STM32 Can implementation; DemoCan Example

firmware/cmake/build_cubemx.cmake

@@ -3,31 +3,41 @@
 # This file is included in the cubemx/CMakeLists.txt file of all projects'
 # platforms that use the stm32f767 mcal
 
-message(STATUS "Building CubeMX objects with the auto-generated Makefile")
-
+message(STATUS "Generating from CubeMX and adding custom targets.")
 execute_process(
     # Calls generate_cubemx.mk in the context of this file, which is adjacent to
     # the board_config.ioc file.
-	COMMAND ${CMAKE_MAKE_PROGRAM} "--file" "${CMAKE_SOURCE_DIR}/cmake/generate_cubemx.mk"
+    COMMAND ${CMAKE_MAKE_PROGRAM} "--file=${CMAKE_SOURCE_DIR}/cmake/generate_cubemx.mk"
     WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
+    RESULT_VARIABLE status
 )
+
+if(status AND NOT status EQUAL 0)
+    message(FATAL_ERROR
+    "Failed to generate from CubeMX. You should manually 'Generate Code' \
+    before building."
+    )
+endif()
+
+set(CUSTOM_MAKEFILE "${CMAKE_CURRENT_SOURCE_DIR}/CustomMakefile.mk")
+
+message(STATUS "Building CubeMX objects with the auto-generated Makefile")
 execute_process(
     # Build all cubemx sources to their objects. This target is added to the
     # cubemx Makefile by generate_cubemx.mk.
-	COMMAND ${CMAKE_MAKE_PROGRAM} "objects"
+	COMMAND ${CMAKE_MAKE_PROGRAM} "objects" "--file=${CUSTOM_MAKEFILE}"
 	WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
 )
 
-# Get variables from makefile
-
 function(extract_make_variable output makefile var_name)
     # Get a variable from a Makefile
     # This requires the Makefile to have the following target & recipe
     # 
     # %.value:
     #     @echo $($*)
     # 
-    # generate_cubemx.mk appends this to the cubemx Makefile
+    # generate_cubemx.mk appends this target to the cubemx Makefile
+    # See custom_cubemx_targets.mk
     execute_process(
         COMMAND ${CMAKE_MAKE_PROGRAM} "--file=${makefile}" "${var_name}.value" "--no-print-directory"
         WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
@@ -40,22 +50,22 @@ function(extract_make_variable output makefile var_name)
 endfunction()
 
 # Get C_INCLUDES, split string to a list, and remove the -I prefix
-extract_make_variable(include_str "${CMAKE_CURRENT_SOURCE_DIR}/Makefile" "C_INCLUDES")
+extract_make_variable(include_str "${CUSTOM_MAKEFILE}" "C_INCLUDES")
 separate_arguments(C_INCLUDES NATIVE_COMMAND ${include_str})
 list(TRANSFORM C_INCLUDES REPLACE "^-I" "")
 
 # Get Global #defines
-extract_make_variable(c_def_str "${CMAKE_CURRENT_SOURCE_DIR}/Makefile" "C_DEFS")
+extract_make_variable(c_def_str "${CUSTOM_MAKEFILE}" "C_DEFS")
 separate_arguments(C_DEFS NATIVE_COMMAND ${c_def_str})
 list(TRANSFORM C_DEFS REPLACE "^-D" "")
 
 # Get MCU which includes the CPU name (cortex-m7), floating point unit, etc
-extract_make_variable(MCU "${CMAKE_CURRENT_SOURCE_DIR}/Makefile" "MCU")
+extract_make_variable(MCU "${CUSTOM_MAKEFILE}" "MCU")
 separate_arguments(MCU NATIVE_COMMAND ${MCU})
 
 # Get the linker flags. These are needed since we manually link the objects
 # instead of using the cubemx Makefile.
-extract_make_variable(ldflags_str "${CMAKE_CURRENT_SOURCE_DIR}/Makefile" "LDFLAGS")
+extract_make_variable(ldflags_str "${CUSTOM_MAKEFILE}" "LDFLAGS")
 separate_arguments(LDFLAGS NATIVE_COMMAND ${ldflags_str})
 # Need to fully specify the link script path
 list(TRANSFORM LDFLAGS REPLACE "^-T" "-T${CMAKE_CURRENT_SOURCE_DIR}/")

firmware/cmake/custom_cubemx_targets.mk

@@ -0,0 +1,17 @@
+
+# The following targets are appended to the end of the autogenerated Makefile
+# from CubeMX.
+
+# Add a recipe for building the sources to objects without linking them.
+# This is used by build_cubemx.cmake
+objects: $(OBJECTS)
+
+
+# Add a recipe for printing any Makefile variable to stdout
+# This is used by build_cubemx.cmake.
+# Example
+# $ make LIBS.value
+# -lc -lm -lnosys
+
+%.value:
+	@echo $($*)

firmware/cmake/generate_cubemx.mk

@@ -7,31 +7,31 @@ else
 endif
 
 IOC_FILE = board_config.ioc
+AUTOGEN_CUBEMX = ON
 
 CUBEMX_GEN_SCRIPT = cubemx_script.txt
 
+# Get the directory of this file since it is called from other locations
+BUILD_SYS_DIR:=$(shell dirname $(realpath $(firstword $(MAKEFILE_LIST))))
+CUSTOM_TARGETS_FILE = $(BUILD_SYS_DIR)/custom_cubemx_targets.mk
+
+# Copy the CubeMX makefile and custom targets into a new makefile
+CustomMakefile.mk: Makefile $(CUSTOM_TARGETS_FILE)
+	@echo "Creating $@ from [$^]"
+	cat Makefile > $@
+	cat $(CUSTOM_TARGETS_FILE) >> $@ 
+
 # This recipe will execute whenever IOC_FILE has a newer timestamp than the
 # Makefile, i.e. whenever IOC_FILE has been updated but new code has not been
 # generated.
-
 Makefile: $(IOC_FILE)
+	@echo "Autogenerating from CubeMX. If you don't want to do this, you must manually 'Generate Code' before building."
 # Create an file containing commands to generate the cubemx code.
-	echo "config load \"$(IOC_FILE)\"" > $(CUBEMX_GEN_SCRIPT)
-	echo "project generate ./" >> $(CUBEMX_GEN_SCRIPT)
-	echo "exit" >> $(CUBEMX_GEN_SCRIPT)
+	@printf 'config load "%s"\n' $(IOC_FILE) > $(CUBEMX_GEN_SCRIPT)
+	@printf 'project generate ./\n' >> $(CUBEMX_GEN_SCRIPT)
+	@printf 'exit\n' >> $(CUBEMX_GEN_SCRIPT)
 
 # Run the cubemx program to generate code.
 	java -jar "$(CUBEMX_PATH)" -q "$(CUBEMX_GEN_SCRIPT)"
 
-	rm $(CUBEMX_GEN_SCRIPT)
-
-# Add a recipe for building the sources to objects without linking them.
-# This is used by build_cubemx.cmake
-	echo "" >> Makefile
-	echo 'objects: $$(OBJECTS)' >> Makefile
-
-# Add a recipe for printing any Makefile variable to stdout
-# This is used by build_cubemx.cmake
-	echo "" >> Makefile
-	echo "%.value:" >> Makefile
-	echo -e "\t@echo \$$(\$$*)" >> Makefile
+	rm $(CUBEMX_GEN_SCRIPT)

firmware/dbcs/DEMO_CAN.dbc

@@ -3,73 +3,52 @@ VERSION ""
 
 
 NS_ : 
-		NS_DESC_
-		CM_
-		BA_DEF_
-		BA_
-		VAL_
-		CAT_DEF_
-		CAT_
-		FILTER
-		BA_DEF_DEF_
-		EV_DATA_
-		ENVVAR_DATA_
-		SGTYPE_
-		SGTYPE_VAL_
-		BA_DEF_SGTYPE_
-		BA_SGTYPE_
-		SIG_TYPE_REF_
-		VAL_TABLE_
-		SIG_GROUP_
-		SIG_VALTYPE_
-		SIGTYPE_VALTYPE_
-		BO_TX_BU_
-		BA_DEF_REL_
-		BA_REL_
-		BA_DEF_DEF_REL_
-		BU_SG_REL_
-		BU_EV_REL_
-		BU_BO_REL_
-		SG_MUL_VAL_
+        NS_DESC_
+        CM_
+        BA_DEF_
+        BA_
+        VAL_
+        CAT_DEF_
+        CAT_
+        FILTER
+        BA_DEF_DEF_
+        EV_DATA_
+        ENVVAR_DATA_
+        SGTYPE_
+        SGTYPE_VAL_
+        BA_DEF_SGTYPE_
+        BA_SGTYPE_
+        SIG_TYPE_REF_
+        VAL_TABLE_
+        SIG_GROUP_
+        SIG_VALTYPE_
+        SIGTYPE_VALTYPE_
+        BO_TX_BU_
+        BA_DEF_REL_
+        BA_REL_
+        BA_DEF_DEF_REL_
+        BU_SG_REL_
+        BU_EV_REL_
+        BU_BO_REL_
+        SG_MUL_VAL_
 
 BS_:
 
 BU_: FOO BAR
 
 
 BO_ 940 TempSensors: 8 FOO
-	SG_ Sensor1 : 54|10@1- (0.2,0) [0|0] "degC" BAR
-	SG_ Sensor2 : 44|10@1- (0.2,0) [0|0] "degC" BAR
-	SG_ Sensor3 : 34|10@1- (0.2,0) [0|0] "degC" BAR
-	SG_ Sensor4 : 24|10@1- (0.2,0) [0|0] "degC" BAR
-	SG_ Sensor5 : 14|10@1- (0.2,0) [0|0] "degC" BAR
-	SG_ Sensor6 : 4|10@1- (0.2,0) [0|0] "degC" BAR
-
-BO_ 581 VehicleInfo: 8 BAR
-	SG_ WheelSpeed : 26|32@0+ (0.00390625,0) [0|250.996] "km/h" FOO
-	SG_ RequestedSpeed : 3|24@0+ (0.00390625,0) [0|250.996] "km/h" FOO
-
-
-CM_ BO_ 940 "Temperature Sensor Values";
-CM_ BO_ 581 "Pack Contactor States";
-CM_ SG_ 581 WheelSpeed "Wheel-Based Vehicle Speed: Speed of the vehicle as calculated from wheel or tailshaft speed.";
-BA_DEF_ SG_  "SPN" INT 0 524287;
-BA_DEF_ BO_  "VFrameFormat" ENUM  "StandardCAN","ExtendedCAN","reserved","J1939PG";
-BA_DEF_  "DatabaseVersion" STRING ;
-BA_DEF_  "BusType" STRING ;
-BA_DEF_  "ProtocolType" STRING ;
-BA_DEF_  "DatabaseCompiler" STRING ;
-BA_DEF_DEF_  "SPN" 0;
-BA_DEF_DEF_  "VFrameFormat" "J1939PG";
-BA_DEF_DEF_  "DatabaseVersion" "DEMO PLUS";
-BA_DEF_DEF_  "BusType" "";
-BA_DEF_DEF_  "ProtocolType" "";
-BA_DEF_DEF_  "DatabaseCompiler" "";
-BA_ "ProtocolType" "J1939";
-BA_ "BusType" "CAN";
-BA_ "DatabaseCompiler" "CSS ELECTRONICS (WWW.CSSELECTRONICS.COM)";
-BA_ "DatabaseVersion" "1.0.0";
-BA_ "VFrameFormat" BO_ 2364540158 3;
-BA_ "VFrameFormat" BO_ 2566844926 3;
-BA_ "SPN" SG_ 2364540158 EngineSpeed 190;
-BA_ "SPN" SG_ 2566844926 WheelBasedVehicleSpeed 84;
+    SG_ Sensor1 : 54|10@1- (0.2,0) [0|0] "degC" BAR
+    SG_ Sensor2 : 44|10@1- (0.2,0) [0|0] "degC" BAR
+    SG_ Sensor3 : 34|10@1- (0.2,0) [0|0] "degC" BAR
+    SG_ Sensor4 : 24|10@1- (0.2,0) [0|0] "degC" BAR
+    SG_ Sensor5 : 14|10@1- (0.2,0) [0|0] "degC" BAR
+    SG_ Sensor6 : 4|10@1- (0.2,0) [0|0] "degC" BAR
+
+BO_ 941 TempSensorsReply: 8 BAR
+    SG_ Sensor1 : 54|10@1- (0.2,0) [0|0] "degC" FOO
+    SG_ Sensor2 : 44|10@1- (0.2,0) [0|0] "degC" FOO
+    SG_ Sensor3 : 34|10@1- (0.2,0) [0|0] "degC" FOO
+    SG_ Sensor4 : 24|10@1- (0.2,0) [0|0] "degC" FOO
+    SG_ Sensor5 : 14|10@1- (0.2,0) [0|0] "degC" FOO
+    SG_ Sensor6 : 4|10@1- (0.2,0) [0|0] "degC" FOO

firmware/mcal/raspi/periph/can.h

@@ -10,8 +10,10 @@
 #include <stdlib.h>
 #include <string.h>
 #include <sys/ioctl.h>
+#include <sys/types.h>
 #include <unistd.h>
 
+#include <chrono>
 #include <cstdint>
 #include <cstring>
 #include <iostream>
@@ -26,7 +28,9 @@ namespace mcal::raspi::periph {
 
 class CanBase : public shared::periph::CanBase {
 public:
-    CanBase(std::string can_iface) : iface_(can_iface){};
+    CanBase(std::string can_iface) : iface_(can_iface) {
+        program_start_ = std::chrono::steady_clock::now();
+    };
 
     void Setup() {
         // Create a socket
@@ -94,6 +98,15 @@ class CanBase : public shared::periph::CanBase {
     std::mutex queue_mtx_;
     std::thread reader_thread_;
 
+    std::chrono::steady_clock::time_point program_start_;
+
+    inline uint32_t get_tick() {
+        std::chrono::milliseconds elapsed_ms =
+            std::chrono::duration_cast<std::chrono::milliseconds>(
+                std::chrono::steady_clock::now() - program_start_);
+        return static_cast<uint32_t>(elapsed_ms.count());
+    }
+
     void StartReading() {
         struct can_frame frame;
 
@@ -109,9 +122,7 @@ class CanBase : public shared::periph::CanBase {
             rawMsg.header.id = frame.can_id;
             rawMsg.header.data_len = frame.can_dlc;
             rawMsg.header.is_extended_frame = frame.can_id & CAN_EFF_FLAG;
-
-            std::cout << "Can base frame " << std::hex << rawMsg.header.id
-                      << " data len " << rawMsg.header.data_len << std::endl;
+            rawMsg.tick_timestamp = get_tick();
 
             std::copy(frame.data, frame.data + kMaxMsgBytes, rawMsg.data);
 

firmware/mcal/stm32f767/CMakeLists.txt

@@ -3,6 +3,6 @@ add_library(mcal-stm32f767 INTERFACE)
 add_subdirectory(periph)
 add_subdirectory(os)
 
-target_include_directories(mcal-stm32f767 INTERFACE ${CMAKE_CURRENT_SOURCE_DIR}/..)
+target_include_directories(mcal-stm32f767 INTERFACE ${CMAKE_CURRENT_SOURCE_DIR}/../..)
 
 target_link_libraries(mcal-stm32f767 INTERFACE shared)

firmware/mcal/stm32f767/os/tick.h

@@ -3,11 +3,14 @@
 
 #pragma once
 
+#include <sys/types.h>
+
 #include <cstdint>
 
 #include "cmsis_os2.h"
 #include "shared/os/os.h"
 #include "shared/os/tick.h"
+#include "stm32f7xx_hal.h"
 
 // TODO: Add comments and handle errors more robustly
 namespace os {