switch to i2c

board/SConscript

@@ -48,7 +48,8 @@ c_sources = [
   ["hal_flash", "inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash.c"],
   ["hal_pwr", "inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr.c"],
   ["hal_rcc", "inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc.c"],
-  ["hal_spi", "inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_spi.c"],
+  ["hal_i2c", "inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_i2c.c"],
+  ["hal_i2c_ex", "inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_i2c_ex.c"],
   ["hal_tim", "inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim.c"],
   ["hal_tim_ex", "inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim_ex.c"],
   ["hal_adc_ex", "inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc_ex.c"],

board/bldc/bldc.c

@@ -32,8 +32,7 @@
 #include "BLDC_controller.h"           /* Model's header file */
 #include "rtwtypes.h"
 
-extern hall_sensor hall_left;
-extern hall_sensor hall_right;
+extern board_t board;
 
 extern RT_MODEL *const rtM_Left;
 extern RT_MODEL *const rtM_Right;
@@ -169,9 +168,9 @@ void DMA2_Stream0_IRQHandler(void) {
   enableFin = enable_motors && !rtY_Left.z_errCode && !rtY_Right.z_errCode;
 
   // ========================= LEFT MOTOR ============================
-    uint8_t hall_ul = !(hall_left.hall_portA->IDR & hall_left.hall_pinA);
-    uint8_t hall_vl = !(hall_left.hall_portB->IDR & hall_left.hall_pinB);
-    uint8_t hall_wl = !(hall_left.hall_portC->IDR & hall_left.hall_pinC);
+    uint8_t hall_ul = !(board.hall_left.hall_portA->IDR & board.hall_left.hall_pinA);
+    uint8_t hall_vl = !(board.hall_left.hall_portB->IDR & board.hall_left.hall_pinB);
+    uint8_t hall_wl = !(board.hall_left.hall_portC->IDR & board.hall_left.hall_pinC);
 
     rtU_Left.b_motEna     = enableFin;
     rtU_Left.z_ctrlModReq = ctrlModReq;
@@ -199,9 +198,9 @@ void DMA2_Stream0_IRQHandler(void) {
 
 
   // ========================= RIGHT MOTOR ===========================
-    uint8_t hall_ur = !(hall_right.hall_portA->IDR & hall_right.hall_pinA);
-    uint8_t hall_vr = !(hall_right.hall_portB->IDR & hall_right.hall_pinB);
-    uint8_t hall_wr = !(hall_right.hall_portC->IDR & hall_right.hall_pinC);
+    uint8_t hall_ur = !(board.hall_right.hall_portA->IDR & board.hall_right.hall_pinA);
+    uint8_t hall_vr = !(board.hall_right.hall_portB->IDR & board.hall_right.hall_pinB);
+    uint8_t hall_wr = !(board.hall_right.hall_portC->IDR & board.hall_right.hall_pinC);
 
     rtU_Right.b_motEna      = enableFin;
     rtU_Right.z_ctrlModReq  = ctrlModReq;

board/boards.h

@@ -1,46 +1,79 @@
-extern hall_sensor hall_left;
-extern hall_sensor hall_right;
-uint32_t can_addr_offset;
+board_t board;
 
 void board_detect(void) {
   hw_type = board_id();
-  // 0 = base, 1 = knee
+  // 0 = base, 3 = knee
   if (hw_type == HW_TYPE_BASE) {
-    hall_left.hall_portA = GPIOC;
-    hall_left.hall_pinA = GPIO_PIN_13;
-    hall_left.hall_portB = GPIOC;
-    hall_left.hall_pinB = GPIO_PIN_14;
-    hall_left.hall_portC = GPIOC;
-    hall_left.hall_pinC = GPIO_PIN_15;
-
-    hall_right.hall_portA = GPIOC;
-    hall_right.hall_pinA = GPIO_PIN_10;
-    hall_right.hall_portB = GPIOC;
-    hall_right.hall_pinB = GPIO_PIN_11;
-    hall_right.hall_portC = GPIOC;
-    hall_right.hall_pinC = GPIO_PIN_12;
-
-    can_addr_offset = 0x0U;
-
-    MX_GPIO_LED_Base_Init();
+    board.hall_left.hall_portA = GPIOC;
+    board.hall_left.hall_pinA = GPIO_PIN_13;
+    board.hall_left.hall_portB = GPIOC;
+    board.hall_left.hall_pinB = GPIO_PIN_14;
+    board.hall_left.hall_portC = GPIOC;
+    board.hall_left.hall_pinC = GPIO_PIN_15;
+
+    board.hall_right.hall_portA = GPIOC;
+    board.hall_right.hall_pinA = GPIO_PIN_10;
+    board.hall_right.hall_portB = GPIOC;
+    board.hall_right.hall_pinB = GPIO_PIN_11;
+    board.hall_right.hall_portC = GPIOC;
+    board.hall_right.hall_pinC = GPIO_PIN_12;
+
+    board.CAN = CAN2;
+    board.can_alt_tx = GPIO_AF9_CAN2;
+    board.can_alt_rx = GPIO_AF9_CAN2;
+    board.can_pinRX = GPIO_PIN_5;
+    board.can_portRX = GPIOB;
+    board.can_pinTX = GPIO_PIN_6;
+    board.can_portTX = GPIOB;
+    board.can_pinEN = GPIO_PIN_7;
+    board.can_portEN = GPIOB;
+
+    board.led_pinR = GPIO_PIN_2;
+    board.led_portR = GPIOD;
+    board.led_pinG = GPIO_PIN_15;
+    board.led_portG = GPIOA;
+    board.led_pinB = GPIO_PIN_1;
+    board.led_portB = GPIOC;
+
+    board.can_addr_offset = 0x0U;
+
   } else if (hw_type == HW_TYPE_KNEE) {
-    hall_left.hall_portA = GPIOC;
-    hall_left.hall_pinA = GPIO_PIN_14;
-    hall_left.hall_portB = GPIOC;
-    hall_left.hall_pinB = GPIO_PIN_15;
-    hall_left.hall_portC = GPIOC;
-    hall_left.hall_pinC = GPIO_PIN_13;
-
-    hall_right.hall_portA = GPIOD;
-    hall_right.hall_pinA = GPIO_PIN_2;
-    hall_right.hall_portB = GPIOC;
-    hall_right.hall_pinB = GPIO_PIN_0;
-    hall_right.hall_portC = GPIOC;
-    hall_right.hall_pinC = GPIO_PIN_1;
-
-    can_addr_offset = 0x100U;
-
-    MX_SPI3_Init();
+    board.hall_left.hall_portA = GPIOC;
+    board.hall_left.hall_pinA = GPIO_PIN_14;
+    board.hall_left.hall_portB = GPIOC;
+    board.hall_left.hall_pinB = GPIO_PIN_15;
+    board.hall_left.hall_portC = GPIOC;
+    board.hall_left.hall_pinC = GPIO_PIN_13;
+
+    board.hall_right.hall_portA = GPIOD;
+    board.hall_right.hall_pinA = GPIO_PIN_2;
+    board.hall_right.hall_portB = GPIOC;
+    board.hall_right.hall_pinB = GPIO_PIN_0;
+    board.hall_right.hall_portC = GPIOC;
+    board.hall_right.hall_pinC = GPIO_PIN_1;
+
+    board.CAN = CAN1;
+    board.can_alt_tx = GPIO_AF8_CAN1;
+    board.can_alt_rx = GPIO_AF9_CAN1;
+    board.can_pinRX = GPIO_PIN_11;
+    board.can_portRX = GPIOA;
+    board.can_pinTX = GPIO_PIN_9;
+    board.can_portTX = GPIOB;
+    board.can_pinEN = 0; // No pin, pulled down with 10k resistor
+    board.can_portEN = GPIOB;
+
+    board.led_pinR = GPIO_PIN_2;
+    board.led_portR = GPIOB;
+    board.led_pinG = GPIO_PIN_15;
+    board.led_portG = GPIOA;
+    board.led_pinB = GPIO_PIN_5;
+    board.led_portB = GPIOB;
+
+    board.can_addr_offset = 0x100U;
+
+    #ifndef BOOTSTUB
+    MX_I2C_Init();
+    #endif
   } else {
     // Fail to detect, halt
     while(1) {}

board/bootstub.c

@@ -25,6 +25,7 @@
 #include "drivers/llflash.h"
 #include "provision.h"
 #include "util.h"
+#include "boards.h"
 
 #include "flasher.h"
 
@@ -53,10 +54,7 @@ int main(void) {
   SystemClock_Config();
   MX_GPIO_Clocks_Init();
 
-  hw_type = board_id();
-  if (hw_type == HW_TYPE_BASE) {
-    MX_GPIO_LED_Base_Init();
-  }
+  board_detect();
   MX_GPIO_Common_Init();
 
   out_enable(POWERSWITCH, true);

board/comms.h

@@ -19,7 +19,7 @@ extern P rtP_Right;
 extern volatile int16_t cmdL;                    // global variable for Left Command
 extern volatile int16_t cmdR;                    // global variable for Right Command
 extern uint8_t hw_type;
-extern uint32_t can_addr_offset;
+extern board_t board;
 
 extern uint32_t enter_bootloader_mode;
 extern volatile uint32_t torque_cmd_timeout;
@@ -85,38 +85,28 @@ void can_send_msg(uint32_t addr, uint32_t dhr, uint32_t dlr, uint8_t len) {
 
 void process_can(void) {
   CAN_FIFOMailBox_TypeDef to_send;
-  if (CAN2->TSR & CAN_TSR_TME0) {
+  if (board.CAN->TSR & CAN_TSR_TME0) {
     if (can_pop(&can_tx_q, &to_send)) {
-      CAN2->sTxMailBox[0].TDLR = to_send.RDLR;
-      CAN2->sTxMailBox[0].TDHR = to_send.RDHR;
-      CAN2->sTxMailBox[0].TDTR = to_send.RDTR;
-      CAN2->sTxMailBox[0].TIR = to_send.RIR;
+      board.CAN->sTxMailBox[0].TDLR = to_send.RDLR;
+      board.CAN->sTxMailBox[0].TDHR = to_send.RDHR;
+      board.CAN->sTxMailBox[0].TDTR = to_send.RDTR;
+      board.CAN->sTxMailBox[0].TIR = to_send.RIR;
     }
   }
 }
 
-void CAN2_TX_IRQHandler(void) {
-  // clear interrupt
-  CAN2->TSR |= CAN_TSR_RQCP0;
-  process_can();
-}
-
-void CAN2_SCE_IRQHandler(void) {
-  llcan_clear_send(CAN2);
-}
-
-void CAN2_RX0_IRQHandler(void) {
-  while ((CAN2->RF0R & CAN_RF0R_FMP0) != 0) {
-    int address = CAN2->sFIFOMailBox[0].RIR >> 21;
-    if (address == (int32_t)(0x250U + can_addr_offset)) {
-      if ((GET_MAILBOX_BYTES_04(&CAN2->sFIFOMailBox[0]) == 0xdeadface) && (GET_MAILBOX_BYTES_48(&CAN2->sFIFOMailBox[0]) == 0x0ab00b1e)) {
+void can_rx(void) {
+  while ((board.CAN->RF0R & CAN_RF0R_FMP0) != 0) {
+    int address = board.CAN->sFIFOMailBox[0].RIR >> 21;
+    if (address == (int32_t)(0x250U + board.can_addr_offset)) {
+      if ((GET_MAILBOX_BYTES_04(&board.CAN->sFIFOMailBox[0]) == 0xdeadface) && (GET_MAILBOX_BYTES_48(&board.CAN->sFIFOMailBox[0]) == 0x0ab00b1e)) {
         enter_bootloader_mode = ENTER_SOFTLOADER_MAGIC;
         NVIC_SystemReset();
       }
       #define MSG_TRQ_LEN 6
       uint8_t dat[MSG_TRQ_LEN];
       for (int i=0; i<MSG_TRQ_LEN; i++) {
-        dat[i] = GET_MAILBOX_BYTE(&CAN2->sFIFOMailBox[0], i);
+        dat[i] = GET_MAILBOX_BYTE(&board.CAN->sFIFOMailBox[0], i);
       }
       uint16_t valueL = ((dat[0] << 8U) | dat[1]);
       uint16_t valueR = ((dat[2] << 8U) | dat[3]);
@@ -130,11 +120,11 @@ void CAN2_RX0_IRQHandler(void) {
         }
         current_idx = idx;
       }
-    } else if (address == (int32_t)(0x251U + can_addr_offset)) {
+    } else if (address == (int32_t)(0x251U + board.can_addr_offset)) {
       #define MSG_SPD_LEN 5
       uint8_t dat[MSG_TRQ_LEN];
       for (int i=0; i<MSG_TRQ_LEN; i++) {
-        dat[i] = GET_MAILBOX_BYTE(&CAN2->sFIFOMailBox[0], i);
+        dat[i] = GET_MAILBOX_BYTE(&board.CAN->sFIFOMailBox[0], i);
       }
       uint16_t valueL = ((dat[0] << 8U) | dat[1]);
       uint16_t valueR = ((dat[2] << 8U) | dat[3]);
@@ -148,12 +138,40 @@ void CAN2_RX0_IRQHandler(void) {
         }
       }
     } else if ((hw_type == HW_TYPE_BASE) && ((address == BROADCAST_ADDR) || (address == FALLBACK_ADDR) || (address == ECU_ADDR) || (address == DEBUG_ADDR))) { // Process UBS and OBD2 requests, ignore for knee
-      process_uds(address, GET_MAILBOX_BYTES_04(&CAN2->sFIFOMailBox[0]));
+      process_uds(address, GET_MAILBOX_BYTES_04(&board.CAN->sFIFOMailBox[0]));
     }
     out_enable(LED_BLUE, true);
     // next
-    CAN2->RF0R |= CAN_RF0R_RFOM0;
+    board.CAN->RF0R |= CAN_RF0R_RFOM0;
   }
 }
 
+void CAN1_TX_IRQHandler(void) {
+  // clear interrupt
+  board.CAN->TSR |= CAN_TSR_RQCP0;
+  process_can();
+}
+
+void CAN1_SCE_IRQHandler(void) {
+  llcan_clear_send(board.CAN);
+}
+
+void CAN1_RX0_IRQHandler(void) {
+  can_rx();
+}
+
+void CAN2_TX_IRQHandler(void) {
+  // clear interrupt
+  board.CAN->TSR |= CAN_TSR_RQCP0;
+  process_can();
+}
+
+void CAN2_SCE_IRQHandler(void) {
+  llcan_clear_send(board.CAN);
+}
+
+void CAN2_RX0_IRQHandler(void) {
+  can_rx();
+}
+
 #endif

board/defines.h

@@ -58,29 +58,6 @@
 #define BATT_PIN GPIO_PIN_4
 #define BATT_PORT GPIOA
 
-#define SPI3_SCK_PIN GPIO_PIN_10
-#define SPI3_MISO_PIN GPIO_PIN_11
-#define SPI3_MOSI_PIN GPIO_PIN_12
-#define SPI3_PORT GPIOC
-
-#define AS5048_CS_PORT GPIOB
-#define AS5048A_CS_PIN GPIO_PIN_2
-
-// GREEN
-#define LED_GREEN_PIN GPIO_PIN_15
-#define LED_GREEN_PORT GPIOA
-
-// RED (only for base)
-#define LED_RED_PIN GPIO_PIN_2
-#define LED_RED_PORT GPIOD
-
-// BLUE (only for base)
-#define LED_BLUE_PIN GPIO_PIN_1
-#define LED_BLUE_PORT GPIOC
-
-#define CAN_STBY_PIN GPIO_PIN_7
-#define CAN_STBY_PORT GPIOB
-
 #define IGNITION_PIN GPIO_PIN_9
 #define IGNITION_PORT GPIOB
 
@@ -148,7 +125,7 @@
 #define TRANSCEIVER 5
 
 #define HW_TYPE_BASE 0
-#define HW_TYPE_KNEE 1
+#define HW_TYPE_KNEE 3
 
 typedef struct {
   uint32_t rrB;
@@ -170,6 +147,31 @@ typedef struct {
   uint16_t hall_pinC;
 } hall_sensor;
 
+typedef struct {
+  hall_sensor hall_left;
+  hall_sensor hall_right;
+
+  CAN_TypeDef* CAN;
+  uint8_t can_alt_tx;
+  uint8_t can_alt_rx;
+  GPIO_TypeDef* can_portTX;
+  uint16_t can_pinTX;
+  GPIO_TypeDef* can_portRX;
+  uint16_t can_pinRX;
+  GPIO_TypeDef* can_portEN;
+  uint16_t can_pinEN;
+
+  uint32_t can_addr_offset;
+
+  GPIO_TypeDef* led_portR;
+  uint16_t led_pinR;
+  GPIO_TypeDef* led_portG;
+  uint16_t led_pinG;
+  GPIO_TypeDef* led_portB;
+  uint16_t led_pinB;
+
+} board_t;
+
 uint8_t hw_type;                 // type of the board detected(0 - base, 1 - knee)
 
 #endif // DEFINES_H