STM32 Can implementation; DemoCan Example

firmware/cmake/generate_cubemx.mk

@@ -14,17 +14,20 @@ CUBEMX_GEN_SCRIPT = cubemx_script.txt
 # Makefile, i.e. whenever IOC_FILE has been updated but new code has not been
 # generated.
 
-Makefile: $(IOC_FILE)
-# Create an file containing commands to generate the cubemx code.
-	echo "config load \"$(IOC_FILE)\"" > $(CUBEMX_GEN_SCRIPT)
-	echo "project generate ./" >> $(CUBEMX_GEN_SCRIPT)
-	echo "exit" >> $(CUBEMX_GEN_SCRIPT)
+.PHONY: Makefile
+
+# GenerateCubeMx: $(IOC_FILE)
+# # Create an file containing commands to generate the cubemx code.
+# 	echo "config load \"$(IOC_FILE)\"" > $(CUBEMX_GEN_SCRIPT)
+# 	echo "project generate ./" >> $(CUBEMX_GEN_SCRIPT)
+# 	echo "exit" >> $(CUBEMX_GEN_SCRIPT)
 
-# Run the cubemx program to generate code.
-	java -jar "$(CUBEMX_PATH)" -q "$(CUBEMX_GEN_SCRIPT)"
+# # Run the cubemx program to generate code.
+# 	java -jar "$(CUBEMX_PATH)" -q "$(CUBEMX_GEN_SCRIPT)"
 
-	rm $(CUBEMX_GEN_SCRIPT)
+# 	rm $(CUBEMX_GEN_SCRIPT)
 
+Makefile: $(IOC_FILE)
 # Add a recipe for building the sources to objects without linking them.
 # This is used by build_cubemx.cmake
 	echo "" >> Makefile
@@ -34,4 +37,4 @@ Makefile: $(IOC_FILE)
 # This is used by build_cubemx.cmake
 	echo "" >> Makefile
 	echo "%.value:" >> Makefile
-	echo -e "\t@echo \$$(\$$*)" >> Makefile
+	echo "\t@echo \$$(\$$*)" >> Makefile

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/PostBuild.cmake

@@ -1 +1,5 @@
-# empty
+# add_custom_command(
+#     TARGET main
+#     POST_BUILD
+#     COMMAND mv ./build/${PROJECT}/raspi/main ${PROJECT}
+# )

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 {

firmware/mcal/stm32f767/periph/can.h

@@ -0,0 +1,142 @@
+/// @author Samuel Parent
+/// @date 2023-01-12
+
+#pragma once
+
+#include <bits/ranges_base.h>
+#include <sys/_stdint.h>
+
+#include <cstddef>
+
+#include "shared/comms/can/raw_can_msg.h"
+#include "shared/periph/can.h"
+#include "shared/util/data_structures/circular_queue.h"
+#include "stm32f7xx_hal.h"
+#include "stm32f7xx_hal_can.h"
+
+namespace mcal::stm32f767::periph {
+
+class CanBase : public shared::periph::CanBase {
+public:
+    CanBase(CAN_HandleTypeDef* hcan) : hcan_(hcan){};
+
+    void Setup() {
+        HAL_CAN_ActivateNotification(hcan_, kCanRxActiveInterruptFifo0);
+        HAL_CAN_Start(hcan_);
+    }
+
+    void Send(const shared::can::RawCanMsg& can_tx_msg) override {
+        uint32_t tx_mailboxes_free_level =
+            HAL_CAN_GetTxMailboxesFreeLevel(hcan_);
+        if (tx_mailboxes_free_level < 1) {
+            dropped_tx_frames_ += 1;
+            return;
+        }
+
+        CAN_TxHeaderTypeDef stm_tx_header =
+            pack_stm_tx_header(can_tx_msg.header);
+
+        HAL_CAN_AddTxMessage(hcan_, &stm_tx_header, can_tx_msg.data,
+                             &tx_mailbox_addr_);
+    }
+
+    void ReadQueue(shared::can::RawCanMsg can_rx_msgs[], size_t len) override {
+        uint16_t msg_idx = 0;
+        {
+            while (!can_queue_.is_empty() && (msg_idx < len)) {
+                can_rx_msgs[msg_idx] = can_queue_.Dequeue();
+                msg_idx++;
+            }
+        }
+    }
+
+    void AddRxMessageToQueue() {
+        if (can_queue_.is_full()) {
+            dropped_rx_frames_ += 1;
+            return;
+        }
+
+        uint32_t fifo0_fill_level =
+            HAL_CAN_GetRxFifoFillLevel(hcan_, kCanRxFifo0);
+        if (fifo0_fill_level == 0) {
+            false_add_rx_msg_to_queue_ += 1;
+            return;
+        }
+
+        CAN_RxHeaderTypeDef stm_rx_header;
+        shared::can::RawCanMsg raw_rx_msg;
+
+        raw_rx_msg.tick_timestamp = get_tick_ms();
+
+        HAL_CAN_GetRxMessage(hcan_, kCanRxFifo0, &stm_rx_header,
+                             raw_rx_msg.data);
+
+        raw_rx_msg.header = unpack_stm_rx_header(stm_rx_header);
+
+        can_queue_.Enqueue(raw_rx_msg);
+    }
+
+private:
+    static constexpr uint8_t kMaxMsgBytes = 8;
+    static constexpr size_t kMsgQueueLen = 20;
+    static constexpr uint32_t kCanRxFifo0 = CAN_RX_FIFO0;
+    static constexpr uint32_t kCanRxActiveInterruptFifo0 =
+        CAN_IT_RX_FIFO0_MSG_PENDING;
+
+    static constexpr CAN_TxHeaderTypeDef pack_stm_tx_header(
+        const shared::can::CanHeader& header) {
+        CAN_TxHeaderTypeDef ret_stm_tx_header;
+
+        // Set frame id based on standard or extended frame id
+        if (header.is_extended_frame) {
+            ret_stm_tx_header.IDE = CAN_ID_EXT;
+            ret_stm_tx_header.ExtId = header.id;
+        } else {
+            ret_stm_tx_header.IDE = CAN_ID_STD;
+            ret_stm_tx_header.StdId = header.id;
+        }
+
+        // Sending a data frame
+        ret_stm_tx_header.RTR = CAN_RTR_DATA;
+
+        // Set data length
+        ret_stm_tx_header.DLC = header.data_len;
+
+        return ret_stm_tx_header;
+    }
+
+    static constexpr shared::can::CanHeader unpack_stm_rx_header(
+        const CAN_RxHeaderTypeDef& stm_rx_header) {
+        shared::can::CanHeader ret_rx_header;
+
+        if (stm_rx_header.IDE == CAN_ID_EXT) {
+            ret_rx_header.is_extended_frame = true;
+            ret_rx_header.id = stm_rx_header.ExtId;
+        } else {  // Otherwise assume standard ID
+            ret_rx_header.is_extended_frame = false;
+            ret_rx_header.id = stm_rx_header.StdId;
+        }
+
+        ret_rx_header.data_len = static_cast<uint8_t>(stm_rx_header.DLC);
+
+        return ret_rx_header;
+    }
+
+    inline uint32_t get_tick_ms() {
+        return HAL_GetTick() * HAL_GetTickFreq();
+    }
+
+    /// @todo broadcast these over a can message
+    uint32_t dropped_tx_frames_ = 0;
+    uint32_t dropped_rx_frames_ = 0;
+    uint32_t false_add_rx_msg_to_queue_ = 0;
+
+    CAN_HandleTypeDef* hcan_;
+    uint32_t tx_mailbox_addr_ = 0;
+
+    /// @todo make this an etl lockable queue.
+    shared::util::CircularQueue<shared::can::RawCanMsg, kMsgQueueLen>
+        can_queue_{};
+};
+
+}  // namespace mcal::stm32f767::periph

firmware/mcal/windows/CMakeLists.txt

@@ -1,6 +1,6 @@
 add_library(mcal-windows INTERFACE)
 
-target_include_directories(mcal-windows INTERFACE ${SMAKE_CURRENT_SOURCE_DIR}/..)
+target_include_directories(mcal-windows INTERFACE ${CMAKE_CURRENT_SOURCE_DIR}/../..)
 
 add_subdirectory(periph)
 target_link_libraries(mcal-windows INTERFACE shared)