GR26 ECU CubeMX Migration

CMakeLists.txt

@@ -161,7 +161,6 @@ include("${LIB_PATH}/FancyLayers-RENAME/NeoPixel/neopixel.cmake")
 include(BLINKY/blinky.cmake)
 include(Testbench/testbench.cmake)
 
-add_gr_project(STM32G474xE ECU)
 add_gr_project(STM32G474xE CCU)
 add_gr_project(STM32G474xE CANine)
 add_gr_project(STM32G431x8 OutboardSensors TireTemp)
@@ -170,15 +169,15 @@ add_gr_project(STM32U5A9xJ BLINKY U5BLINKY)
 add_gr_project(STM32L476xG BLINKY L4BLINKY)
 add_gr_project(STM32L476xG BLINKY L4HELLO)
 
-# add_project(
-#     NAME "ECU"
-#     PATH "ECU"
-#     SERIES "g4"
-#     SPECIFIER "g474re"
-#     HAL_GIT_TAG "v1.2.7" # https://github.com/STMicroelectronics/stm32g4xx-hal-driver/tree/v1.2.7
-#     CMSIS_GIT_TAG "v1.2.6" # https://github.com/STMicroelectronics/cmsis-device-g4/tree/v1.2.6
-#     CMSIS_MAJOR "5"
-# )
+add_project(
+    NAME "ECU"
+    PATH "ECU"
+    SERIES "g4"
+    SPECIFIER "g474re"
+    HAL_GIT_TAG "v1.2.7" # https://github.com/STMicroelectronics/stm32g4xx-hal-driver/tree/v1.2.7
+    CMSIS_GIT_TAG "v1.2.6" # https://github.com/STMicroelectronics/cmsis-device-g4/tree/v1.2.6
+    CMSIS_MAJOR "5"
+)
 
 # add_project(
 #     NAME "CCU"

ECU/Application/Inc/CANdler.h

@@ -1,17 +1,23 @@
 #include <stdbool.h>
 #include <stdint.h>
 
+#include "CubeCAN.h"
 #include "GRCAN_BUS_ID.h"
 #include "GRCAN_CUSTOM_ID.h"
 #include "GRCAN_MSG_ID.h"
 #include "GRCAN_NODE_ID.h"
 #include "StateData.h"
+#include "fdcan.h"
 
 #ifndef CANDLER_H
 #define CANDLER_H
 
-void ECU_CAN_MessageHandler(ECU_StateData *state_data, GRCAN_BUS_ID bus_id, GRCAN_MSG_ID msg_id, GRCAN_NODE_ID sender_id, uint8_t *data, uint32_t data_length);
+#define CANDLER_IS_DTI_ID(raw_id) (((raw_id) & DTI_RX_MASK) == DTI_RX_ID)
 
-void ECU_CAN_DTI_MessageHandler(ECU_StateData *state_data, GRCAN_CUSTOM_ID id, uint8_t *data, uint32_t data_length);
+void CANdler_Callback(const CubeCAN_Config_Context *const context, const CubeCAN_Identifier *const identifier, const uint8_t *const data, const uint8_t size);
+
+void ECU_CAN_MessageHandler(ECU_StateData *state_data, GRCAN_BUS_ID bus_id, GRCAN_MSG_ID msg_id, GRCAN_NODE_ID sender_id, const uint8_t *data, uint32_t data_length);
+
+void ECU_CAN_DTI_MessageHandler(ECU_StateData *state_data, uint32_t id, const uint8_t *data, uint32_t data_length);
 
 #endif

ECU/Application/Inc/CANutils.h

@@ -1,5 +1,5 @@
 #include <stdint.h>
-
+#include "CubeCAN.h"
 #include "GRCAN_BUS_ID.h"
 #include "GRCAN_CUSTOM_ID.h"
 #include "GRCAN_MSG_ID.h"
@@ -10,8 +10,9 @@
 #define CANUTILS_H
 
 #define ECU_STATE_DATA_SEND_INTERVAL_MS 20
-void ECU_CAN_Send(GRCAN_BUS_ID bus, GRCAN_NODE_ID destNode, GRCAN_MSG_ID messageID, void *data, uint32_t size);
-void ECU_CAN_Send_DTI(GRCAN_CUSTOM_ID msgID, void *data, uint32_t size);
+CubeCAN_Handle *ECU_GetCANHandle(GRCAN_BUS_ID bus);
+HAL_StatusTypeDef ECU_CAN_Send(GRCAN_BUS_ID bus, GRCAN_NODE_ID destNode, GRCAN_MSG_ID messageID, const void *data, uint8_t size);
+HAL_StatusTypeDef ECU_CAN_Send_DTI(GRCAN_CUSTOM_ID msgID, const void *data, uint8_t size);
 void SendECUStateDataOverCAN(const ECU_StateData *stateData);
 void SendECUAnalogDataOverCAN(const ECU_StateData *stateData);
 void SendECUConfigOverCAN(const ECU_StateData *stateData);

ECU/Application/Inc/CubeCAN_Config.h

@@ -0,0 +1,7 @@
+#ifndef CUBE_CAN_CONFIG_H
+#define CUBE_CAN_CONFIG_H
+
+#define CUBEMX_CAN_TX_QUEUE_SIZE 16U
+#define CUBEMX_CAN_MAX_INSTANCES 2U
+
+#endif

ECU/Application/Inc/StateData.h

@@ -1,9 +1,9 @@
 #include <stdbool.h>
 #include <stdint.h>
 
+#include "CubeCAN.h"
 #include "GRCAN_MSG_DATA.h"
 #include "StateMachine.h"
-#include "can.h"
 
 #ifndef _STATEDATA_H_
 #define _STATEDATA_H_
@@ -124,8 +124,8 @@ typedef volatile struct ECU_StateData {
 
 	GR_ECU_State ecu_state;
 
-	CANHandle *primary_can;
-	CANHandle *data_can;
+	CubeCAN_Handle *data_can;
+	CubeCAN_Handle *primary_can;
 } ECU_StateData;
 
 #endif

ECU/Application/Inc/StateTicks.h

@@ -1,13 +1,11 @@
+#include "CubeCAN.h"
 #include "StateData.h"
 #include "StateMachine.h"
 #include "adc.h"
-#include "can.h"
 
 #ifndef _STATE_TICKS_H_
 #define _STATE_TICKS_H_
 
-extern CANHandle *primary_can;
-extern CANHandle *data_can;
 
 /**
  * @brief Tick function for the ECU state machine.

ECU/Application/Src/CANdler.c

@@ -3,6 +3,7 @@
 #include <math.h>
 #include <stdint.h>
 
+#include "CubeCAN.h"
 #include "GRCAN_BUS_ID.h"
 #include "GRCAN_CUSTOM_ID.h"
 #include "GRCAN_MSG_ID.h"
@@ -12,19 +13,21 @@
 #include "StateData.h"
 #include "bitManipulations.h"
 
+extern ECU_StateData stateLump;
+
 #define WHEEL_RADIUS_INCHES 8.0f
 #define WHEEL_CIRCUMFERENCE_INCHES (2.0f * (float)M_PI * WHEEL_RADIUS_INCHES)
 #define WHEEL_RPM_TO_MPH_RATIO (WHEEL_CIRCUMFERENCE_INCHES / 63360.0f * 60.0f)
 #define NUM_MOTOR_POLE_PAIRS 10
 #define DRIVEN_SPROCKET_TEETH 51.0f
 #define DRIVING_SPROCKET_TEETH 19.0f
-#define GEAR_RATIO (DRIVEN_SPROCKET_TEETH / DRIVING_SPROCKET_TEETH)
+#define GEAR_RATIO (51.0f / 19.0f)
 
 void ReportBadMessageLength(GRCAN_BUS_ID bus_id, GRCAN_MSG_ID msg_id, GRCAN_NODE_ID sender_id)
 {
 	// TODO Ideally change some state data to note a bad message, ie if ACU
 	// that can be a comms error
-	LOGOMATIC("Bad ECU CAN Rx length! Bus: %d, Msg: %X, Sender: %X\n", bus_id, msg_id, sender_id);
+	LOGOMATIC_ERROR("Bad ECU CAN Rx length! Bus: %d, Msg: %X, Sender: %X\n", bus_id, msg_id, sender_id);
 }
 
 void ReportUnhandledMessage(GRCAN_BUS_ID bus_id, GRCAN_MSG_ID msg_id, GRCAN_NODE_ID sender_id)
@@ -33,42 +36,42 @@ void ReportUnhandledMessage(GRCAN_BUS_ID bus_id, GRCAN_MSG_ID msg_id, GRCAN_NODE
 	UNUSED(bus_id);
 	UNUSED(msg_id);
 	UNUSED(sender_id);
-	// LOGOMATIC("Unhandled ECU CAN Rx msg! Bus: %d, Msg: %X, Sender: %X\n", bus_id, msg_id, sender_id);
+	LOGOMATIC_ERROR("Unhandled ECU CAN Rx msg! Bus: %d, Msg: %X, Sender: %X\n", bus_id, msg_id, sender_id);
 }
 
-void ECU_CAN_MessageHandler(ECU_StateData *state_data, GRCAN_BUS_ID bus_id, GRCAN_MSG_ID msg_id, GRCAN_NODE_ID sender_id, uint8_t *data, uint32_t data_length)
+void ECU_CAN_MessageHandler(ECU_StateData *state_data, GRCAN_BUS_ID bus_id, GRCAN_MSG_ID msg_id, GRCAN_NODE_ID sender_id, const uint8_t *data, uint32_t data_length)
 {
 	switch (msg_id) {
 		case GRCAN_DEBUG_2_0:
 			if (data_length > 8) {
 				ReportBadMessageLength(bus_id, msg_id, sender_id);
 				break;
 			}
-			LOGOMATIC("Received from %02X on bus %d: %.*s\n", sender_id, bus_id, (int)data_length, data);
+			LOGOMATIC_INFO("Received from %02X on bus %d: %.*s\n", sender_id, bus_id, (int)data_length, data);
 			break;
 
 		case GRCAN_DEBUG_FD:
 			if (data_length > 64) {
 				ReportBadMessageLength(bus_id, msg_id, sender_id);
 				break;
 			}
-			LOGOMATIC("Received from %02X on bus %d: %.*s\n", sender_id, bus_id, (int)data_length, data);
+			LOGOMATIC_ERROR("Received from %02X on bus %d: %.*s\n", sender_id, bus_id, (int)data_length, data);
 			break;
 
 		case GRCAN_PING:
 			if (data_length != sizeof(GRCAN_PING_MSG)) {
 				ReportBadMessageLength(bus_id, msg_id, sender_id);
 				break;
 			}
-			respondToPing(bus_id, sender_id, ((GRCAN_PING_MSG *)data)->timestamp);
+			respondToPing(bus_id, sender_id, ((const GRCAN_PING_MSG *)data)->timestamp);
 			break;
 
 		case GRCAN_ACU_STATUS_1:
 			if (data_length != sizeof(GRCAN_ACU_STATUS_1_MSG)) {
 				ReportBadMessageLength(bus_id, msg_id, sender_id);
 				break;
 			}
-			GRCAN_ACU_STATUS_1_MSG *acu_status_1 = (GRCAN_ACU_STATUS_1_MSG *)data;
+			const GRCAN_ACU_STATUS_1_MSG *acu_status_1 = (const GRCAN_ACU_STATUS_1_MSG *)data;
 			state_data->tractivebattery_soc = acu_status_1->accumulator_soc;
 			state_data->glv_soc = acu_status_1->glv_soc;
 			state_data->ts_voltage = acu_status_1->ts_voltage * 0.1f;
@@ -79,7 +82,7 @@ void ECU_CAN_MessageHandler(ECU_StateData *state_data, GRCAN_BUS_ID bus_id, GRCA
 				ReportBadMessageLength(bus_id, msg_id, sender_id);
 				break;
 			}
-			GRCAN_ACU_STATUS_2_MSG *acu_status_2 = (GRCAN_ACU_STATUS_2_MSG *)data;
+			const GRCAN_ACU_STATUS_2_MSG *acu_status_2 = (const GRCAN_ACU_STATUS_2_MSG *)data;
 			state_data->max_cell_temp_c = acu_status_2->max_cell_temp * 0.25f;
 			state_data->acu_error_warning_bits = acu_status_2->status_flags;
 			// ACU does weird stuff
@@ -94,26 +97,26 @@ void ECU_CAN_MessageHandler(ECU_StateData *state_data, GRCAN_BUS_ID bus_id, GRCA
 				ReportBadMessageLength(bus_id, msg_id, sender_id);
 				break;
 			}
-			GRCAN_INV_STATUS_1_MSG *inv_status_1 = (GRCAN_INV_STATUS_1_MSG *)data;
+			const GRCAN_INV_STATUS_1_MSG *inv_status_1 = (const GRCAN_INV_STATUS_1_MSG *)data;
 			UNUSED(inv_status_1);
 			break;
 		case GRCAN_INV_STATUS_3:
 			if (data_length != sizeof(GRCAN_INV_STATUS_3_MSG)) {
 				ReportBadMessageLength(bus_id, msg_id, sender_id);
 				break;
 			}
-			GRCAN_INV_STATUS_3_MSG *inv_status_3 = (GRCAN_INV_STATUS_3_MSG *)data;
+			const GRCAN_INV_STATUS_3_MSG *inv_status_3 = (const GRCAN_INV_STATUS_3_MSG *)data;
 			state_data->inverter_fault_map = inv_status_3->fault_bits;
 			break;
 		case GRCAN_DASH_STATUS:
 			if (data_length != sizeof(GRCAN_DASH_STATUS_MSG)) {
 				ReportBadMessageLength(bus_id, msg_id, sender_id);
 				break;
 			}
-			GRCAN_DASH_STATUS_MSG *dash_data = (GRCAN_DASH_STATUS_MSG *)data;
+			const GRCAN_DASH_STATUS_MSG *dash_data = (const GRCAN_DASH_STATUS_MSG *)data;
 
-			LOGOMATIC("Dash button flags: TS Press %d | TS Hold %d | RTD Press %d | RTD Hold %d\n", dash_data->button_flags & 1, (dash_data->button_flags >> 2) & 1,
-				  (dash_data->button_flags >> 1) & 1, (dash_data->button_flags >> 3) & 1);
+			LOGOMATIC_INFO("Dash button flags: TS Press %d | TS Hold %d | RTD Press %d | RTD Hold %d\n", dash_data->button_flags & 1, (dash_data->button_flags >> 2) & 1,
+				       (dash_data->button_flags >> 1) & 1, (dash_data->button_flags >> 3) & 1);
 
 			// LET IT BE KNOWN: these things are LSB FIRST, TODO: I'll get it right later
 			if (state_data->ecu_state == GR_GLV_ON) {
@@ -137,7 +140,7 @@ void ECU_CAN_MessageHandler(ECU_StateData *state_data, GRCAN_BUS_ID bus_id, GRCA
 				ReportBadMessageLength(bus_id, msg_id, sender_id);
 				break;
 			}
-			GRCAN_ECU_CONFIG_MSG *ecu_config = (GRCAN_ECU_CONFIG_MSG *)data;
+			const GRCAN_ECU_CONFIG_MSG *ecu_config = (const GRCAN_ECU_CONFIG_MSG *)data;
 			state_data->ping_timeout_delay_ms = ecu_config->ping_timeout_delay * 10;
 			state_data->brake_f_min = ecu_config->brake_f_min * 25;
 			state_data->brake_r_min = ecu_config->brake_r_min * 25;
@@ -165,12 +168,12 @@ void ECU_CAN_MessageHandler(ECU_StateData *state_data, GRCAN_BUS_ID bus_id, GRCA
 	}
 }
 
-void ECU_CAN_DTI_MessageHandler(ECU_StateData *state_data, GRCAN_CUSTOM_ID id, uint8_t *data, uint32_t data_length)
+void ECU_CAN_DTI_MessageHandler(ECU_StateData *state_data, uint32_t id, const uint8_t *data, uint32_t data_length)
 {
 	switch (id) {
 		case DTI_DATA_1_CAN_ID:
 			if (data_length != 8) {
-				ReportBadMessageLength(GRCAN_BUS_PRIMARY, (GRCAN_MSG_ID)id, GRCAN_DTI_Inv);
+				LOGOMATIC_ERROR("BAD DTI_DATA_1 CAN Rx length: %d\n", (int)data_length);
 				break;
 			}
 			int32_t erpm = ((uint32_t)data[0] << 24) | ((uint32_t)data[1] << 16) | ((uint32_t)data[2] << 8) | ((uint32_t)data[3]);
@@ -183,3 +186,25 @@ void ECU_CAN_DTI_MessageHandler(ECU_StateData *state_data, GRCAN_CUSTOM_ID id, u
 			break;
 	}
 }
+
+void CANdler_Callback(const CubeCAN_Config_Context *const context, const CubeCAN_Identifier *const identifier, const uint8_t *const data, const uint8_t size)
+{
+
+	if (context == NULL || identifier == NULL || data == NULL || size == 0) {
+		LOGOMATIC_ERROR("CANdler_Callback: Invalid parameters received. context: %p, identifier: %p, data: %p, size: %u\n", (const void *)context, (const void *)identifier, (const void *)data,
+				size);
+		return;
+	}
+
+	const GRCAN_BUS_ID bus_id = context->busid_user_context;
+	const GRCAN_NODE_ID sender_id = identifier->tx_node_id;
+	const GRCAN_MSG_ID msg_id = identifier->msg_id;
+
+
+	if (CANDLER_IS_DTI_ID(identifier->raw_id)) {
+		ECU_CAN_DTI_MessageHandler(&stateLump, identifier->raw_id, data, size);
+		return;
+	}
+
+	ECU_CAN_MessageHandler(&stateLump, bus_id, msg_id, sender_id, data, size);
+}