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Mahesh Chandrasekharmahir-mahota
Mahesh Chandrasekhar
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mahir-mahota
committed
Added pressure sensor polling functionality
1 parent 42daabb commit df4fe35

17 files changed

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‎Sensors/.mxproject‎

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‎Sensors/.project‎

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<?xml version="1.0" encoding="UTF-8"?>
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<projectDescription>
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<name>Sensors</name>
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<comment></comment>
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<projects>
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</projects>
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<buildSpec>
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<buildCommand>
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<name>org.eclipse.cdt.managedbuilder.core.genmakebuilder</name>
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<triggers>clean,full,incremental,</triggers>
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<arguments>
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</arguments>
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</buildCommand>
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<buildCommand>
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<name>org.eclipse.cdt.managedbuilder.core.ScannerConfigBuilder</name>
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<triggers>full,incremental,</triggers>
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<arguments>
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</arguments>
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</buildCommand>
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</buildSpec>
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<natures>
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<nature>com.st.stm32cube.ide.mcu.MCUProjectNature</nature>
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<nature>com.st.stm32cube.ide.mcu.MCUCubeProjectNature</nature>
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<nature>org.eclipse.cdt.core.cnature</nature>
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<nature>com.st.stm32cube.ide.mcu.MCUCubeIdeServicesRevAev2ProjectNature</nature>
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<nature>com.st.stm32cube.ide.mcu.MCUAdvancedStructureProjectNature</nature>
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<nature>com.st.stm32cube.ide.mcu.MCUSingleCpuProjectNature</nature>
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<nature>com.st.stm32cube.ide.mcu.MCURootProjectNature</nature>
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<nature>org.eclipse.cdt.managedbuilder.core.managedBuildNature</nature>
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<nature>org.eclipse.cdt.managedbuilder.core.ScannerConfigNature</nature>
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</natures>
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<linkedResources>
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<link>
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<name>Common</name>
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<type>2</type>
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<location>C:/Users/mahir/Desktop/Waterloop/G6-STM32/Common</location>
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</link>
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</linkedResources>
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</projectDescription>
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<?xml version="1.0" encoding="UTF-8"?>
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<projectDescription>
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<name>Sensors</name>
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<comment></comment>
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<projects>
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</projects>
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<buildSpec>
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<buildCommand>
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<name>org.eclipse.cdt.managedbuilder.core.genmakebuilder</name>
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<triggers>clean,full,incremental,</triggers>
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<arguments>
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</arguments>
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</buildCommand>
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<buildCommand>
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<name>org.eclipse.cdt.managedbuilder.core.ScannerConfigBuilder</name>
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<triggers>full,incremental,</triggers>
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<arguments>
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</arguments>
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</buildCommand>
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</buildSpec>
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<natures>
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<nature>com.st.stm32cube.ide.mcu.MCUProjectNature</nature>
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<nature>com.st.stm32cube.ide.mcu.MCUCubeProjectNature</nature>
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<nature>org.eclipse.cdt.core.cnature</nature>
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<nature>com.st.stm32cube.ide.mcu.MCUCubeIdeServicesRevAev2ProjectNature</nature>
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<nature>com.st.stm32cube.ide.mcu.MCUAdvancedStructureProjectNature</nature>
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<nature>com.st.stm32cube.ide.mcu.MCUSingleCpuProjectNature</nature>
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<nature>com.st.stm32cube.ide.mcu.MCURootProjectNature</nature>
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<nature>org.eclipse.cdt.managedbuilder.core.managedBuildNature</nature>
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<nature>org.eclipse.cdt.managedbuilder.core.ScannerConfigNature</nature>
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</natures>
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</projectDescription>

‎Sensors/Core/Inc/adc.h‎

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/* USER CODE BEGIN Header */
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/**
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******************************************************************************
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* @file adc.h
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* @brief This file contains all the function prototypes for
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* the adc.c file
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******************************************************************************
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* @attention
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*
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* Copyright (c) 2024 STMicroelectronics.
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* All rights reserved.
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*
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* This software is licensed under terms that can be found in the LICENSE file
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* in the root directory of this software component.
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* If no LICENSE file comes with this software, it is provided AS-IS.
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*
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******************************************************************************
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*/
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/* USER CODE END Header */
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/* Define to prevent recursive inclusion -------------------------------------*/
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#ifndef __ADC_H__
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#define __ADC_H__
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#ifdef __cplusplus
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extern "C" {
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#endif
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/* Includes ------------------------------------------------------------------*/
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#include "main.h"
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/* USER CODE BEGIN Includes */
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/* USER CODE END Includes */
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extern ADC_HandleTypeDef hadc1;
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/* USER CODE BEGIN Private defines */
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/* USER CODE END Private defines */
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void MX_ADC1_Init(void);
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/* USER CODE BEGIN Prototypes */
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/* USER CODE END Prototypes */
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#ifdef __cplusplus
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}
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#endif
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#endif /* __ADC_H__ */
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‎Sensors/Core/Inc/can_driver.h‎

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#pragma once
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#include <stdint.h>
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#include "can.h"
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#define MAX_BYTES 8
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typedef struct {
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uint32_t id;
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uint8_t start;
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uint8_t end;
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} Data_Segment_t;
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typedef struct {
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CAN_HandleTypeDef* hcan; // CAN handler (hcan1, hcan2 or hcan3)
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uint32_t id_type; // CAN_ID_STD or CAN_ID_EXT
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uint32_t rtr; // CAN_RTR_DATA or CAN_RTR_REMOTE
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uint32_t data_length; // 0 - MAX_BYTES
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uint32_t time_stamp; // time stamp returned in rx header
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uint32_t id; // message ID
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uint8_t data[MAX_BYTES]; // message data
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} CAN_Frame_t;
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CAN_Frame_t CAN_frame_init(CAN_HandleTypeDef* handler, uint32_t id);
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void CAN_send_frame(CAN_Frame_t self);
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CAN_Frame_t CAN_get_frame(CAN_HandleTypeDef* handler, uint32_t fifo_number);
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uint32_t CAN_get_segment(CAN_Frame_t self, Data_Segment_t segment);
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uint8_t CAN_set_segment(CAN_Frame_t* self, Data_Segment_t segment, uint32_t bytes);

‎Sensors/Core/Inc/config.h‎

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#pragma once
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#include "can_driver.h"
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// GENERAL DEFINES
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#define MAX_CAN_PAYLOAD_BTYES 8
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#define BUFF_SIZE 32
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#define WARN_OFFSET 0xFF
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// MOTOR CONTROLLER
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#define MOTOR_CONTROLLER_1 0x10F8109A
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#define MOTOR_CONTROLLER_2 0x10F8108D
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#define MOTOR_CONTROLLER 0xFF
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#define MOTOR_CONTROLLER_WARN MOTOR_CONTROLLER - WARN_OFFSET
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// BMS
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#define BMS_BOARD 0xFF
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#define BMS_BOARD_WARN BMS_TEMP - WARN_OFFSET
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// SENSORS
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#define SENSOR_BOARD 0xFF
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#define SENSOR_BOARD_WARN SENSOR_BOARD - WARN_OFFSET
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// BEGIN KELLY DEFS
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// FRAME 1
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const Data_Segment_t DRIVING_DIRECTION_K = {MOTOR_CONTROLLER_1, 1, 1};
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const Data_Segment_t MOTOR_SPEED_K = {MOTOR_CONTROLLER_1, 2, 3};
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const Data_Segment_t MOTOR_ERROR_CODE_K = {MOTOR_CONTROLLER_1, 4, 4};
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// FRAME 2
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const Data_Segment_t BATTERY_VOLTAGE_K = {MOTOR_CONTROLLER_2, 1, 2};
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const Data_Segment_t BATTERY_CURRENT_K = {MOTOR_CONTROLLER_2, 3, 4};
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const Data_Segment_t MOTOR_TEMP_K = {MOTOR_CONTROLLER_2, 5, 6};
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const Data_Segment_t MOTOR_CONTROLLER_TEMP_K = {MOTOR_CONTROLLER_2, 7, 8};
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// END KELLY DEFS
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// BEGIN MOTOR CONTROLLER DEFS
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const Data_Segment_t BATTERY_VOLTAGE = {MOTOR_CONTROLLER, 1, 2};
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const Data_Segment_t BATTERY_CURRENT = {MOTOR_CONTROLLER, 3, 4};
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const Data_Segment_t MOTOR_SPEED = {MOTOR_CONTROLLER, 5, 6};
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const Data_Segment_t MOTOR_CONTROLLER_TEMP = {MOTOR_CONTROLLER, 7, 7};
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const Data_Segment_t DRIVING_DIRECTION = {MOTOR_CONTROLLER, 8, 8};
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const Data_Segment_t MOTOR_ERROR_CODE = {MOTOR_CONTROLLER, 8, 8};
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// END MOTOR CONTROLLER DEFS
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// BEGIN BMS DEFS
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const Data_Segment_t MUX1_TEMP = {BMS_BOARD, 1, 1};
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const Data_Segment_t MUX2_TEMP = {BMS_BOARD, 2, 2};
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const Data_Segment_t MUX3_TEMP = {BMS_BOARD, 3, 3};
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const Data_Segment_t MUX4_TEMP = {BMS_BOARD, 4, 4};
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const Data_Segment_t MUX5_TEMP = {BMS_BOARD, 5, 5};
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const Data_Segment_t MUX6_TEMP = {BMS_BOARD, 6, 6};
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const Data_Segment_t BMS_ERROR_CODE = {BMS_BOARD, 7, 7};
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// END BMS DEFS
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// BEGIN SENSORS BOARD DEFS
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const Data_Segment_t PRESSURE_SENSOR_DATA = {SENSOR_BOARD, 1, 1};
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const Data_Segment_t IMU_DATA = {SENSOR_BOARD, 2, 3};
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const Data_Segment_t LIM_ONE_TEMP = {SENSOR_BOARD, 4, 5};
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const Data_Segment_t LIM_TWO_TEMP = {SENSOR_BOARD, 6, 7};
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const Data_Segment_t SENSORS_ERROR_CODE = {SENSOR_BOARD, 8, 8};
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// END SENSORS BOARD DEFS

‎Sensors/Core/Inc/stm32f7xx_hal_conf.h‎

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#define HAL_MODULE_ENABLED
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/* #define HAL_CRYP_MODULE_ENABLED */
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/* #define HAL_ADC_MODULE_ENABLED */
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#define HAL_ADC_MODULE_ENABLED
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#define HAL_CAN_MODULE_ENABLED
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/* #define HAL_CEC_MODULE_ENABLED */
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/* #define HAL_CRC_MODULE_ENABLED */

‎Sensors/Core/Src/adc.c‎

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/* USER CODE BEGIN Header */
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/**
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******************************************************************************
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* @file adc.c
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* @brief This file provides code for the configuration
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* of the ADC instances.
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******************************************************************************
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* @attention
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*
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* Copyright (c) 2024 STMicroelectronics.
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* All rights reserved.
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*
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* This software is licensed under terms that can be found in the LICENSE file
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* in the root directory of this software component.
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* If no LICENSE file comes with this software, it is provided AS-IS.
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*
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******************************************************************************
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*/
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/* USER CODE END Header */
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/* Includes ------------------------------------------------------------------*/
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#include "adc.h"
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/* USER CODE BEGIN 0 */
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/* USER CODE END 0 */
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ADC_HandleTypeDef hadc1;
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/* ADC1 init function */
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void MX_ADC1_Init(void)
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{
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/* USER CODE BEGIN ADC1_Init 0 */
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/* USER CODE END ADC1_Init 0 */
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ADC_ChannelConfTypeDef sConfig = {0};
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/* USER CODE BEGIN ADC1_Init 1 */
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/* USER CODE END ADC1_Init 1 */
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/** Configure the global features of the ADC (Clock, Resolution, Data Alignment and number of conversion)
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*/
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hadc1.Instance = ADC1;
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hadc1.Init.ClockPrescaler = ADC_CLOCK_SYNC_PCLK_DIV2;
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hadc1.Init.Resolution = ADC_RESOLUTION_12B;
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hadc1.Init.ScanConvMode = ADC_SCAN_DISABLE;
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hadc1.Init.ContinuousConvMode = DISABLE;
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hadc1.Init.DiscontinuousConvMode = DISABLE;
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hadc1.Init.ExternalTrigConvEdge = ADC_EXTERNALTRIGCONVEDGE_NONE;
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hadc1.Init.ExternalTrigConv = ADC_SOFTWARE_START;
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hadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT;
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hadc1.Init.NbrOfConversion = 1;
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hadc1.Init.DMAContinuousRequests = DISABLE;
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hadc1.Init.EOCSelection = ADC_EOC_SINGLE_CONV;
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if (HAL_ADC_Init(&hadc1) != HAL_OK)
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{
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Error_Handler();
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}
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/** Configure for the selected ADC regular channel its corresponding rank in the sequencer and its sample time.
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*/
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sConfig.Channel = ADC_CHANNEL_5;
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sConfig.Rank = ADC_REGULAR_RANK_1;
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sConfig.SamplingTime = ADC_SAMPLETIME_3CYCLES;
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if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
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{
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Error_Handler();
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}
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/* USER CODE BEGIN ADC1_Init 2 */
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/* USER CODE END ADC1_Init 2 */
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}
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void HAL_ADC_MspInit(ADC_HandleTypeDef* adcHandle)
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{
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GPIO_InitTypeDef GPIO_InitStruct = {0};
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if(adcHandle->Instance==ADC1)
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{
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/* USER CODE BEGIN ADC1_MspInit 0 */
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/* USER CODE END ADC1_MspInit 0 */
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/* ADC1 clock enable */
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__HAL_RCC_ADC1_CLK_ENABLE();
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__HAL_RCC_GPIOA_CLK_ENABLE();
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/**ADC1 GPIO Configuration
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PA5 ------> ADC1_IN5
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*/
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GPIO_InitStruct.Pin = GPIO_PIN_5;
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GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
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GPIO_InitStruct.Pull = GPIO_NOPULL;
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HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
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/* USER CODE BEGIN ADC1_MspInit 1 */
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/* USER CODE END ADC1_MspInit 1 */
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}
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}
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void HAL_ADC_MspDeInit(ADC_HandleTypeDef* adcHandle)
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{
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if(adcHandle->Instance==ADC1)
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{
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/* USER CODE BEGIN ADC1_MspDeInit 0 */
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/* USER CODE END ADC1_MspDeInit 0 */
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/* Peripheral clock disable */
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__HAL_RCC_ADC1_CLK_DISABLE();
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/**ADC1 GPIO Configuration
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PA5 ------> ADC1_IN5
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*/
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HAL_GPIO_DeInit(GPIOA, GPIO_PIN_5);
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/* USER CODE BEGIN ADC1_MspDeInit 1 */
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/* USER CODE END ADC1_MspDeInit 1 */
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}
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}
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/* USER CODE BEGIN 1 */
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/* USER CODE END 1 */

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