Final Firmware used at Comp

Node/.gitignore

@@ -1,4 +1,5 @@
 build/
+Build/
 Drivers
 Makefile
 .mxproject
@@ -8,5 +9,13 @@ Core/Inc
 Core/Src
 !Core/Src/main.c
 !Core/Inc/main.h
+!Core/Src/can_handler.c
+!Core/Inc/can_handler.h
+!Core/Inc/utilities.h
+!Core/Inc/can_message_defs.h
+!Core/Src/state.c
+!Core/Inc/state.h
+!Core/Src/motor_control.c
+!Core/Inc/motor_control.h
 compile_commands.json
 .cache/

Node/CMakeLists.txt

@@ -13,8 +13,6 @@ set(STM32CUBEMX_GENERATED_FILES
     Core/Src/main.c
     Core/Src/gpio.c
     Core/Src/can.c
-    Core/Src/i2c.c
-    Core/Src/spi.c
     Core/Src/tim.c
     Core/Src/usart.c
     Core/Src/stm32f3xx_it.c
@@ -43,15 +41,30 @@ set(STM32CUBEMX_GENERATED_FILES
     startup_stm32f334x8.s
 )
 
+set(STM32_USER_CREATED_FILES
+    Core/Src/can_handler.c
+    Core/Src/state.c
+    Core/Src/motor_control.c
+)
+
+set(EXTERNAL_FILES
+    External/Src/bldc_interface_uart.c
+    External/Src/bldc_interface.c
+    External/Src/buffer.c
+    External/Src/crc.c
+    External/Src/packet.c
+)
+
 set(EXECUTABLE ${PROJECT_NAME}.out)
-add_executable(${EXECUTABLE} ${STM32CUBEMX_GENERATED_FILES})
+add_executable(${EXECUTABLE} ${STM32CUBEMX_GENERATED_FILES} ${STM32_USER_CREATED_FILES} ${EXTERNAL_FILES})
 
 target_compile_definitions(${EXECUTABLE} PRIVATE
     -DUSE_HAL_DRIVER
     -DSTM32F334x8
 )
 
 target_include_directories(${EXECUTABLE} PRIVATE
+    External/Inc
     Core/Inc
     Drivers/STM32F3xx_HAL_Driver/Inc
     Drivers/CMSIS/Device/ST/STM32F3xx/Include
@@ -69,7 +82,7 @@ target_compile_options(${EXECUTABLE} PRIVATE
 
     -Wall
 
-    $<$<CONFIG:Debug>:-Og>
+    -Og
 )
 
 target_link_options(${EXECUTABLE} PRIVATE

Node/Core/Inc/can_handler.h

@@ -0,0 +1,21 @@
+#include <can.h>
+
+typedef struct CanMessage
+{
+    uint16_t id;
+    uint8_t len;
+    uint8_t data[8];
+} CanMessage;
+
+typedef enum CanStatus
+{
+    CAN_GOOD,
+    CAN_RX_FIFO_EMPTY,
+    CAN_TX_MAILBOXES_FULL,
+    CAN_DATA_TOO_LONG,
+} CanStatus;
+
+CanStatus receive_can_message(CanMessage* message);
+CanStatus send_can_message(CanMessage* message);
+CanStatus send_can_message_blocking(CanMessage* message);
+void handle_can_messages(uint8_t num_msgs_to_handle);

Node/Core/Inc/can_message_defs.h

@@ -0,0 +1,70 @@
+#define HEARTBEAT_ID        0x0001
+
+#define STATE_CHANGE_CAN_ID          0x0010
+#define STANDBY_REQUEST_CAN_ID       0x0011
+#define AUTONOMOUS_REQUEST_CAN_ID    0x0012
+#define MANUAL_REQUEST_CAN_ID        0x0013
+#define BOOT_RESPONSE_CAN_ID         0x0016
+#define STANDBY_RESPONSE_CAN_ID      0x0017
+#define AUTONOMOUS_RESPONSE_CAN_ID   0x0018
+#define MANUAL_RESPONSE_CAN_ID       0x0019
+
+#define NODE_GOOD_CAN_ID_MASK 0x0014
+#define NODE_BAD_CAN_ID_MASK  0x0015
+
+#define MOTOR_CONTROL_RPM_MASK_MANUAL 0x0020
+#define MOTOR_1_RPM_MANUAL            0x0021
+#define MOTOR_2_RPM_MANUAL            0x0022
+#define MOTOR_3_RPM_MANUAL            0x0023
+
+#define MOTOR_CONTROL_RPM_MASK_AUTONOMOUS 0x0040
+#define MOTOR_1_RPM_AUTONOMOUS            0x0041
+#define MOTOR_2_RPM_AUTONOMOUS            0x0042
+#define MOTOR_3_RPM_AUTONOMOUS            0x0043
+
+#define IS_MOTOR1_RPM_CONTROL(motor) ((motor == MOTOR_1_RPM_AUTONOMOUS) || (motor == MOTOR_1_RPM_MANUAL))
+#define IS_MOTOR2_RPM_CONTROL(motor) ((motor == MOTOR_2_RPM_AUTONOMOUS) || (motor == MOTOR_2_RPM_MANUAL))
+#define IS_MOTOR3_RPM_CONTROL(motor) ((motor == MOTOR_3_RPM_AUTONOMOUS) || (motor == MOTOR_3_RPM_MANUAL))
+
+#define MOTOR_CONTROL_CURRENT_MASK_MANUAL 0x0080
+#define MOTOR_1_CURRENT_MANUAL            0x0081
+#define MOTOR_2_CURRENT_MANUAL            0x0082
+#define MOTOR_3_CURRENT_MANUAL            0x0083
+
+#define MOTOR_CONTROL_CURRENT_MASK_AUTONOMOUS 0x0100
+#define MOTOR_1_CURRENT_AUTONOMOUS            0x0101
+#define MOTOR_2_CURRENT_AUTONOMOUS            0x0102
+#define MOTOR_3_CURRENT_AUTONOMOUS            0x0103
+
+#define IS_MOTOR1_CURRENT_CONTROL(motor) ((motor == MOTOR_1_CURRENT_AUTONOMOUS) || (motor == MOTOR_1_CURRENT_MANUAL))
+#define IS_MOTOR2_CURRENT_CONTROL(motor) ((motor == MOTOR_2_CURRENT_AUTONOMOUS) || (motor == MOTOR_2_CURRENT_MANUAL))
+#define IS_MOTOR3_CURRENT_CONTROL(motor) ((motor == MOTOR_3_CURRENT_AUTONOMOUS) || (motor == MOTOR_3_CURRENT_MANUAL))
+
+#define MOTOR_CONTROL_DUTY_CYCLE_MASK_MANUAL 0x0200
+#define MOTOR_1_DUTY_CYCLE_MANUAL            0x0201
+#define MOTOR_2_DUTY_CYCLE_MANUAL            0x0202
+#define MOTOR_3_DUTY_CYCLE_MANUAL            0x0203
+
+#define MOTOR_CONTROL_DUTY_CYCLE_MASK_AUTONOMOUS 0x0400
+#define MOTOR_1_DUTY_CYCLE_AUTONOMOUS            0x0401
+#define MOTOR_2_DUTY_CYCLE_AUTONOMOUS            0x0402
+#define MOTOR_3_DUTY_CYCLE_AUTONOMOUS            0x0403
+
+#define IS_MOTOR1_DUTY_CYCLE_CONTROL(motor) ((motor == MOTOR_1_DUTY_CYCLE_AUTONOMOUS) || (motor == MOTOR_1_DUTY_CYCLE_MANUAL))
+#define IS_MOTOR2_DUTY_CYCLE_CONTROL(motor) ((motor == MOTOR_2_DUTY_CYCLE_AUTONOMOUS) || (motor == MOTOR_2_DUTY_CYCLE_MANUAL))
+#define IS_MOTOR3_DUTY_CYCLE_CONTROL(motor) ((motor == MOTOR_3_DUTY_CYCLE_AUTONOMOUS) || (motor == MOTOR_3_DUTY_CYCLE_MANUAL))
+
+#define WIRELESS_ESTOP  120
+
+#define LED_1_TEST_ON    0x0002
+#define LED_2_TEST_ON    0x0003
+#define LAMP_1_TEST_ON   0x0004
+#define LAMP_2_TEST_ON   0x0005
+#define LAMP_3_TEST_ON   0x0006
+#define LAMP_4_TEST_ON   0x0007
+#define LED_1_TEST_OFF   0x0008
+#define LED_2_TEST_OFF   0x0009
+#define LAMP_1_TEST_OFF  0x000a
+#define LAMP_2_TEST_OFF  0x000b
+#define LAMP_3_TEST_OFF  0x000c
+#define LAMP_4_TEST_OFF  0x000d

Node/Core/Inc/main.h

@@ -36,6 +36,8 @@ extern "C" {
 
 /* Exported types ------------------------------------------------------------*/
 /* USER CODE BEGIN ET */
+#include "bldc_interface.h"
+
 
 /* USER CODE END ET */
 
@@ -53,6 +55,11 @@ extern "C" {
 void Error_Handler(void);
 
 /* USER CODE BEGIN EFP */
+extern BldcInterface motor1;
+extern BldcInterface motor2;
+extern BldcInterface motor3;
+extern uint8_t vesc_data_valid[3];
+int heartbeat_expired(uint32_t last_heartbeat_received_ms);
 
 /* USER CODE END EFP */
 

Node/Core/Inc/motor_control.h

@@ -0,0 +1,10 @@
+#ifndef MOTOR_CONTROL_H
+#define MOTOR_CONTROL_H
+
+#include <stdint.h>
+
+void motor_control_rpm(uint32_t id, uint8_t data[]);
+void motor_control_current(uint32_t id, uint8_t data[]);
+void motor_control_duty_cycle(uint32_t id, uint8_t data[]);
+
+#endif

Node/Core/Inc/state.h

@@ -0,0 +1,20 @@
+#ifndef STATE_H
+#define STATE_H
+
+#include <stdint.h>
+
+typedef enum
+{
+  STANDBY,
+  AUTONOMOUS,
+  MANUAL,
+  BOOT
+} state;
+
+void get_next_state(uint32_t id);
+
+extern state curr_state;
+extern state next_state;
+extern uint32_t last_heartbeat_received;
+
+#endif

Node/Core/Inc/utilities.h

@@ -0,0 +1 @@
+#define ARRAY_SIZE(arr) (sizeof(arr)/sizeof(arr[0]))