[cellPointer].cellVoltage * -1000;
else
voltage = packState.cellVoltagesIndividual[cellPointer].cellVoltage * 1000;
memcpy(data + 2, &voltage, sizeof(voltage));
header.DLC = 6;
HAL_CAN_AddTxMessage(&hcan1, &header, data, &mailbox);
}
// sending temperatures
id = 0x300;
for (int sensorPointer = 0; sensorPointer < NoOfTempSensors; ++sensorPointer) {
++id;
memcpy(data, &id, sizeof(id));
float temperature = packState.temperatures[sensorPointer];
memcpy(data + 2, &temperature, sizeof(temperature));
header.DLC = 6;
HAL_CAN_AddTxMessage(&hcan1, &header, data, &mailbox);
}
can1_transmit_clock = TIM_Clock;
}
int getIndexBySoc() {
const float soc = packState.SoC;
if (soc <= 0) {
return 0;
} else if (soc <= 10 && soc > 0) {
return 1;
} else if (soc <= 20 && soc > 10) {
return 2;
} else if (soc <= 30 && soc > 20) {
return 3;
} else if (soc <= 40 && soc > 30) {
return 4;
} else if (soc <= 50 && soc > 40) {
return 5;
} else if (soc <= 60 && soc > 50) {
return 6;
} else if (soc <= 70 && soc > 60) {
return 7;
} else if (soc <= 80 && soc > 70) {
return 8;
} else if (soc <= 95 && soc > 80) {
return 9;
} else if (soc > 95) {
return 10;
}
return -1;
}
int getIndexByTemperature() {
const float temp = packState.tempBatteryAverage;
if (temp < 0) {
return 0;
} else if (temp < 2 && temp >= 0) {
return 1;
} else if (temp < 7 && temp >= 2) {
return 2;
} else if (temp < 15 && temp >= 7) {
return 3;
} else if (temp < 20 && temp >= 15) {
return 4;
} else if (temp < 45 && temp >= 20) {
return 5;
} else if (temp < 50 && temp >= 45) {
return 6;
} else if (temp < 55 && temp >= 50) {
return 7;
} else if (temp >= 55) {
return 8;
}
return -1;
}
u16_t get_table_current() {
// sending table current and end-of-charge current command
const int socIndex = getIndexBySoc();
const int temperatureIndex = getIndexByTemperature();
float tableCurrent = 0;
if (socIndex != -1 && temperatureIndex != -1) {
float tableValue = generalConfig->externalChargeCurrentTable[temperatureIndex][socIndex];
float pureCurrent = generalConfig->externalChargeUnitTable[temperatureIndex][socIndex];
return (u16_t) roundf(pureCurrent ? tableValue : generalConfig->batteryCapacity * tableValue);
}
return 0;
}
void can2_send_status() {
// id - CAN_BMS_STATUS
// len - 7
// msg[0:0] = 0: permission, 1: end_charge, 2: charging
// msg[1:2] = set_curr
// msg[3:6] = end_voltage
u8_t b0 = 0;
b0 |= (packState.chargeAllowed & 0b1) << 0; // bit 0
b0 |= ((packState.SoC > 95) & 0b1) << 1; // bit 1
b0 |= (charge_switch_state & 0b1) << 2; // bit 2
u16_t curr = get_table_current();
const float endVoltage = generalConfig->cellHardOverVoltage * (float) generalConfig->noOfCellsSeries;
can2_buf.id = CAN_BMS_STATUS;
can2_buf.len = 7;
can2_buf.msg[0] = b0; // set msg[0]
memcpy((void *) can2_buf.msg + sizeof(b0), &curr, sizeof(curr)); // set msg[1]
memcpy((void *) can2_buf.msg + sizeof(b0) + sizeof(curr), &endVoltage, sizeof(endVoltage)); // set msg[3]
RingBuf_CellPut(&can2_buf, &can2_ring);
}
void can2_send_volt_threshold() {
// id - CAN_BMS_VOLT_THRESH
// len - 8
// msg[0:3] = start_voltage
// msg[4:7] = end_voltage
// TODO: Check it
const float startVoltage = generalConfig->cellHardUnderVoltage * (float) generalConfig->noOfCellsSeries;
const float endVoltage = generalConfig->cellHardOverVoltage * (float) generalConfig->noOfCellsSeries;
can2_buf.id = CAN_BMS_VOLT_THRESH;
can2_buf.len = 8;
memcpy((void *) can2_buf.msg, &startVoltage, sizeof(startVoltage));
memcpy((void *) can2_buf.msg + sizeof(startVoltage), &endVoltage, sizeof(endVoltage));
RingBuf_CellPut(&can2_buf, &can2_ring);
}
void can2_send_volt_alarm() {
// id - CAN_BMS_VOLT_ALARM
// len - 8
// msg[0:3] = volt_alarm_lo
// msg[4:7] = volt_alarm_up
// TODO: Check it
const float startFaultVoltage = generalConfig->cellLCSoftUnderVoltage * (float) generalConfig->noOfCellsSeries;
const float endFaultVoltage = generalConfig->cellSoftOverVoltage * (float) generalConfig->noOfCellsSeries;
can2_buf.id = CAN_BMS_VOLT_ALARM;
can2_buf.len = 8;
memcpy((void *) can2_buf.msg, &startFaultVoltage, sizeof(startFaultVoltage));
memcpy((void *) can2_buf.msg + sizeof(startFaultVoltage), &endFaultVoltage, sizeof(endFaultVoltage));
RingBuf_CellPut(&can2_buf, &can2_ring);
}
void can2_send_current() {
// id - CAN_BMS_CURRENT
// len - 8
// msg[0:1] = [u16] start_current
// msg[2:3] = [u16] start_current_interval
// msg[4:5] = [u16] set_current
// msg[6:7] = [u16] end_current
u16_t chargeStartingCurrent = 15; // TODO move to generalConfig
u16_t chargeStartingCurrentInterval = 20; // in seconds TODO move to generalConfig
u16_t curr = get_table_current();
u16_t chargeEndingCurrent = 5; // TODO move to generalConfig
can2_buf.id = CAN_BMS_CURRENT;
can2_buf.len = 8;
memcpy((void *) can2_buf.msg, &chargeStartingCurrent, sizeof(chargeStartingCurrent));
memcpy((void *) can2_buf.msg + sizeof(chargeStartingCurrent),
&chargeStartingCurrentInterval,
sizeof(chargeStartingCurrentInterval));
memcpy((void *) can2_buf.msg + sizeof(chargeStartingCurrent) + sizeof(chargeStartingCurrentInterval),
&curr,
sizeof(curr));
memcpy((void *) can2_buf.msg + sizeof(chargeStartingCurrent) + sizeof(chargeStartingCurrentInterval) + sizeof(curr),
&chargeEndingCurrent,
sizeof(chargeEndingCurrent));
RingBuf_CellPut(&can2_buf, &can2_ring);
}
void can2_send_active() {
// id - CAN_BMS_ACT_VAL
// len - 6
// msg[0:3] = [float] sum_voltage
// msg[4:5] = [u16] sum_current
can2_buf.id = CAN_BMS_ACT_VAL;
can2_buf.len = 6;
memcpy((void *) can2_buf.msg, &packState.packVoltage, sizeof(packState.packVoltage));
memcpy((void *) can2_buf.msg + sizeof(packState.packVoltage),
&packState.packCurrent, sizeof(packState.packCurrent));
RingBuf_CellPut(&can2_buf, &can2_ring);
}
void transmitCan2Packet() {
if (threshold_request) {
// Send 501 - status, 503 - volt. threshold, 504 - volt. alarm, 505 - current
can2_send_status(); // 501
can2_send_volt_threshold(); // 503
can2_send_volt_alarm(); // 504
can2_send_current(); // 505
threshold_request = 0;
}
if (active_request){
// send 507 - active values
can2_send_active();
active_request = 0;
}
if ((TIM_Clock - can2_transmit_clock) < 10) {
return;
}
can2_transmit_clock = TIM_Clock;
can2_send_status();
}
void transmitCanPacketFromQueueCan1(void) {
if (!HAL_CAN_GetTxMailboxesFreeLevel(&hcan1)) return; // if no free mailboxes
u16_t len = 0;
RingBuf_Available(&len, &can1_ring);
if (!len) return;
RingBuf_CellRead(&can1_tx_buf, &can1_ring);
CAN_Transmit(can1_tx_buf.id, can1_tx_buf.msg, can1_tx_buf.len, &hcan1);
}
u32_t ctr;
void transmitCanPacketFromQueueCan2(void) {
if (!HAL_CAN_GetTxMailboxesFreeLevel(&hcan2)) return; // if no free mailboxes
u16_t len = 0;
RingBuf_Available(&len, &can2_ring);
if (!len) return;
// volatile u32_t delta = HAL_GetTick() - ctr;
// ctr = HAL_GetTick();
//
// __NOP();
RingBuf_CellRead(&can2_tx_buf, &can2_ring);
CAN_Transmit(can2_tx_buf.id, can2_tx_buf.msg, can2_tx_buf.len, &hcan2);
}
void can2_receive_from_irq(CAN_RxHeaderTypeDef *hdr, uint8_t *data) {
// If remote frame with STD ID
if (hdr->RTR == CAN_RTR_REMOTE && hdr->IDE == CAN_ID_STD) {
if (hdr->StdId == CAN_BMS_THRESH_REQ) { // if Threshold request
threshold_request = 1;
} else if (hdr->StdId == CAN_BMS_ACT_REQ) { // if Active request
active_request = 1;
}
}
}

38
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//
// Created by enik on 03.04.23.
//
#ifndef BMS_V3_CAN_MESSENGER_H
#define BMS_V3_CAN_MESSENGER_H
#include "../Core/Inc/main.h"
/**
* @brief CAN BMS ID description enum
*/
typedef enum CAN_BMS_ID {
CAN_BMS_HEARTBEAT = 0x500U, ///< [BMS->Charger][RTR] Heartbeat
CAN_BMS_STATUS = 0x501U, ///< [BMS->Charger][L:7] Status packet
CAN_BMS_THRESH_REQ = 0x502U, ///< [Charger->BMS][RTR] Threshold request
CAN_BMS_VOLT_THRESH = 0x503U, ///< [BMS->Charger][L:8] Voltage threshold
CAN_BMS_VOLT_ALARM = 0x504U, ///< [BMS->Charger][L:8] Voltage alarm
CAN_BMS_CURRENT = 0x505U, ///< [BMS->Charger][L:6] Current control
CAN_BMS_ACT_REQ = 0x506U, ///< [Charger->BMS][RTR] Active values request
CAN_BMS_ACT_VAL = 0x507U, ///< [BMS->Charger][L:6] Active values
} CAN_BMS_ID;
void can_msgr_init();
void transmitCan1Packet();
int getIndexBySoc();
int getIndexByTemperature();
void transmitCan2Packet();
void addCanPacketToQueue(uint16_t id, uint8_t len, uint8_t *data, uint8_t *queue, uint16_t *queueSize);
//void transmitCanPacketFromQueue(uint8_t* queue, uint16_t* queueSize, CAN_HandleTypeDef* hcan);
void transmitCanPacketFromQueueCan1(void);
void transmitCanPacketFromQueueCan2(void);
void can2_receive_from_irq(CAN_RxHeaderTypeDef *hdr, uint8_t* data);
#endif //BMS_V3_CAN_MESSENGER_H

236
firmware/Libs/RingBuffer/RingBuffer.c Normal file
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/**
*******************************************
* @file RingBuffer.c
* @author Dmitriy Semenov / Crazy_Geeks
* @version 1.2
* @date 05-March-2022
* @brief Source file for RingBuffer lib
* @note https://crazygeeks.ru/c-ringbuffer/
*******************************************
*/
#include "RingBuffer.h"
/**
* @addtogroup RING_BUF
* @{
*/
/**
* @brief Init ring buffer
*
* @param[in] buf Pointer to the allocated buffer
* @param[in] size Size of buffer
* @param[in] cellsize Size of 1 cell [bytes]
* @param[in] rb #RINGBUF_t structure instance
* @return #RINGBUF_STATUS enum
*/
RINGBUF_STATUS RingBuf_Init(void *buf, u16_t size, size_t cellsize, RINGBUF_t *rb) {
rb->size = size; // size of array
rb->cell_size = cellsize; // size of 1 cell of array
rb->buf = buf; // set pointer to buffer
RingBuf_Clear(rb); // clear all
return rb->buf ? RINGBUF_OK : RINGBUF_PARAM_ERR;
}
/**
* @brief Clear ring buffer
* @note Disable interrupts while clearing
*
* @param[in] rb #RINGBUF_t structure instance
* @return #RINGBUF_STATUS enum
*/
RINGBUF_STATUS RingBuf_Clear(RINGBUF_t *rb) {
if (rb->buf == NULL) return RINGBUF_PARAM_ERR;
rb->head = rb->tail = 0;
return RINGBUF_OK;
}
/**
* @brief Check available size to read
*
* @param[out] len Size to read [bytes]
* @param[in] rb #RINGBUF_t structure instance
* @return #RINGBUF_STATUS enum
*/
RINGBUF_STATUS RingBuf_Available(u16_t *len, RINGBUF_t *rb) {
if (rb->buf == NULL) return RINGBUF_PARAM_ERR;
if (rb->head < rb->tail)
*len = rb->size - rb->tail + rb->head;
else
*len = rb->head - rb->tail;
return RINGBUF_OK;
}
/**
* @brief Put byte to the buffer
*
* @param[in] data Data byte to be put [bytes]
* @param[in] rb #RINGBUF_t structure instance
* @return #RINGBUF_STATUS enum
*/
RINGBUF_STATUS RingBuf_BytePut(const u8_t data, RINGBUF_t *rb) {
if (rb->buf == NULL) return RINGBUF_PARAM_ERR;
rb->buf[rb->head++] = data; // put byte in cell and increment data
if (rb->head >= rb->size) // if overflow
rb->head = 0; // set to start
return RINGBUF_OK;
}
/**
* @brief Put 1 cell to the buffer
* @param[in] data Pointer to data
* @param[in] rb #RINGBUF_t structure instance
* @return #RINGBUF_STATUS enum
*/
RINGBUF_STATUS RingBuf_CellPut(const void *data, RINGBUF_t *rb) {
return RingBuf_DataPut(data, 1, rb);
}
/**
* @brief Put some data to the buffer
*
* @param[in] data Data to be put
* @param[in] len Length of data to be written [bytes]
* @param[in] rb #RINGBUF_t structure instance
* @return #RINGBUF_STATUS enum
*/
RINGBUF_STATUS RingBuf_DataPut(const void *data, u16_t len, RINGBUF_t *rb) {
if (rb->buf == NULL) return RINGBUF_PARAM_ERR;
if (len > rb->size)
return RINGBUF_OVERFLOW;
const char *input = data; // recast pointer
// INPUT data index start address
size_t s_addr = 0;
// available space in the end of buffer
size_t space = rb->size - rb->head;
if (len > space) { // if len > available space
// copy data to available space
memcpy(&rb->buf[rb->head*rb->cell_size], &input[s_addr * rb->cell_size], space * rb->cell_size);
// next writing will start from 0
rb->head = 0;
// new start address = space length
s_addr = space;
// new length = len-space
len -= space;
}
// copy all the data to the buf storage
memcpy(&rb->buf[rb->head*rb->cell_size], &input[s_addr * rb->cell_size], len * rb->cell_size);
// shift to the next head
rb->head += len;
if (rb->head >= rb->size)
rb->head = 0;
return RINGBUF_OK;
}
/**
* @brief Read next byte from the buffer
*
* @param[out] data Data byte from the buffer
* @param[in] rb #RINGBUF_t structure instance
* @return #RINGBUF_STATUS enum
*/
RINGBUF_STATUS RingBuf_ByteRead(u8_t *data, RINGBUF_t *rb) {
if (rb->buf == NULL) return RINGBUF_PARAM_ERR;
RINGBUF_STATUS st = RingBuf_ByteWatch(data, rb);
if (st != RINGBUF_OK)
return st;
rb->tail++;
if (rb->tail >= rb->size)
rb->tail = 0;
return st;
}
/**
* @brief Read 1 cell from buf
* @param[out] data Data cell from the buffer
* @param[in] rb #RINGBUF_t structure instance
* @return #RINGBUF_STATUS enum
*/
RINGBUF_STATUS RingBuf_CellRead(void *data, RINGBUF_t *rb) {
return RingBuf_DataRead(data, 1, rb);
}
/**
* @brief Read some next data from the buffer
*
* @param[out] data Data from the buffer
* @param[in] len Length of data to be read [bytes]
* @param[in] rb #RINGBUF_t structure instance
* @return #RINGBUF_STATUS enum
*/
RINGBUF_STATUS RingBuf_DataRead(void *data, u16_t len, RINGBUF_t *rb) {
if (rb->buf == NULL) return RINGBUF_PARAM_ERR;
// read data
RINGBUF_STATUS st = RingBuf_DataWatch(data, len, rb);
if (st != RINGBUF_OK)
return st;
// shift to the next head
rb->tail += len;
if (rb->tail >= rb->size)
rb->tail = 0;
return st;
}
/**
* @brief Watch current byte in buf
* @note Reads data without shifting in the buffer
*
* @param[out] data Pointer to data byte got from buffer
* @param[in] rb #RINGBUF_t structure instance
* @return #RINGBUF_STATUS enum
*/
RINGBUF_STATUS RingBuf_ByteWatch(u8_t *data, RINGBUF_t *rb) {
if (data == NULL) return RINGBUF_PARAM_ERR;
*data = rb->buf[rb->tail];
return RINGBUF_OK;
}
/**
* @brief Watch 1 cell from buf
* @note Reads data without shifting in the buffer
*
* @param[out] data Pointer to data cell got from buffer
* @param[in] #RINGBUF_t structure instance
* @return #RINGBUF_STATUS enum
*/
RINGBUF_STATUS RingBuf_CellWatch(void *data, RINGBUF_t *rb) {
return RingBuf_DataWatch(data, 1, rb);
}
/**
* @brief Watch current data in the buf
* @note Reads data without shifting in the buffer
*
* @param[out] data Data from buffer
* @param[in] len Length of data to be read [bytes]
* @param[in] rb #RINGBUF_t structure instance
* @return #RINGBUF_STATUS enum
*/
RINGBUF_STATUS RingBuf_DataWatch(void *data, u16_t len, RINGBUF_t *rb) {
if (data == NULL)
return RINGBUF_PARAM_ERR;
if (len > rb->size)
return RINGBUF_OVERFLOW;
// OUTPUT data index start address
u16_t s_addr = 0;
// available space in the end of buffer
u16_t space = rb->size - rb->tail;
u16_t loc_tail = rb->tail;
if (len > space) { // if len > available space
// recast pointer to u8_t
// copy data from available space
memcpy(&data[s_addr * rb->cell_size], &rb->buf[loc_tail * rb->cell_size], space * rb->cell_size);
// next reading will start from 0
loc_tail = 0;
// new start address - space length
s_addr = space;
// new length - len-space
len -= space;
}
// copy all the data from the buf storage
memcpy(&data[s_addr * rb->cell_size], &rb->buf[loc_tail * rb->cell_size], len * rb->cell_size);
return RINGBUF_OK;
}
/// @} RING_BUF Group

77
firmware/Libs/RingBuffer/RingBuffer.h Normal file
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/**
*******************************************
* @file RingBuffer.h
* @author Dmitriy Semenov / Crazy_Geeks
* @version 1.2
* @date 05-March-2022
* @brief Header file for RingBuffer lib
* @note https://crazygeeks.ru/c-ringbuffer/
*******************************************
*/
#ifndef RING_BUF_H_
#define RING_BUF_H_
#ifdef __cplusplus
extern "C" {
#endif
#include "libs.h"
/**
* @addtogroup RING_BUF
* @brief Ring buffer implementation
* @{
*/
/**
* @struct RINGBUF_t
* @brief Ring buffer unit
*/
typedef struct RINGBUF_t{
u8_t *buf; ///< Storage of the buffer
volatile size_t tail; ///< Place of read point [cells]
volatile size_t head; ///< Place of write point [cells]
volatile size_t size; ///< Size of buffer [cells]
volatile size_t cell_size; ///< Size of one cell [bytes]
} RINGBUF_t;
/**
* @enum RINGBUF_STATUS
* @brief Ring buf status enum
*
* RINGBUF_X
* X: OK, ERR, PARAM_ERR, OVERFLOW
*/
typedef enum RINGBUF_STATUS{
RINGBUF_OK, ///< Success status
RINGBUF_ERR, ///< Error
RINGBUF_PARAM_ERR, ///< Parameter error
RINGBUF_OVERFLOW, ///< Buffer overflow
} RINGBUF_STATUS;
RINGBUF_STATUS RingBuf_Init(void *buf, u16_t size, size_t cellsize, RINGBUF_t *rb); // Init buf
RINGBUF_STATUS RingBuf_Clear(RINGBUF_t *rb); // Clear buf
RINGBUF_STATUS RingBuf_Available(u16_t *len, RINGBUF_t *rb); // Data available
// Put: add data to buffer
RINGBUF_STATUS RingBuf_BytePut(u8_t data, RINGBUF_t *rb); // Put byte to the buf
RINGBUF_STATUS RingBuf_CellPut(const void *data, RINGBUF_t *rb); // Put 1 cell to the buf
RINGBUF_STATUS RingBuf_DataPut(const void *data, u16_t len, RINGBUF_t *rb); // Put data to the buf
// Read: Get data & flush it
RINGBUF_STATUS RingBuf_ByteRead(u8_t *data, RINGBUF_t *rb); // Read byte from buf
RINGBUF_STATUS RingBuf_CellRead(void *data, RINGBUF_t *rb); // Read 1 cell from buf
RINGBUF_STATUS RingBuf_DataRead(void *data, u16_t len, RINGBUF_t *rb); // Read data from buf
// Watch: Get data without flushing
RINGBUF_STATUS RingBuf_ByteWatch(u8_t *data, RINGBUF_t *rb); // Watch byte from buf
RINGBUF_STATUS RingBuf_CellWatch(void *data, RINGBUF_t *rb); // Watch 1 cell from buf
RINGBUF_STATUS RingBuf_DataWatch(void *data, u16_t len, RINGBUF_t *rb); // Watch data form buf
/// @} RING_BUF Group
#ifdef __cplusplus
}
#endif
#endif /* RING_BUF_H_ */

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firmware/Libs/Utils/micros.c Executable file
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//
// Created by enik on 18.02.2022.
//
#include "micros.h"
#define DWT_CYCCNT *(volatile uint32_t*)0xE0001004
#define DWT_CONTROL *(volatile uint32_t*)0xE0001000
#define SCB_DEMCR *(volatile uint32_t*)0xE000EDFC
static volatile bool dwt_enabled = 0;
/**
* @brief Enable DWT Counter
*/
void EnableDWT(void){
SCB_DEMCR |= CoreDebug_DEMCR_TRCENA_Msk; // allow to use DWT
DWT_CONTROL |= DWT_CTRL_CYCCNTENA_Msk; // Start DWT counter
dwt_enabled = 1;
}
/**
* @brief Delay Microseconds
* @param[in] val Value in microseconds to delay
*/
void DelayMicros(u32_t val){
if (!dwt_enabled) EnableDWT();
u32_t us_count_tic = val * (SystemCoreClock / 1000000); // get delay value in ticks
DWT->CYCCNT = 0U; // zero counter value
while(DWT->CYCCNT < us_count_tic);
}
/**
* @brief Start code measure from this point
*/
void StartCodeMeasure(void){
if (!dwt_enabled) EnableDWT();
DWT_CYCCNT = 0; // zero counter value
}
/**
* @brief Stop code measure in this point
* @param[out] micros Value in microseconds
*/
void StopCodeMeasure(u32_t *micros){
if (!dwt_enabled){ *micros = 0; return; }
//*micros = DWT_CYCCNT / SystemCoreClock; // get counter value
*micros = DWT_CYCCNT; // get counter value
}

21
firmware/Libs/Utils/micros.h Executable file
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@@ -0,0 +1,21 @@
//
// Created by enik on 07.03.2022.
//
#ifndef _MICROS_H
#define _MICROS_H
#ifdef __cplusplus
extern "C" {
#endif
#include "libs.h"
void EnableDWT(void);
void DelayMicros(u32_t val);
void StartCodeMeasure(void);
void StopCodeMeasure(u32_t *micros);
#ifdef __cplusplus
}
#endif
#endif // _MICROS_H

29
firmware/Libs/libs.h Executable file
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/**
*******************************************
* @file libs.h
* @author Dmitriy Semenov / Crazy_Geeks
* @brief Internal header for adding sys libs and defines
*******************************************
*/
#ifndef LIBS_H_
#define LIBS_H_
#include "main.h" ///< Main project file
#include <stdlib.h> ///< Standard library
#include <stdint.h> ///< Std types
#include <stdbool.h> ///< _Bool to bool
#include <string.h> ///< Lib for memcpy, strlen, etc
#include <stdio.h> ///< Lib for sprintf, printf, etc
typedef uint8_t u8_t; ///< 8-bit unsigned
typedef int8_t i8_t; ///< 8-bit signed
typedef uint16_t u16_t; ///< 16-bit unsigned
typedef int16_t i16_t; ///< 16-bit signed
typedef uint32_t u32_t; ///< 32-bit unsigned
typedef int32_t i32_t; ///< 32-bit signed
typedef float fl_t; ///< float type
#define __USR_BKPT() __asm__ __volatile__("BKPT")
#endif /* LIBS_H_ */