DAQ Redesign (#79)

* sd, udp, tcp * logging 30 mins on car
PurdueElectricRacing · Mar 14, 2024 · 5ff2e93 · 5ff2e93
1 parent dffbe1f
commit 5ff2e93
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Showing 38 changed files with 28,928 additions and 15 deletions.
diff --git a/.gitmodules b/.gitmodules
@@ -7,3 +7,6 @@
 [submodule "common/STM32CubeF7"]
 	path = common/STM32CubeF7
 	url = https://github.com/STMicroelectronics/STM32CubeF7.git
+[submodule "common/modules/Wiznet/W5500"]
+	path = common/modules/Wiznet/W5500
+	url = https://github.com/Wiznet/ioLibrary_Driver.git
diff --git a/.vscode/launch.json b/.vscode/launch.json
@@ -77,6 +77,45 @@
             "preLaunchTask": "build",
             "runToEntryPoint": "main"
         },
+        {   "name": "daq",
+            "cwd": "${workspaceRoot}",
+            "executable": "./output/daq/daq.elf",
+            "request": "launch",
+            "type": "cortex-debug",
+            "servertype": "openocd",
+            "device:": "STM32F407VG",
+            "svdFile": "${workspaceRoot}/common/svd/STM32F407.svd",
+            "configFiles": [
+                "interface/stlink.cfg",
+                "target/stm32f4x.cfg",
+                "${workspaceRoot}/common/openocd/openocd-gdb.cfg"
+            ],
+            "debuggerArgs": [
+                "-d",
+                "${workspaceFolder}/source/daq"
+            ],
+            "preLaunchTask": "build",
+            "runToEntryPoint": "main",
+        },
+        {   "name": "daq_attach",
+            "cwd": "${workspaceRoot}",
+            "executable": "./output/daq/daq.elf",
+            "request": "attach",
+            "type": "cortex-debug",
+            "servertype": "openocd",
+            "device:": "STM32F407VG",
+            "svdFile": "${workspaceRoot}/common/svd/STM32F407.svd",
+            "configFiles": [
+                "interface/stlink.cfg",
+                "target/stm32f4x.cfg",
+                "${workspaceRoot}/common/openocd/openocd-gdb.cfg"
+            ],
+            "debuggerArgs": [
+                "-d",
+                "${workspaceFolder}/source/daq"
+            ],
+            "runToEntryPoint": "main",
+        },
         {   "name": "l4_testing",
             "cwd": "${workspaceRoot}",
             "executable": "./output/l4_testing/l4_testing.elf",

diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -55,10 +55,12 @@ add_subdirectory(common/psched)
 add_subdirectory(common/bootloader)
 add_subdirectory(common/queue)
 add_subdirectory(common/common_defs)
+add_subdirectory(common/log)
 add_subdirectory(common/faults)
 add_subdirectory(common/daq)
 add_subdirectory(common/plettenberg)
 add_subdirectory(common/modules/wheel_speeds)
+add_subdirectory(common/modules/Wiznet)
 
 # Properties that are set for each firmware component
 # Used to generate the .elf and other files for each project
@@ -91,6 +93,7 @@ add_subdirectory(source/a_box)
 add_subdirectory(source/torque_vector)
 add_subdirectory(source/dashboard)
 add_subdirectory(source/pdu)
+add_subdirectory(source/daq)
 
 
 # Deprecated Components

diff --git a/cmake/common_component.cmake b/cmake/common_component.cmake
@@ -33,6 +33,8 @@ MACRO(COMMON_FIRMWARE_COMPONENT TARGET_NAME)
 
     # Find all .c sources in project, recursive search starting at component root
     file(GLOB_RECURSE glob_sources ${_COMPONENT_DIR}/*.c)
+    # Exclude if it is a test file
+    list(FILTER glob_sources EXCLUDE REGEX "test_.*")
     target_sources(${TARGET_NAME} PUBLIC ${glob_sources})
 
     # Find directories for '#include'

diff --git a/cmake/utils.cmake b/cmake/utils.cmake
@@ -56,4 +56,15 @@ MACRO(SUBDIRLIST curdir result)
     ENDIF()
   ENDFOREACH()
   SET(${result} ${dirlist})
-ENDMACRO()
+ENDMACRO()
+
+MACRO(RECURSE_DIRECTORIES curdir search_term return_list)
+    FILE(GLOB_RECURSE new_list RELATIVE ${curdir} ${search_term})
+    SET(dir_list "")
+    FOREACH(file_path ${new_list})
+        GET_FILENAME_COMPONENT(dir_path ${file_path} PATH)
+        SET(dir_list ${dir_list} ${dir_path})
+    ENDFOREACH()
+    LIST(REMOVE_DUPLICATES dir_list)
+    SET(${return_list} ${dir_list})
+ENDMACRO()
diff --git a/common/log/CMakeLists.txt b/common/log/CMakeLists.txt
@@ -0,0 +1,6 @@
+cmake_minimum_required(VERSION 3.13)
+
+add_library(log INTERFACE)
+
+# Find directories for '#include', this directroy for the simple lib
+target_include_directories(log INTERFACE .)
diff --git a/common/log/log.h b/common/log/log.h
@@ -0,0 +1,61 @@
+#ifndef __LOG_H__
+#define __LOG_H__
+
+#include <stdio.h>
+#include <stdbool.h>
+
+extern void _log_str(char* data);
+extern char log_buffer[];
+
+#define log_printf(...) do { \
+    sprintf(log_buffer, __VA_ARGS__); \
+    _log_str(log_buffer);             \
+} while(false)
+// #define log_printf(...) sprintf(log_buffer, __VA_ARGS__)
+
+
+#define ANSI_RED     "\x1b[31m"
+#define ANSI_GREEN   "\x1b[32m"
+#define ANSI_YELLOW  "\x1b[33m"
+#define ANSI_BLUE    "\x1b[34m"
+#define ANSI_MAGENTA "\x1b[35m"
+#define ANSI_CYAN    "\x1b[36m"
+#define ANSI_RESET   "\x1b[37m"
+
+#define __mu_log_color(color, ...) do { \
+    log_printf("%s", color);       \
+	log_printf(__VA_ARGS__);       \
+    log_printf("%s", ANSI_RESET);  \
+} while(false)
+
+#ifdef DEBUG_LOG
+
+#    define log_msg(...) log_printf(__VA_ARGS__)
+#    define log_int(n) (log_printf("%s == %d\n", (#n), (n)))
+#    define log_str(s) (log_printf("%s == %s\n", (#s), (s)))
+#    define log_char(c) (log_printf("%s == '%c'\n", (#c), (c)))
+#    define log_addr(addr) (log_printf("%s == %p\n", (#addr), (void*)(addr)))
+#    define log_red(...) __mu_log_color(ANSI_RED, __VA_ARGS__)
+#    define log_green(...) __mu_log_color(ANSI_GREEN, __VA_ARGS__)
+#    define log_yellow(...) __mu_log_color(ANSI_YELLOW, __VA_ARGS__)
+#    define log_blue(...) __mu_log_color(ANSI_BLUE, __VA_ARGS__)
+#    define log_magenta(...) __mu_log_color(ANSI_MAGENTA, __VA_ARGS__)
+#    define log_cyan(...) __mu_log_color(ANSI_CYAN, __VA_ARGS__)
+
+#else
+
+#    define log_msg(...)
+#    define log_int(n)
+#    define log_str(s)
+#    define log_char(c)
+#    define log_addr(addr)
+#    define log_red(...)
+#    define log_green(...)
+#    define log_yellow(...)
+#    define log_blue(...)
+#    define log_magenta(...)
+#    define log_cyan(...)
+
+#endif
+
+#endif
diff --git a/common/modules/Wiznet/CMakeLists.txt b/common/modules/Wiznet/CMakeLists.txt
@@ -0,0 +1,16 @@
+set(TARGET_NAME W5500)
+add_library(${TARGET_NAME})
+
+set(LIB_DIR ${CMAKE_SOURCE_DIR}/common/modules/Wiznet)
+
+# Find all .c sources in project
+# Only using Ethernet for now
+file(GLOB_RECURSE glob_sources ${LIB_DIR}/W5500/Ethernet/*.c)
+target_sources(${TARGET_NAME} PRIVATE ${glob_sources})
+
+# Find directories for '#include'
+# Only using Ethernet for now
+RECURSE_DIRECTORIES(${LIB_DIR} "W5500/Ethernet/*.h" include_dirs)
+message("${include_dirs}")
+
+target_include_directories(${TARGET_NAME} PUBLIC ${include_dirs})
diff --git a/common/modules/Wiznet/W5500 b/common/modules/Wiznet/W5500
diff --git a/common/openocd/openocd-gdb.cfg b/common/openocd/openocd-gdb.cfg
@@ -0,0 +1,3 @@
+$_TARGETNAME configure -event gdb-detach {
+    resume
+}
diff --git a/common/phal_F4_F7/gpio/gpio.h b/common/phal_F4_F7/gpio/gpio.h
@@ -193,7 +193,10 @@ typedef struct
 #define GPIO_INIT_SPI2_MISO_PB14 GPIO_INIT_AF(GPIOB, 14, 5, GPIO_OUTPUT_HIGH_SPEED, GPIO_OUTPUT_OPEN_DRAIN, GPIO_INPUT_OPEN_DRAIN)
 #define GPIO_INIT_SPI2_MOSI_PB15 GPIO_INIT_AF(GPIOB, 15, 5, GPIO_OUTPUT_HIGH_SPEED, GPIO_OUTPUT_PUSH_PULL, GPIO_INPUT_PULL_DOWN)
 
+#define GPIO_INIT_SPI2_MISO_PC2 GPIO_INIT_AF(GPIOC, 2, 5, GPIO_OUTPUT_HIGH_SPEED, GPIO_OUTPUT_OPEN_DRAIN, GPIO_INPUT_OPEN_DRAIN)
+#define GPIO_INIT_SPI2_MOSI_PC3 GPIO_INIT_AF(GPIOC, 3, 5, GPIO_OUTPUT_HIGH_SPEED, GPIO_OUTPUT_PUSH_PULL, GPIO_INPUT_PULL_DOWN)
 #define GPIO_INIT_SPI1_SCK_PB3 GPIO_INIT_AF(GPIOB, 3, 5, GPIO_OUTPUT_HIGH_SPEED, GPIO_OUTPUT_PUSH_PULL, GPIO_INPUT_PULL_DOWN)
+#define GPIO_INIT_SPI2_MISO_PB4 GPIO_INIT_AF(GPIOB, 4, 5, GPIO_OUTPUT_HIGH_SPEED, GPIO_OUTPUT_OPEN_DRAIN, GPIO_INPUT_OPEN_DRAIN)
 #define GPIO_INIT_SPI1_MOSI_PB5 GPIO_INIT_AF(GPIOB, 5, 5, GPIO_OUTPUT_HIGH_SPEED, GPIO_OUTPUT_PUSH_PULL, GPIO_INPUT_PULL_DOWN)
 
 #define GPIO_INIT_SPI1_SCK_PA5 GPIO_INIT_AF(GPIOA, 5, 5, GPIO_OUTPUT_HIGH_SPEED, GPIO_OUTPUT_PUSH_PULL, GPIO_INPUT_PULL_DOWN)
@@ -210,8 +213,21 @@ typedef struct
 
 #define GPIO_INIT_USART1TX_PA9  GPIO_INIT_AF(GPIOA, 9, 7, GPIO_OUTPUT_ULTRA_SPEED, GPIO_OUTPUT_PUSH_PULL, GPIO_INPUT_OPEN_DRAIN)
 #define GPIO_INIT_USART1RX_PA10  GPIO_INIT_AF(GPIOA, 10, 7, GPIO_OUTPUT_ULTRA_SPEED, GPIO_OUTPUT_OPEN_DRAIN, GPIO_INPUT_OPEN_DRAIN)
+
+#define GPIO_INIT_USART2TX_PD5 GPIO_INIT_AF(GPIOD, 5, 7, GPIO_OUTPUT_ULTRA_SPEED, GPIO_OUTPUT_PUSH_PULL, GPIO_INPUT_OPEN_DRAIN)
+#define GPIO_INIT_USART2RX_PD6 GPIO_INIT_AF(GPIOD, 6, 7, GPIO_OUTPUT_ULTRA_SPEED, GPIO_OUTPUT_OPEN_DRAIN, GPIO_INPUT_OPEN_DRAIN)
+#define GPIO_INIT_USART3TX_PC10 GPIO_INIT_AF(GPIOC, 10, 7, GPIO_OUTPUT_ULTRA_SPEED, GPIO_OUTPUT_PUSH_PULL, GPIO_INPUT_OPEN_DRAIN)
+#define GPIO_INIT_USART3RX_PC11 GPIO_INIT_AF(GPIOC, 11, 7, GPIO_OUTPUT_ULTRA_SPEED, GPIO_OUTPUT_OPEN_DRAIN, GPIO_INPUT_OPEN_DRAIN)
 #endif
 
+// SDIO
+#define GPIO_INIT_SDIO_CLK  GPIO_INIT_AF(GPIOC, 12, 12, GPIO_OUTPUT_ULTRA_SPEED, GPIO_OUTPUT_PUSH_PULL, GPIO_INPUT_PULL_UP)
+#define GPIO_INIT_SDIO_CMD  GPIO_INIT_AF(GPIOD,  2, 12, GPIO_OUTPUT_ULTRA_SPEED, GPIO_OUTPUT_PUSH_PULL, GPIO_INPUT_PULL_UP)
+#define GPIO_INIT_SDIO_DT0  GPIO_INIT_AF(GPIOC,  8, 12, GPIO_OUTPUT_ULTRA_SPEED, GPIO_OUTPUT_PUSH_PULL, GPIO_INPUT_PULL_UP)
+#define GPIO_INIT_SDIO_DT1  GPIO_INIT_AF(GPIOC,  9, 12, GPIO_OUTPUT_ULTRA_SPEED, GPIO_OUTPUT_PUSH_PULL, GPIO_INPUT_PULL_UP)
+#define GPIO_INIT_SDIO_DT2  GPIO_INIT_AF(GPIOC, 10, 12, GPIO_OUTPUT_ULTRA_SPEED, GPIO_OUTPUT_PUSH_PULL, GPIO_INPUT_PULL_UP)
+#define GPIO_INIT_SDIO_DT3  GPIO_INIT_AF(GPIOC, 11, 12, GPIO_OUTPUT_ULTRA_SPEED, GPIO_OUTPUT_PUSH_PULL, GPIO_INPUT_PULL_UP)
+
 #ifdef STM32F732xx
 //CAN
 #define GPIO_INIT_CANRX_PA11 GPIO_INIT_AF(GPIOA, 11, 9, GPIO_OUTPUT_ULTRA_SPEED, GPIO_OUTPUT_OPEN_DRAIN, GPIO_INPUT_OPEN_DRAIN)

diff --git a/common/phal_F4_F7/rcc/rcc.c b/common/phal_F4_F7/rcc/rcc.c
@@ -129,9 +129,16 @@ bool PHAL_configurePLLSystemClock(uint32_t system_clock_target_hz)
         return false;
     }
 
-    // Set the PLLP divisor
-    RCC->PLLCFGR &= ~RCC_PLLCFGR_PLLP_Msk;
+    uint8_t pll_q_divisor = PLLClockRateHz/48000000;
+    if(pll_q_divisor <= 1 || pll_q_divisor > 15)
+    {
+        return false;
+    }
+
+    // Set the PLLP and PLLQ divisors
+    RCC->PLLCFGR &= ~(RCC_PLLCFGR_PLLP_Msk | RCC_PLLCFGR_PLLQ_Msk);
     RCC->PLLCFGR |= (((pll_p_divisor / 2) - 1) << RCC_PLLCFGR_PLLP_Pos) & RCC_PLLCFGR_PLLP_Msk; // Divisor value to PLLP bits (Pg. 227)
+    RCC->PLLCFGR |= (pll_q_divisor << RCC_PLLCFGR_PLLQ_Pos) & RCC_PLLCFGR_PLLQ_Msk;
 
     __DSB();                                                                                   // Wait for explicit memory accesses to finish