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MC Code fully done, includes the pwm encoding for kelly #11

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24 changes: 13 additions & 11 deletions MC/.mxproject
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1 change: 1 addition & 0 deletions MC/Core/Inc/DAC.h
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Expand Up @@ -28,6 +28,7 @@ typedef struct {
uint8_t dac_address;
uint8_t buffer[2];
uint8_t high_speed_mode;
uint8_t throttle;
} DAC_t;

// Sends a reset command to ensure EEPROM data is available to output
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1 change: 1 addition & 0 deletions MC/Core/Inc/stm32f7xx_it.h
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Expand Up @@ -52,6 +52,7 @@ void MemManage_Handler(void);
void BusFault_Handler(void);
void UsageFault_Handler(void);
void DebugMon_Handler(void);
void CAN1_RX0_IRQHandler(void);
void TIM3_IRQHandler(void);
/* USER CODE BEGIN EFP */

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57 changes: 57 additions & 0 deletions MC/Core/Inc/tim.h
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@@ -0,0 +1,57 @@
/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file tim.h
* @brief This file contains all the function prototypes for
* the tim.c file
******************************************************************************
* @attention
*
* Copyright (c) 2025 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS.
*
******************************************************************************
*/
/* USER CODE END Header */
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __TIM_H__
#define __TIM_H__

#ifdef __cplusplus
extern "C" {
#endif

/* Includes ------------------------------------------------------------------*/
#include "main.h"

/* USER CODE BEGIN Includes */

/* USER CODE END Includes */

extern TIM_HandleTypeDef htim1;

extern TIM_HandleTypeDef htim2;

/* USER CODE BEGIN Private defines */

/* USER CODE END Private defines */

void MX_TIM1_Init(void);
void MX_TIM2_Init(void);

void HAL_TIM_MspPostInit(TIM_HandleTypeDef *htim);

/* USER CODE BEGIN Prototypes */

/* USER CODE END Prototypes */

#ifdef __cplusplus
}
#endif

#endif /* __TIM_H__ */

1 change: 1 addition & 0 deletions MC/Core/Src/DAC.c
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Expand Up @@ -14,6 +14,7 @@ DAC_t DAC_init(I2C_HandleTypeDef* hi2c)
dacInstance.dac_address = DAC_I2C_WRITE_ADDRESS;
dacInstance.high_speed_mode = 0;
dacInstance.hi2c = hi2c;
dacInstance.throttle = 0;
reset_dac(&dacInstance);

return dacInstance;
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26 changes: 17 additions & 9 deletions MC/Core/Src/can.c
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Expand Up @@ -56,6 +56,18 @@ void MX_CAN1_Init(void)
}
/* USER CODE BEGIN CAN1_Init 2 */

CAN_FilterTypeDef filter_config;

filter_config.FilterActivation = CAN_FILTER_ENABLE;
filter_config.FilterScale = CAN_FILTERSCALE_32BIT;
filter_config.FilterMode = CAN_FILTERMODE_IDLIST;
filter_config.FilterBank = 0;

uint32_t cmd_id = 0x123 << 5;
filter_config.FilterFIFOAssignment = CAN_FILTER_FIFO0;
filter_config.FilterIdHigh = (cmd_id >> 16) & 0xFFFF;
filter_config.FilterIdLow = cmd_id & 0xFFFF;
HAL_CAN_ConfigFilter(&hcan1, &filter_config);
/* USER CODE END CAN1_Init 2 */

}
Expand Down Expand Up @@ -98,15 +110,6 @@ void MX_CAN3_Init(void)
filter_config.FilterFIFOAssignment = CAN_FILTER_FIFO0;
filter_config.FilterIdHigh = 0x10F8109A >> 13;
filter_config.FilterIdLow = 0x10F8109A << 3;
filter_config.FilterMaskIdHigh = 0x10F8108D >> 13;
filter_config.FilterMaskIdLow = 0x10F8108D << 3;
HAL_CAN_ConfigFilter(&hcan3, &filter_config);

filter_config.FilterFIFOAssignment = CAN_FILTER_FIFO1;
filter_config.FilterIdHigh = 0;
filter_config.FilterIdLow = 0;
filter_config.FilterMaskIdHigh = 0;
filter_config.FilterMaskIdLow = 0;
HAL_CAN_ConfigFilter(&hcan3, &filter_config);

/* USER CODE END CAN3_Init 2 */
Expand Down Expand Up @@ -137,6 +140,9 @@ void HAL_CAN_MspInit(CAN_HandleTypeDef* canHandle)
GPIO_InitStruct.Alternate = GPIO_AF9_CAN1;
HAL_GPIO_Init(GPIOD, &GPIO_InitStruct);

/* CAN1 interrupt Init */
HAL_NVIC_SetPriority(CAN1_RX0_IRQn, 5, 0);
HAL_NVIC_EnableIRQ(CAN1_RX0_IRQn);
/* USER CODE BEGIN CAN1_MspInit 1 */

/* USER CODE END CAN1_MspInit 1 */
Expand Down Expand Up @@ -184,6 +190,8 @@ void HAL_CAN_MspDeInit(CAN_HandleTypeDef* canHandle)
*/
HAL_GPIO_DeInit(GPIOD, GPIO_PIN_0|GPIO_PIN_1);

/* CAN1 interrupt Deinit */
HAL_NVIC_DisableIRQ(CAN1_RX0_IRQn);
/* USER CODE BEGIN CAN1_MspDeInit 1 */

/* USER CODE END CAN1_MspDeInit 1 */
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