Update Main to F4, remove old PDU stuff, add SDC mux implementation (#88

) * Update Main to F4, remove old PDU stuff, add SDC mux implementation * Abox pin init and tmu setup * luke pls review --------- Co-authored-by: AdityaAsGithub <[email protected]> Co-authored-by: finncorc1 <[email protected]>
PurdueElectricRacing · Jan 31, 2024 · 9979f31 · 9979f31
1 parent 35840c6
commit 9979f31
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Showing 21 changed files with 660 additions and 984 deletions.
diff --git a/.vscode/launch.json b/.vscode/launch.json
@@ -11,10 +11,10 @@
             "type": "cortex-debug",
             "servertype": "openocd",
             "device:": "STM32L432KC",
-            "svdFile": "${workspaceRoot}/common/svd/STM32L4x2.svd",
+            "svdFile": "${workspaceRoot}/common/svd/STM32F407.svd",
             "configFiles": [
                 "interface/stlink.cfg",
-                "target/stm32l4x.cfg"
+                "target/stm32f4x.cfg"
             ],
             "debuggerArgs": [
                 "-d",

diff --git a/common/daq/can_config.json b/common/daq/can_config.json
@@ -173,6 +173,29 @@
                             "msg_hlp": 3,
                             "msg_pgn": 11
                         },
+                        {
+                            "msg_name": "sdc_status",
+                            "msg_desc": "Shutdown Circuit Status",
+                            "signals": [
+                                {"sig_name": "IMD", "type":"uint8_t", "length":1},
+                                {"sig_name": "BMS", "type":"uint8_t", "length":1},
+                                {"sig_name": "BSPD", "type":"uint8_t", "length":1},
+                                {"sig_name": "BOTS", "type":"uint8_t", "length":1},
+                                {"sig_name": "inertia", "type":"uint8_t", "length":1},
+                                {"sig_name": "c_estop", "type":"uint8_t", "length":1},
+                                {"sig_name": "main", "type":"uint8_t", "length":1},
+                                {"sig_name": "r_estop", "type":"uint8_t", "length":1},
+                                {"sig_name": "l_estop", "type":"uint8_t", "length":1},
+                                {"sig_name": "HVD", "type":"uint8_t", "length":1},
+                                {"sig_name": "hub", "type":"uint8_t", "length":1},
+                                {"sig_name": "TSMS", "type":"uint8_t", "length":1},
+                                {"sig_name": "pchg_out", "type":"uint8_t", "length":1}
+
+                            ],
+                            "msg_period": 165,
+                            "msg_hlp": 3,
+                            "msg_pgn": 14
+                        },
                         {
                             "msg_name": "rear_controller_temps",
                             "msg_desc": "Temperature of motor controllers",
@@ -207,7 +230,8 @@
                         {"msg_name": "LWS_Standard"},
                         {"msg_name": "main_module_bl_cmd" , "callback": true},
                         {"msg_name": "cooling_driver_request", "callback": true},
-                        {"msg_name": "throttle_remapped"}
+                        {"msg_name": "throttle_remapped"},
+                        {"msg_name": "pdu_test"}
                     ]
                 },
                 {

diff --git a/common/daq/daq_config.json b/common/daq/daq_config.json
@@ -10,19 +10,23 @@
                     "node_name":"Main_Module",
                     "includes":"#include \"cooling.h\"\n#include\"main.h\"\n#include\"car.h\"",
                     "variables": [
-                        {"var_name":"dt_liters_p_min_x10", "access_phrase":"cooling.dt_liters_p_min_x10", "read_only": true, "type":"uint8_t", "length": 8},
-                        {"var_name":"bat_liters_p_min_x10", "access_phrase":"cooling.bat_liters_p_min_x10", "read_only": true, "type":"uint8_t", "length": 8},
-                        {"var_name":"dt_flow_error", "access_phrase":"cooling.dt_flow_error", "read_only": true, "type":"uint8_t", "length": 1},
                         {"var_name":"dt_temp_error", "access_phrase":"cooling.dt_temp_error", "read_only": true, "type":"uint8_t", "length": 1},
-                        {"var_name":"bat_flow_error", "access_phrase":"cooling.bat_flow_error", "read_only": true, "type":"uint8_t", "length": 1},
                         {"var_name":"bat_temp_error", "access_phrase":"cooling.bat_temp_error", "read_only": true, "type":"uint8_t", "length": 1},
                         {"var_name":"cal_steer_angle", "access_phrase": "calibrateSteeringAngle", "has_read_func":true, "read_only":true, "type":"uint8_t", "length": 1},
                         {"var_name":"cooling_daq_override", "access_phrase": "cooling.daq_override", "read_only": false, "type":"uint8_t", "length": 1},
-                        {"var_name":"dt_pump", "access_phrase": "cooling.out_daq_req.dt_pump", "read_only": false, "type": "uint8_t", "length": 1},
-                        {"var_name":"bat_pump", "access_phrase": "cooling.out_daq_req.bat_pump", "read_only": false, "type": "uint8_t", "length": 1},
-                        {"var_name":"bat_pump_aux", "access_phrase": "cooling.out_daq_req.bat_pump_aux", "read_only": false, "type": "uint8_t", "length": 1},
-                        {"var_name":"dt_fan", "access_phrase": "cooling.out_daq_req.dt_fan_power", "read_only": false, "type": "uint8_t", "unit": "%"},
-                        {"var_name":"bat_fan", "access_phrase": "cooling.out_daq_req.bat_fan_power", "read_only": false, "type": "uint8_t", "unit": "%"},
+                        {"var_name":"sdc_main_status", "access_phrase": "sdc_mux.main_stat", "read_only": true, "type":"uint8_t", "length": 1},
+                        {"var_name":"sdc_center_stop_status", "access_phrase": "sdc_mux.c_stop_stat", "read_only": true, "type":"uint8_t", "length": 1},
+                        {"var_name":"sdc_inertia_sw_status", "access_phrase": "sdc_mux.inertia_stat", "read_only": true, "type":"uint8_t", "length": 1},
+                        {"var_name":"sdc_bots_stat", "access_phrase": "sdc_mux.bots_stat", "read_only": true, "type":"uint8_t", "length": 1},
+                        {"var_name":"sdc_bspd_stat", "access_phrase": "sdc_mux.bspd_stat", "read_only": true, "type":"uint8_t", "length": 1},
+                        {"var_name":"sdc_bms_stat", "access_phrase": "sdc_mux.bms_stat", "read_only": true, "type":"uint8_t", "length": 1},
+                        {"var_name":"sdc_imd_stat", "access_phrase": "sdc_mux.imd_stat", "read_only": true, "type":"uint8_t", "length": 1},
+                        {"var_name":"sdc_r_estop_stat", "access_phrase": "sdc_mux.r_stop_stat", "read_only": true, "type":"uint8_t", "length": 1},
+                        {"var_name":"sdc_l_estop_stat", "access_phrase": "sdc_mux.l_stop_stat", "read_only": true, "type":"uint8_t", "length": 1},
+                        {"var_name":"sdc_hvd_stat", "access_phrase": "sdc_mux.hvd_stat", "read_only": true, "type":"uint8_t", "length": 1},
+                        {"var_name":"sdc_rear_hub_stat", "access_phrase": "sdc_mux.r_hub_stat", "read_only": true, "type":"uint8_t", "length": 1},
+                        {"var_name":"sdc_tsms_stat", "access_phrase": "sdc_mux.tsms_stat", "read_only": true, "type":"uint8_t", "length": 1},
+                        {"var_name":"sdc_pchg_out_stat", "access_phrase": "sdc_mux.pchg_out_stat", "read_only": true, "type":"uint8_t", "length": 1},
                         {"var_name":"daq_buzzer", "access_phrase": "daq_buzzer", "read_only": false, "type": "uint8_t", "length": 1, "unit": "%"}
                     ],
                     "files":[]

diff --git a/common/daq/per_dbc.dbc b/common/daq/per_dbc.dbc
@@ -112,6 +112,21 @@ BO_ 2348810945 rear_motor_currents_temps: 8 Main_Module
  SG_ right_current : 16|16@1+ (0.1,0) [0|0] "Amp" Vector__XXX
  SG_ left_current : 0|16@1+ (0.1,0) [0|0] "Amp" Vector__XXX
 
+BO_ 2348811137 sdc_status: 2 Main_Module
+ SG_ pchg_out : 12|1@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ TSMS : 11|1@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ hub : 10|1@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ HVD : 9|1@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ l_estop : 8|1@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ r_estop : 7|1@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ main : 6|1@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ c_estop : 5|1@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ inertia : 4|1@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ BOTS : 3|1@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ BSPD : 2|1@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ BMS : 1|1@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ IMD : 0|1@1+ (1,0) [0|0] "" Vector__XXX
+
 BO_ 2348811009 rear_controller_temps: 2 Main_Module
  SG_ right_temp : 8|8@1+ (1,0) [0|0] "C" Vector__XXX
  SG_ left_temp : 0|8@1+ (1,0) [0|0] "C" Vector__XXX
@@ -937,6 +952,20 @@ CM_ SG_ 2348810945 right_temp "";
 CM_ SG_ 2348810945 left_temp "";
 CM_ SG_ 2348810945 right_current "";
 CM_ SG_ 2348810945 left_current "";
+CM_ BO_ 2348811137 "Shutdown Circuit Status";
+CM_ SG_ 2348811137 pchg_out "";
+CM_ SG_ 2348811137 TSMS "";
+CM_ SG_ 2348811137 hub "";
+CM_ SG_ 2348811137 HVD "";
+CM_ SG_ 2348811137 l_estop "";
+CM_ SG_ 2348811137 r_estop "";
+CM_ SG_ 2348811137 main "";
+CM_ SG_ 2348811137 c_estop "";
+CM_ SG_ 2348811137 inertia "";
+CM_ SG_ 2348811137 BOTS "";
+CM_ SG_ 2348811137 BSPD "";
+CM_ SG_ 2348811137 BMS "";
+CM_ SG_ 2348811137 IMD "";
 CM_ BO_ 2348811009 "Temperature of motor controllers";
 CM_ SG_ 2348811009 right_temp "";
 CM_ SG_ 2348811009 left_temp "";

diff --git a/common/phal_F4_F7/gpio/gpio.h b/common/phal_F4_F7/gpio/gpio.h
@@ -185,6 +185,9 @@ typedef struct
 #define GPIO_INIT_CANRX_PA11 GPIO_INIT_AF(GPIOA, 11, 9, GPIO_OUTPUT_ULTRA_SPEED, GPIO_OUTPUT_OPEN_DRAIN, GPIO_INPUT_OPEN_DRAIN)
 #define GPIO_INIT_CANTX_PA12 GPIO_INIT_AF(GPIOA, 12, 9, GPIO_OUTPUT_ULTRA_SPEED, GPIO_OUTPUT_PUSH_PULL, GPIO_INPUT_OPEN_DRAIN)
 
+#define GPIO_INIT_CAN2RX_PB12 GPIO_INIT_AF(GPIOB, 12, 9, GPIO_OUTPUT_ULTRA_SPEED, GPIO_OUTPUT_OPEN_DRAIN, GPIO_INPUT_OPEN_DRAIN)
+#define GPIO_INIT_CAN2TX_PB13 GPIO_INIT_AF(GPIOB, 13, 9, GPIO_OUTPUT_ULTRA_SPEED, GPIO_OUTPUT_PUSH_PULL, GPIO_INPUT_OPEN_DRAIN)
+
 //SPI
 #define GPIO_INIT_SPI2_SCK_PB13 GPIO_INIT_AF(GPIOB, 13, 5, GPIO_OUTPUT_HIGH_SPEED, GPIO_OUTPUT_PUSH_PULL, GPIO_INPUT_PULL_DOWN)
 #define GPIO_INIT_SPI2_MISO_PB14 GPIO_INIT_AF(GPIOB, 14, 5, GPIO_OUTPUT_HIGH_SPEED, GPIO_OUTPUT_OPEN_DRAIN, GPIO_INPUT_OPEN_DRAIN)
@@ -193,13 +196,20 @@ typedef struct
 #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_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)
+#define GPIO_INIT_SPI1_MISO_PA6 GPIO_INIT_AF(GPIOA, 6, 5, GPIO_OUTPUT_HIGH_SPEED, GPIO_OUTPUT_OPEN_DRAIN, GPIO_INPUT_OPEN_DRAIN)
+#define GPIO_INIT_SPI1_MOSI_PA7 GPIO_INIT_AF(GPIOA, 7, 5, GPIO_OUTPUT_HIGH_SPEED, GPIO_OUTPUT_PUSH_PULL, GPIO_INPUT_PULL_DOWN)
+
 
 //UART/USART
 #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)
 
 #define GPIO_INIT_USART2TX_PA2  GPIO_INIT_AF(GPIOA, 2, 7, GPIO_OUTPUT_ULTRA_SPEED, GPIO_OUTPUT_PUSH_PULL, GPIO_INPUT_OPEN_DRAIN)
 #define GPIO_INIT_USART2RX_PA3  GPIO_INIT_AF(GPIOA, 3, 7, GPIO_OUTPUT_ULTRA_SPEED, GPIO_OUTPUT_OPEN_DRAIN, GPIO_INPUT_OPEN_DRAIN)
+
+#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)
 #endif
 
 #ifdef STM32F732xx
@@ -217,9 +227,6 @@ typedef struct
 #define GPIO_INIT_UART4RX_PA1 GPIO_INIT_AF(GPIOA, 1, 8, GPIO_OUTPUT_ULTRA_SPEED, GPIO_OUTPUT_OPEN_DRAIN, GPIO_INPUT_OPEN_DRAIN)
 #endif
 
-#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)
-
 /**
  * @brief Initilize the GPIO perpheral given a list of configuration fields for all of the GPIO pins.
  *        Will also enable the GPIO RCC clock

diff --git a/common/plettenberg/CMakeLists.txt b/common/plettenberg/CMakeLists.txt
@@ -9,4 +9,4 @@ target_sources(${TARGET_NAME} PRIVATE "plettenberg.c")
 # For libraries, these directories are all referenced to the top level firmware directory, CMAKE_SOURCE_DIR
 target_include_directories(${TARGET_NAME} PUBLIC ${CMAKE_SOURCE_DIR})
 
-target_link_libraries(${TARGET_NAME} "QUEUE;common_defs;PHAL_L496")
+target_link_libraries(${TARGET_NAME} "QUEUE;common_defs;PHAL_F407")
diff --git a/common/plettenberg/plettenberg.h b/common/plettenberg/plettenberg.h
@@ -2,7 +2,7 @@
 #define __PLETTENBERG_H__
 
 #include "common/common_defs/common_defs.h"
-#include "common/phal_L4/usart/usart.h"
+#include "common/phal_F4_F7/usart/usart.h"
 #include "common/psched/psched.h"
 #include "common/queue/queue.h"
 #include "string.h"
@@ -57,7 +57,18 @@ typedef enum
     MC_ERROR         // :(
 } motor_state_t;
 
-typedef struct 
+typedef struct
+{
+    uint32_t last_msg_time; // Time of last rx message that was size of msg_size
+    uint16_t msg_size;      // Size of typical msg
+    uint16_t last_msg_loc;  // Index of first byte of last msg received
+    uint32_t last_rx_time;  // Time of the last rx
+    uint16_t rx_buf_size;   // Size of rx circular buffer for DMA
+    uint16_t last_rx_loc;   // Index of byte of last rx
+    char *rx_buf;           // Buffer location
+} usart_rx_buf_t;
+
+typedef struct
 {
     // Motor status
     uint16_t      init_time;                        // Current init timing
@@ -75,7 +86,7 @@ typedef struct
     uint32_t      rx_timeout;                       // Dynamically set timeout to determine connection status
 
     // Motor outputs
-    uint16_t      voltage_x10;                      
+    uint16_t      voltage_x10;
     uint16_t      current_x10;
     uint16_t      curr_power_x10;                   // Last torque command percent output sent x10
     uint32_t      rpm;
@@ -88,7 +99,7 @@ typedef struct
     volatile usart_rx_buf_t *rx_buf;                // Circular buffer for receiving via DMA
 } motor_t;
 
-void mcInit(motor_t *m, bool is_inverted, q_handle_t *tx_queue, 
+void mcInit(motor_t *m, bool is_inverted, q_handle_t *tx_queue,
             usart_rx_buf_t *rx_buf, const bool *hv_present);
 void mcSetPower(float power, motor_t *m);
 void mcPeriodic(motor_t *m);

diff --git a/source/main_module/CMakeLists.txt b/source/main_module/CMakeLists.txt
@@ -11,7 +11,7 @@ add_executable(${TARGET_NAME})
 set_target_properties(${TARGET_NAME} PROPERTIES
     COMPONENT_NAME ${COMPONENT_NAME}
     COMPONENT_DIR  ${CMAKE_CURRENT_LIST_DIR}
-    LINKER_SCRIPT  "STM32L496VGTx_FLASH"
-    COMMON_LIBS    "CMSIS_L496;PSCHED_L496;QUEUE;DAQ_L496;PHAL_L496;FAULTS_L496;BOOTLOADER_COMMON_L496;PLETTENBERG;WHEEL_SPEEDS_L496"
+    LINKER_SCRIPT  "STM32F407VGTx_FLASH"
+    COMMON_LIBS    "CMSIS_F407;PSCHED_F407;QUEUE;DAQ_F407;PHAL_F407;FAULTS_F407;PLETTENBERG"
 )
 COMMON_FIRMWARE_COMPONENT(${TARGET_NAME})
diff --git a/source/main_module/can/can_parse.c b/source/main_module/can/can_parse.c
@@ -113,6 +113,13 @@ void canRxUpdate()
                 can_data.throttle_remapped.stale = 0;
                 can_data.throttle_remapped.last_rx = sched.os_ticks;
                 break;
+            case ID_PDU_TEST:
+                can_data.pdu_test.test_1 = msg_data_a->pdu_test.test_1;
+                can_data.pdu_test.test_2 = msg_data_a->pdu_test.test_2;
+                can_data.pdu_test.test_3 = msg_data_a->pdu_test.test_3;
+                can_data.pdu_test.stale = 0;
+                can_data.pdu_test.last_rx = sched.os_ticks;
+                break;
             case ID_FAULT_SYNC_PDU:
                 can_data.fault_sync_pdu.idx = msg_data_a->fault_sync_pdu.idx;
                 can_data.fault_sync_pdu.latched = msg_data_a->fault_sync_pdu.latched;
@@ -185,6 +192,9 @@ void canRxUpdate()
     CHECK_STALE(can_data.throttle_remapped.stale,
                 sched.os_ticks, can_data.throttle_remapped.last_rx,
                 UP_THROTTLE_REMAPPED);
+    CHECK_STALE(can_data.pdu_test.stale,
+                sched.os_ticks, can_data.pdu_test.last_rx,
+                UP_PDU_TEST);
     /* END AUTO STALE CHECKS */
 }
 
@@ -216,19 +226,21 @@ bool initCANFilter()
     CAN1->sFilterRegister[3].FR2 = (ID_COOLING_DRIVER_REQUEST << 3) | 4;
     CAN1->FA1R |= (1 << 4);    // configure bank 4
     CAN1->sFilterRegister[4].FR1 = (ID_THROTTLE_REMAPPED << 3) | 4;
-    CAN1->sFilterRegister[4].FR2 = (ID_FAULT_SYNC_PDU << 3) | 4;
+    CAN1->sFilterRegister[4].FR2 = (ID_PDU_TEST << 3) | 4;
     CAN1->FA1R |= (1 << 5);    // configure bank 5
-    CAN1->sFilterRegister[5].FR1 = (ID_FAULT_SYNC_DRIVELINE << 3) | 4;
-    CAN1->sFilterRegister[5].FR2 = (ID_FAULT_SYNC_DASHBOARD << 3) | 4;
+    CAN1->sFilterRegister[5].FR1 = (ID_FAULT_SYNC_PDU << 3) | 4;
+    CAN1->sFilterRegister[5].FR2 = (ID_FAULT_SYNC_DRIVELINE << 3) | 4;
     CAN1->FA1R |= (1 << 6);    // configure bank 6
-    CAN1->sFilterRegister[6].FR1 = (ID_FAULT_SYNC_A_BOX << 3) | 4;
-    CAN1->sFilterRegister[6].FR2 = (ID_FAULT_SYNC_TORQUE_VECTOR_FPGA << 3) | 4;
+    CAN1->sFilterRegister[6].FR1 = (ID_FAULT_SYNC_DASHBOARD << 3) | 4;
+    CAN1->sFilterRegister[6].FR2 = (ID_FAULT_SYNC_A_BOX << 3) | 4;
     CAN1->FA1R |= (1 << 7);    // configure bank 7
-    CAN1->sFilterRegister[7].FR1 = (ID_FAULT_SYNC_TEST_NODE << 3) | 4;
-    CAN1->sFilterRegister[7].FR2 = (ID_SET_FAULT << 3) | 4;
+    CAN1->sFilterRegister[7].FR1 = (ID_FAULT_SYNC_TORQUE_VECTOR_FPGA << 3) | 4;
+    CAN1->sFilterRegister[7].FR2 = (ID_FAULT_SYNC_TEST_NODE << 3) | 4;
     CAN1->FA1R |= (1 << 8);    // configure bank 8
-    CAN1->sFilterRegister[8].FR1 = (ID_RETURN_FAULT_CONTROL << 3) | 4;
-    CAN1->sFilterRegister[8].FR2 = (ID_DAQ_COMMAND_MAIN_MODULE << 3) | 4;
+    CAN1->sFilterRegister[8].FR1 = (ID_SET_FAULT << 3) | 4;
+    CAN1->sFilterRegister[8].FR2 = (ID_RETURN_FAULT_CONTROL << 3) | 4;
+    CAN1->FA1R |= (1 << 9);    // configure bank 9
+    CAN1->sFilterRegister[9].FR1 = (ID_DAQ_COMMAND_MAIN_MODULE << 3) | 4;
     /* END AUTO FILTER */
     CAN1->FA1R |= (1 << 6);    // configure bank 6
     CAN1->sFilterRegister[6].FR1 = (ID_LWS_STANDARD << 21);