Fixed L471 not Building, Renaming Navigation (#76)

* Added LF71 to Cmake, modified necessary HALs to support nav * Fixed include path error * Renamed Navigation to Torque Vectoring, changed old TV to Torque Vectoring (FPGA) --------- Co-authored-by: AdityaAsGithub <[email protected]>
PurdueElectricRacing · Dec 9, 2023 · 4560da9 · 4560da9
1 parent 0d829b9
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Showing 57 changed files with 1,434 additions and 1,375 deletions.
diff --git a/.vscode/launch.json b/.vscode/launch.json
@@ -61,9 +61,9 @@
             "preLaunchTask": "build",
             "runToEntryPoint": "main"
         },
-        {   "name": "Navigation",
+        {   "name": "Torque Vectoring",
             "cwd": "${workspaceRoot}",
-            "executable": "./output/navigation/navigation.elf",
+            "executable": "./output/torque_vector/torque_vector.elf",
             "request": "launch",
             "type": "cortex-debug",
             "servertype": "openocd",
@@ -75,7 +75,7 @@
             ],
             "debuggerArgs": [
                 "-d",
-                "${workspaceFolder}/source/navigation"
+                "${workspaceFolder}/source/torque_vector"
             ],
             "preLaunchTask": "build",
             "runToEntryPoint": "main"
@@ -156,9 +156,9 @@
             // "preLaunchTask": "build",
             "runToEntryPoint": "main"
         },
-        {   "name": "Torque Vectoring",
+        {   "name": "Torque Vectoring (FPGA)",
             "cwd": "${workspaceRoot}",
-            "executable": "./output/torque_vector/torque_vector.elf",
+            "executable": "./output/torque_vector_fpga/torque_vector_fpga.elf",
             "request": "launch",
             "type": "cortex-debug",
             "servertype": "openocd",
@@ -170,7 +170,7 @@
             ],
             "debuggerArgs": [
                 "-d",
-                "${workspaceFolder}/source/torque_vector"
+                "${workspaceFolder}/source/torque_vector_fpga"
             ],
             "preLaunchTask": "build",
             "runToEntryPoint": "main"
@@ -289,9 +289,9 @@
             "preLaunchTask": "build",
             "runToEntryPoint": "main"
         },
-        {   "name": "BL App - Torque Vectoring",
+        {   "name": "BL App - Torque Vectoring (FPGA)",
             "cwd": "${workspaceRoot}",
-            "executable": "./output/torque_vector/BL_torque_vector.elf",
+            "executable": "./output/torque_vector_fpga/BL_torque_vector_fpga.elf",
             "request": "launch",
             "type": "cortex-debug",
             "servertype": "openocd",
@@ -303,7 +303,7 @@
             ],
             "debuggerArgs": [
                 "-d",
-                "${workspaceFolder}/source/torque_vector"
+                "${workspaceFolder}/source/torque_vector_fpga"
             ],
             "preLaunchTask": "build",
             "runToEntryPoint": "main"

diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -43,6 +43,7 @@ include(cmake/FindSTM32HAL.cmake)
 
 # See cmake/FindCMSIS.cmake and cmake/FindSTM32HAL.cmake for constructing additional libraries
 make_cmsis_library(CMSIS_L432 STM32L4xx STM32L432xx ${CMAKE_SOURCE_DIR}/common/STM32CubeL4/Drivers/CMSIS)
+make_cmsis_library(CMSIS_L471 STM32L4xx STM32L471xx ${CMAKE_SOURCE_DIR}/common/STM32CubeL4/Drivers/CMSIS)
 make_cmsis_library(CMSIS_L496 STM32L4xx STM32L496xx ${CMAKE_SOURCE_DIR}/common/STM32CubeL4/Drivers/CMSIS)
 make_cmsis_library(CMSIS_F407 STM32F4xx STM32F407xx ${CMAKE_SOURCE_DIR}/common/STM32CubeF4/Drivers/CMSIS)
 make_cmsis_library(CMSIS_F732 STM32F7xx STM32F732xx ${CMAKE_SOURCE_DIR}/common/STM32CubeF7/Drivers/CMSIS)
@@ -86,10 +87,14 @@ add_subdirectory(source/bootloader)
 add_subdirectory(source/l4_testing)
 add_subdirectory(source/f4_testing)
 add_subdirectory(source/f7_testing)
-add_subdirectory(source/torque_vector)
 add_subdirectory(source/precharge)
-# add_subdirectory(source/driveline)
+add_subdirectory(source/torque_vector)
 add_subdirectory(source/dashboard)
+add_subdirectory(source/pdu)
+
+
+# Deprecated Components
+# add_subdirectory(source/driveline)
+# add_subdirectory(source/torque_vector_fpga)
 # add_subdirectory(source/template)
 # add_subdirectory(source/bms)
-add_subdirectory(source/pdu)
diff --git a/common/daq/can_config.json b/common/daq/can_config.json
@@ -211,7 +211,7 @@
                     ]
                 },
                 {
-                    "node_name":"Torque_Vector",
+                    "node_name":"Torque_Vector_fpga",
                     "node_ssa":2,
                     "tx":[
                         {   "msg_name":"torque_request",
@@ -583,7 +583,7 @@
                     ]
                 },
                 {
-                    "node_name":"Navigation",
+                    "node_name":"torque_vector",
                     "node_ssa": 55,
                     "tx":[
                         {   "msg_name":"gps_velocity",

diff --git a/common/daq/per_dbc.dbc b/common/daq/per_dbc.dbc
@@ -33,7 +33,7 @@ NS_ :
 
 BS_:
 
-BU_: Main_Module Torque_Vector Driveline Precharge OrionBMS Navigation Dashboard Steering Acceleration bootloader BMS_LV BITSTREAM Charger DAQ Precharge ARDUINO TEST_NODE TEST_NODE_2 DAQ
+BU_: Main_Module Torque_Vector_fpga Driveline Precharge OrionBMS torque_vector Dashboard Steering Acceleration bootloader BMS_LV BITSTREAM Charger DAQ Precharge ARDUINO TEST_NODE TEST_NODE_2 DAQ
 
 
 BO_ 2214598913 main_hb: 2 Main_Module
@@ -129,17 +129,17 @@ BO_ 2148059649 fault_sync_main_module: 3 Main_Module
 BO_ 2550136769 daq_response_MAIN_MODULE: 8 Main_Module
  SG_ daq_response : 0|64@1+ (1,0) [0|0] "" Vector__XXX
 
-BO_ 2214592578 torque_request: 6 Torque_Vector
+BO_ 2214592578 torque_request: 6 Torque_Vector_fpga
  SG_ rear_right : 36|12@1+ (1,0) [0|0] "" Vector__XXX
  SG_ rear_left : 24|12@1+ (1,0) [0|0] "" Vector__XXX
  SG_ front_right : 12|12@1+ (1,0) [0|0] "" Vector__XXX
  SG_ front_left : 0|12@1+ (1,0) [0|0] "" Vector__XXX
 
-BO_ 2147490050 bitstream_flash_status: 1 Torque_Vector
+BO_ 2147490050 bitstream_flash_status: 1 Torque_Vector_fpga
  SG_ flash_timeout_rx : 1|1@1+ (1,0) [0|0] "" Vector__XXX
  SG_ flash_success : 0|1@1+ (1,0) [0|0] "" Vector__XXX
 
-BO_ 2148059714 fault_sync_torque_vector: 3 Torque_Vector
+BO_ 2148059714 fault_sync_torque_vector_fpga: 3 Torque_Vector_fpga
  SG_ latched : 16|1@1+ (1,0) [0|0] "" Vector__XXX
  SG_ idx : 0|16@1+ (1,0) [0|0] "" Vector__XXX
 
@@ -315,64 +315,64 @@ BO_ 2348812088 orion_errors: 4 OrionBMS
  SG_ charger_safety_relay : 1|1@1+ (1,0) [0|0] "" Vector__XXX
  SG_ discharge_limit_enforce : 0|1@1+ (1,0) [0|0] "" Vector__XXX
 
-BO_ 2348810935 gps_velocity: 8 Navigation
+BO_ 2348810935 gps_velocity: 8 torque_vector
  SG_ gps_vel_total : 48|16@1- (0.01,0) [0|0] "m/s" Vector__XXX
  SG_ gps_vel_d : 32|16@1- (0.01,0) [0|0] "m/s" Vector__XXX
  SG_ gps_vel_e : 16|16@1- (0.01,0) [0|0] "m/s" Vector__XXX
  SG_ gps_vel_n : 0|16@1- (0.01,0) [0|0] "m/s" Vector__XXX
 
-BO_ 2348819255 gps_position: 8 Navigation
+BO_ 2348819255 gps_position: 8 torque_vector
  SG_ height : 48|16@1- (0.01,0) [0|0] "m" Vector__XXX
  SG_ gps_pos_z : 32|16@1- (0.01,0) [0|0] "m" Vector__XXX
  SG_ gps_pos_y : 16|16@1- (0.01,0) [0|0] "m" Vector__XXX
  SG_ gps_pos_x : 0|16@1- (0.01,0) [0|0] "m" Vector__XXX
 
-BO_ 2348819319 gps_coordinates: 8 Navigation
+BO_ 2348819319 gps_coordinates: 8 torque_vector
  SG_ longitude : 32|32@1- (1,0) [0|0] "deg" Vector__XXX
  SG_ latitude : 0|32@1- (1,0) [0|0] "deg" Vector__XXX
 
-BO_ 2348810999 imu_gyro: 6 Navigation
+BO_ 2348810999 imu_gyro: 6 torque_vector
  SG_ imu_gyro_z : 32|16@1- (0.01,0) [0|0] "rad/s" Vector__XXX
  SG_ imu_gyro_y : 16|16@1- (0.01,0) [0|0] "rad/s" Vector__XXX
  SG_ imu_gyro_x : 0|16@1- (0.01,0) [0|0] "rad/s" Vector__XXX
 
-BO_ 2348819383 imu_accel: 6 Navigation
+BO_ 2348819383 imu_accel: 6 torque_vector
  SG_ imu_accel_z : 32|16@1- (0.01,0) [0|0] "m/s^2" Vector__XXX
  SG_ imu_accel_y : 16|16@1- (0.01,0) [0|0] "m/s^2" Vector__XXX
  SG_ imu_accel_x : 0|16@1- (0.01,0) [0|0] "m/s^2" Vector__XXX
 
-BO_ 2348819447 bmm_mag: 6 Navigation
+BO_ 2348819447 bmm_mag: 6 torque_vector
  SG_ bmm_mag_z : 32|16@1- (1,0) [0|0] "uT" Vector__XXX
  SG_ bmm_mag_y : 16|16@1- (1,0) [0|0] "uT" Vector__XXX
  SG_ bmm_mag_x : 0|16@1- (1,0) [0|0] "uT" Vector__XXX
 
-BO_ 2348902711 sfs_pos: 6 Navigation
+BO_ 2348902711 sfs_pos: 6 torque_vector
  SG_ sfs_pos_z : 32|16@1- (0.01,0) [0|0] "m" Vector__XXX
  SG_ sfs_pos_y : 16|16@1- (0.01,0) [0|0] "m" Vector__XXX
  SG_ sfs_pos_x : 0|16@1- (0.01,0) [0|0] "m" Vector__XXX
 
-BO_ 2348902775 sfs_vel: 6 Navigation
+BO_ 2348902775 sfs_vel: 6 torque_vector
  SG_ sfs_vel_z : 32|16@1- (0.01,0) [0|0] "m/s" Vector__XXX
  SG_ sfs_vel_y : 16|16@1- (0.01,0) [0|0] "m/s" Vector__XXX
  SG_ sfs_vel_x : 0|16@1- (0.01,0) [0|0] "m/s" Vector__XXX
 
-BO_ 2348902839 sfs_acc: 6 Navigation
+BO_ 2348902839 sfs_acc: 6 torque_vector
  SG_ sfs_acc_z : 32|16@1- (0.01,0) [0|0] "m/s^2" Vector__XXX
  SG_ sfs_acc_y : 16|16@1- (0.01,0) [0|0] "m/s^2" Vector__XXX
  SG_ sfs_acc_x : 0|16@1- (0.01,0) [0|0] "m/s^2" Vector__XXX
 
-BO_ 2348902903 sfs_ang: 8 Navigation
+BO_ 2348902903 sfs_ang: 8 torque_vector
  SG_ sfs_ang_d : 48|16@1- (0.0001,0) [0|0] "" Vector__XXX
  SG_ sfs_ang_c : 32|16@1- (0.0001,0) [0|0] "" Vector__XXX
  SG_ sfs_ang_b : 16|16@1- (0.0001,0) [0|0] "" Vector__XXX
  SG_ sfs_ang_a : 0|16@1- (0.0001,0) [0|0] "" Vector__XXX
 
-BO_ 2348902967 sfs_ang_vel: 6 Navigation
+BO_ 2348902967 sfs_ang_vel: 6 torque_vector
  SG_ sfs_ang_vel_z : 32|16@1- (0.0001,0) [0|0] "" Vector__XXX
  SG_ sfs_ang_vel_y : 16|16@1- (0.0001,0) [0|0] "" Vector__XXX
  SG_ sfs_ang_vel_x : 0|16@1- (0.0001,0) [0|0] "" Vector__XXX
 
-BO_ 2348819895 throttle_remapped: 4 Navigation
+BO_ 2348819895 throttle_remapped: 4 torque_vector
  SG_ remap_k_rr : 16|16@1- (1,0) [0|0] "none" Vector__XXX
  SG_ remap_k_rl : 0|16@1- (1,0) [0|0] "none" Vector__XXX
 
@@ -834,11 +834,11 @@ BO_ 2483032050 daq_command_TEST_NODE: 8 DAQ
 
 
 CM_ BU_ Main_Module "";
-CM_ BU_ Torque_Vector "";
+CM_ BU_ Torque_Vector_fpga "";
 CM_ BU_ Driveline "";
 CM_ BU_ Precharge "";
 CM_ BU_ OrionBMS "";
-CM_ BU_ Navigation "";
+CM_ BU_ torque_vector "";
 CM_ BU_ Dashboard "";
 CM_ BU_ Steering "";
 CM_ BU_ Acceleration "";

diff --git a/common/faults/fault_config.json b/common/faults/fault_config.json
@@ -447,8 +447,8 @@
             ]
         },
         {
-            "node_name": "tv",
-            "can_name": "torque_vector",
+            "node_name": "tv_old",
+            "can_name": "torque_vector_fpga",
             "faults": [
                 {
                     "fault_name": "tv_offline",

diff --git a/common/faults/fault_nodes.h b/common/faults/fault_nodes.h
@@ -8,7 +8,7 @@
 #define NODE_DRIVELINE_FRONT 1
 #define NODE_DASHBOARD 2
 #define NODE_PRECHARGE 3
-#define NODE_TV 4
+#define NODE_TV_OLD 4
 #define NODE_TEST 5
 //END AUTO NODE DEFS
 

diff --git a/common/faults/faults.h b/common/faults/faults.h
@@ -24,7 +24,7 @@
 #define TOTAL_DRIVELINE_FRONT_FAULTS 4
 #define TOTAL_DASHBOARD_FAULTS 6
 #define TOTAL_PRECHARGE_FAULTS 28
-#define TOTAL_TV_FAULTS 1
+#define TOTAL_TV_OLD_FAULTS 1
 #define TOTAL_TEST_FAULTS 4
 #define TOTAL_MCU_NUM 6
 #define TOTAL_NUM_FAULTS 52

diff --git a/common/phal_L4/CMakeLists.txt b/common/phal_L4/CMakeLists.txt
@@ -17,4 +17,5 @@ MACRO(MAKE_PHAL_LIBRARY lib_name lib_link)
 ENDMACRO(MAKE_PHAL_LIBRARY)
 
 MAKE_PHAL_LIBRARY(PHAL_L432 CMSIS_L432)
+MAKE_PHAL_LIBRARY(PHAL_L471 CMSIS_L471)
 MAKE_PHAL_LIBRARY(PHAL_L496 CMSIS_L496)
diff --git a/common/phal_L4/adc/adc.c b/common/phal_L4/adc/adc.c
@@ -1,7 +1,7 @@
 /**
  * @file adc.h
  * @author Luke Oxley ([email protected])
- * @brief 
+ * @brief
  * @version 0.1
  * @date 2021-12-27
  */
@@ -41,7 +41,7 @@ bool PHAL_initADC(ADC_TypeDef* adc, ADCInitConfig_t* config, ADCChannelConfig_t
 
     #ifdef STM32L432xx
     #define ADC_COMMON ADC1_COMMON
-    #elif STM32L496xx
+    #elif STM32L496xx || STM32L471xx
     #define ADC_COMMON ADC123_COMMON
     #else
     #error "STM32 Arch not currently supported for ADC"
@@ -58,7 +58,7 @@ bool PHAL_initADC(ADC_TypeDef* adc, ADCInitConfig_t* config, ADCChannelConfig_t
     adc->CFGR &= ~(ADC_CFGR_CONT);
     adc->CFGR |= (config->cont_conv_mode << ADC_CFGR_CONT_Pos) & ADC_CFGR_CONT_Msk;
 
-    // Overrun    
+    // Overrun
     adc->CFGR &= ~(ADC_CFGR_OVRMOD);
     adc->CFGR |= (config->overrun << ADC_CFGR_OVRMOD_Pos) & ADC_CFGR_OVRMOD_Msk;
 
@@ -77,7 +77,7 @@ bool PHAL_initADC(ADC_TypeDef* adc, ADCInitConfig_t* config, ADCChannelConfig_t
     // DMA configuration
     if (config->dma_mode != ADC_DMA_OFF)
     {
-        adc->CFGR |= (ADC_CFGR_DMAEN) | 
+        adc->CFGR |= (ADC_CFGR_DMAEN) |
                      (((config->dma_mode == ADC_DMA_CIRCULAR) << ADC_CFGR_DMACFG_Pos) & ADC_CFGR_DMACFG);
     }
     else adc->CFGR &= ~(ADC_CFGR_DMAEN);
@@ -149,4 +149,3 @@ uint16_t PHAL_readADC(ADC_TypeDef* adc)
 {
     return (uint16_t) (adc->DR & ADC_DR_RDATA_Msk);
 }
-
diff --git a/common/phal_L4/dma/dma.h b/common/phal_L4/dma/dma.h
@@ -13,6 +13,8 @@
 
 #ifdef STM32L496xx
 #include "stm32l496xx.h"
+#elif STM32L471xx
+#include "stm32l471xx.h"
 #elif STM32L432xx
 #include "stm32l432xx.h"
 #else
@@ -48,7 +50,7 @@ typedef struct {
 /**
  * @brief Initialize DMA peripheral to set m2m, p2p, or p2m with set size
  *        and length of txfer
- * 
+ *
  * @param init -> Address of initialization structure
  * @return true -> Successful init (no clashing params)
  * @return false -> Init not complete (parameters clash)
@@ -57,35 +59,35 @@ bool PHAL_initDMA(dma_init_t* init);
 
 /**
  * @brief Start txfer after sucessful DMA peripheral initialization
- * 
+ *
  * @param init -> Address of initialization structure
  */
 void PHAL_startTxfer(dma_init_t* init);
 
 /**
  * @brief Stop txfer
- * 
+ *
  * @param init -> Address of initialization structure
  */
 void PHAL_stopTxfer(dma_init_t* init);
 
 /**
  * @brief Re-enable DMA txfer after error ISR fires
- * 
+ *
  * @param init -> Address of initialization structure
  */
 void PHAL_reEnable(dma_init_t* init);
 
 /**
  * @brief Set memory address for DMA transfer. In Mem to Mem this acts as the source address
- * 
+ *
  * @param init -> Address of initialization structure
  */
 void PHAL_DMA_setMemAddress(dma_init_t* init, const uint32_t address);
 
 /**
  * @brief Set transfer length for DMA transaction
- * 
+ *
  * @param init -> Address of initialization structure
  */
 void PHAL_DMA_setTxferLength(dma_init_t* init, const uint32_t length);

diff --git a/common/phal_L4/eeprom/eeprom.h b/common/phal_L4/eeprom/eeprom.h
@@ -5,6 +5,8 @@
 
 #ifdef STM32L496xx
 #include "stm32l496xx.h"
+#elif STM32L471xx
+#include "stm32l432xx.h"
 #elif STM32L432xx
 #include "stm32l432xx.h"
 #else
@@ -47,7 +49,7 @@
 #define S_BCMP          63
 
 #define M_INIT          0
-#define M_VERSION       (M_INIT + S_INIT) 
+#define M_VERSION       (M_INIT + S_INIT)
 #define M_FNAME         (M_VERSION + S_VERSION)
 #define M_ADDR          (M_FNAME + S_FNAME)
 #define M_LEN           (M_ADDR + S_ADDR)
@@ -76,7 +78,7 @@
  * +-----------------------------------------+
  * +                PAGE 63                  +
  * +-----------------------------------------+
- * 
+ *
  */
 
 // Structures