F4 and F7 CAN HAL (#75)

* Port of L4 CAN HAL to F4 and F7 * Tested and added fun PDU stuff * Added Hardfault light * Added Fault Library initialization * Quick SPI change so you can send w/o recieving using DMA * reset to last actual change * Fixed L471 not Building, Renaming Navigation (#76) --------- Co-authored-by: AdityaAsGithub <[email protected]> --------- Co-authored-by: Chris McGalliard <[email protected]> Co-authored-by: AdityaAsGithub <[email protected]>
PurdueElectricRacing · Dec 16, 2023 · 77d3c5c · 77d3c5c
1 parent 4560da9
commit 77d3c5c
Show file tree

Hide file tree

Showing 22 changed files with 1,070 additions and 204 deletions.
diff --git a/common/daq/can_config.json b/common/daq/can_config.json
@@ -844,6 +844,25 @@
                     ],
                     "rx": []
                 },
+                {
+                    "node_name": "PDU",
+                    "node_ssa":31,
+                    "tx": [
+                        {
+                            "msg_name":"pdu_test",
+                            "msg_desc":"periodic dashboard heartbeat",
+                            "signals":[
+                                {"sig_name": "test_1", "type":"uint8_t"},
+                                {"sig_name": "test_2", "type":"uint8_t"},
+                                {"sig_name": "test_3", "type":"uint8_t"}
+                            ],
+                            "msg_period":15,
+                            "msg_hlp":1,
+                            "msg_pgn":1040
+                        }
+                    ],
+                    "rx": [             ]
+                },
                 {
                     "node_name": "Acceleration",
                     "can_peripheral": "CAN1",

diff --git a/common/daq/per_dbc.dbc b/common/daq/per_dbc.dbc
@@ -1,7 +1,7 @@
 VERSION ""
 
 
-NS_ : 
+NS_ :
 	NS_DESC_
 	CM_
 	BA_DEF_
@@ -423,6 +423,15 @@ BO_ 688 LWS_Standard: 5 Steering
  SG_ LWS_SPEED : 16|8@1+ (4,0) [0|0] "deg/s" Vector__XXX
  SG_ LWS_ANGLE : 0|16@1- (0.1,0) [0|0] "deg" Vector__XXX
 
+BO_ 2214659103 pdu_test: 3 PDU
+ SG_ test_3 : 16|8@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ test_2 : 8|8@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ test_1 : 0|8@1+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 2148059999 fault_sync_pdu: 3 PDU
+ SG_ latched : 16|1@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ idx : 0|16@1+ (1,0) [0|0] "" Vector__XXX
+
 BO_ 372 Y_Accel: 8 Acceleration
  SG_ Reserved_3 : 56|8@1+ (1,0) [0|0] "" Vector__XXX
  SG_ Reserved_2 : 48|8@1+ (1,0) [0|0] "" Vector__XXX
@@ -797,7 +806,7 @@ BO_ 2147488308 adc_values: 5 TEST_NODE
 BO_ 2347693088 car_state: 1 TEST_NODE
  SG_ car_state : 0|8@1+ (1,0) [0|0] "" Vector__XXX
 
-BO_ 2148060031 fault_sync_test_node: 3 TEST_NODE
+BO_ 2148060095 fault_sync_test_node: 3 TEST_NODE
  SG_ latched : 16|1@1+ (1,0) [0|0] "" Vector__XXX
  SG_ idx : 0|16@1+ (1,0) [0|0] "" Vector__XXX
 
@@ -841,6 +850,7 @@ CM_ BU_ OrionBMS "";
 CM_ BU_ torque_vector "";
 CM_ BU_ Dashboard "";
 CM_ BU_ Steering "";
+CM_ BU_ PDU "";
 CM_ BU_ Acceleration "";
 CM_ BU_ bootloader "";
 CM_ BU_ BMS_LV "";
@@ -899,11 +909,11 @@ CM_ SG_ 2415925569 LV5_I "";
 CM_ SG_ 2415925569 LV24_I "";
 CM_ BO_ 2415925633 "performance metrics of MCU";
 CM_ SG_ 2415925633 can_tx_fails "Number of CAN transmit failures";
-CM_ SG_ 2415925633 sched_error "PSCHED Error Flags (bit #)
- 0 - N/A
-1 - no free task
-2 - FG Miss
-3 - BG Miss
+CM_ SG_ 2415925633 sched_error "PSCHED Error Flags (bit #)
+ 0 - N/A
+1 - no free task
+2 - FG Miss
+3 - BG Miss
 4 - Individual FG Miss";
 CM_ SG_ 2415925633 background_use "Percent of the 1ms loop time used by background tasks";
 CM_ SG_ 2415925633 foreground_use "Percent of the 1ms loop time used by foreground tasks";
@@ -1179,6 +1189,13 @@ CM_ SG_ 688 Cal "";
 CM_ SG_ 688 Ok "";
 CM_ SG_ 688 LWS_SPEED "";
 CM_ SG_ 688 LWS_ANGLE "";
+CM_ BO_ 2214659103 "periodic dashboard heartbeat";
+CM_ SG_ 2214659103 test_3 "";
+CM_ SG_ 2214659103 test_2 "";
+CM_ SG_ 2214659103 test_1 "";
+CM_ BO_ 2148059999 "Fault status message";
+CM_ SG_ 2148059999 latched "";
+CM_ SG_ 2148059999 idx "";
 CM_ BO_ 372 "Y Acceleration Update";
 CM_ SG_ 372 Reserved_3 "";
 CM_ SG_ 372 Reserved_2 "";
@@ -1472,9 +1489,9 @@ CM_ SG_ 2147488308 pot2 "";
 CM_ SG_ 2147488308 pot1 "";
 CM_ BO_ 2347693088 "state of the car";
 CM_ SG_ 2347693088 car_state "";
-CM_ BO_ 2148060031 "Fault status message";
-CM_ SG_ 2148060031 latched "";
-CM_ SG_ 2148060031 idx "";
+CM_ BO_ 2148060095 "Fault status message";
+CM_ SG_ 2148060095 latched "";
+CM_ SG_ 2148060095 idx "";
 CM_ BO_ 2550136831 "daq response from node TEST_NODE";
 CM_ SG_ 2550136831 daq_response "";
 CM_ BO_ 2483028093 "test_msg desc";
@@ -1520,5 +1537,3 @@ SIG_VALTYPE_ 2214593731 P_c : 1;
 SIG_VALTYPE_ 2348810751 left_speed : 1;
 SIG_VALTYPE_ 2348810751 right_speed : 1;
 SIG_VALTYPE_ 2483028349 test_sig5_3 : 1;
-
-
diff --git a/common/faults/fault_config.json b/common/faults/fault_config.json
@@ -1,6 +1,20 @@
 {
     "$schema":"./fault_schema.json",
     "modules": [
+        {
+            "node_name": "pdu",
+            "faults": [
+                {
+                    "fault_name": "pdu_mcu_temp_high",
+                    "max": 50,
+                    "min": 0,
+                    "priority": "warning",
+                    "time_to_latch": 1000,
+                    "time_to_unlatch": 2000,
+                    "lcd_message": "HIGH PDU MCU TEMP"
+                }
+            ]
+        },
         {
             "node_name": "main_module",
             "faults": [