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fixed and adaptions

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This commit is contained in:
Oliver Walter
2024-02-06 01:54:06 +01:00
parent ff6fcb75f0
commit 86c0cf9666
8 changed files with 191 additions and 59 deletions
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5
.vscode/launch.json vendored
View File

@@ -34,7 +34,10 @@
"svdFile": "STM32H723.svd", //Path to SVD file to see registers
"v1": false,
"showDevDebugOutput": "both",
"liveWatch": {
"enabled": true,
"samplesPerSecond": 4
}
/* Will get automatically detected if STM32CubeIDE is installed to default directory
or it can be manually provided if necessary.. */
//"serverpath": "c:\\ST\\STM32CubeIDE_1.7.0\\STM32CubeIDE\\plugins\\com.st.stm32cube.ide.mcu.externaltools.stlink-gdb-server.win32_2.0.100.202109301221\\tools\\bin\\ST-LINK_gdbserver.exe",

2
Application/CLS

Submodule Application/CLS updated: 22e79f75e9...6ad513673d

77
Application/Tasks/CanDataTask.c
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@@ -3,7 +3,8 @@
#include "fdcan.h"
#include "CanDataHandler.h"
#include "FreeRTOS.h"
#include "CLSAddress.h"
#include "firmware.pb.h"
// Define thread flags
#define FLAG_FDCAN_RX_FIFO0 (1<<0)
@@ -58,15 +59,6 @@ void CanDataTask_start() {
static FDCAN_RxHeaderTypeDef RxHeader;
static uint8_t RxData[8];
void CanDataTask_HandleFifo(uint32_t fifo) {
while (HAL_FDCAN_GetRxFifoFillLevel(&hfdcan1, FDCAN_RX_FIFO0) > 0 ) {
if (HAL_FDCAN_GetRxMessage(&hfdcan1, fifo, &RxHeader, RxData) != HAL_OK) {
Error_Handler();
} else {
CanData_canFifo0RxCallback(RxHeader.Identifier,RxData, dlcDecode(RxHeader.DataLength));
}
}
}
// Function for the task
void CanDataTask_func(void *argument) {
@@ -82,13 +74,37 @@ void CanDataTask_func(void *argument) {
Error_Handler();
}
if(HAL_FDCAN_ActivateNotification(&hfdcan1,FDCAN_IT_RX_FIFO0_NEW_MESSAGE | FDCAN_IT_RX_FIFO1_NEW_MESSAGE, 0) != HAL_OK) {
Error_Handler();
}
// setup listening for heartbeats
for (size_t i = 0; i < 16; i++)
{
CanData_regDataMsg(GENERATE_CLS_ADDRESS(CLS_CODE_STATUS, i, CLS_CH_STA_HEATBEAT));
}
for(;;) {
// wait for interrupt event on any fifo
osThreadFlagsWait(FLAG_FDCAN_RX_FIFO0 | FLAG_FDCAN_RX_FIFO1, osFlagsWaitAny, osWaitForever);
// check the fifos for data and handle it if nessessay
CanDataTask_HandleFifo(FDCAN_RX_FIFO0);
CanDataTask_HandleFifo(FDCAN_RX_FIFO1);
while (HAL_FDCAN_GetRxFifoFillLevel(&hfdcan1, FDCAN_RX_FIFO0) > 0 ) {
if (HAL_FDCAN_GetRxMessage(&hfdcan1, FDCAN_RX_FIFO0, &RxHeader, RxData) != HAL_OK) {
Error_Handler();
} else {
CanData_canFifo0RxCallback(RxHeader.Identifier,RxData, dlcDecode(RxHeader.DataLength));
}
}
while (HAL_FDCAN_GetRxFifoFillLevel(&hfdcan1, FDCAN_RX_FIFO1) > 0 ) {
if (HAL_FDCAN_GetRxMessage(&hfdcan1, FDCAN_RX_FIFO1, &RxHeader, RxData) != HAL_OK) {
Error_Handler();
} else {
CanData_canFifo1RxCallback(RxHeader.Identifier,RxData, dlcDecode(RxHeader.DataLength));
}
}
}
}
@@ -101,4 +117,41 @@ void HAL_FDCAN_RxFifo0Callback(FDCAN_HandleTypeDef *hfdcan, uint32_t RxFifo0ITs)
void HAL_FDCAN_RxFifo1Callback(FDCAN_HandleTypeDef *hfdcan, uint32_t RxFifo1ITs) {
// Notify the thread
osThreadFlagsSet(CanDataTask_id, FLAG_FDCAN_RX_FIFO1);
}
void DataClbk_ResponseDeviceList(void* msg, uint32_t length) {
// igored
}
#include "UsbDataHandler.h"
ResponseDeviceList list;
extern uint8_t gCLS_DEVICE_ADDRESS;
void DataClbk_RequestDeviceList(void* msg, uint32_t length) {
// add yourself
list.devices[list.devices_count].available = true;
list.devices[list.devices_count].canid = GENERATE_CLS_ADDRESS(CLS_CODE_STATUS, gCLS_DEVICE_ADDRESS, CLS_CH_STA_HEATBEAT);
list.devices[list.devices_count].device = gCLS_DEVICE_ADDRESS;
list.devices[list.devices_count].counter = (osKernelGetTickCount()/500)%256;
list.devices_count++;
for (size_t i = 0; i < 16; i++)
{
uint16_t canid = (GENERATE_CLS_ADDRESS(CLS_CODE_STATUS, i, CLS_CH_STA_HEATBEAT));
const CanDataMessage * msg =CanData_getDataMessage(canid);
if(msg) {
if(msg->data_length > 0) {
list.devices[list.devices_count].available = true;
list.devices[list.devices_count].canid = canid;
list.devices[list.devices_count].device = i;
list.devices[list.devices_count].counter = msg->data[0];
list.devices_count++;
}
}
}
USBDataResonse(&list, ResponseDeviceList_fields, UsbPackageType_RESPONSE_DEVICE_LIST);
}

23
Application/Tasks/UsbDataHandler.c
View File

@@ -49,6 +49,8 @@ union {
FirmwarePackage msg_FirmwarePackage;
FirmwarePackageAck msg_FirmwarePackageAck;
FirmwareDone msg_FirmwareDone;
RequestDeviceList msg_RequestDeviceList;
ResponseDeviceList msg_ResponseDeviceList;
} mem_msg_decode;
@@ -98,6 +100,8 @@ message_handler_t message_handlers[] = {
MESSAGE_HANDLER(UsbPackageType_FIRMWAREPACKAGE, FirmwarePackage),
MESSAGE_HANDLER(UsbPackageType_FIRMWAREDONE, FirmwareDone),
MESSAGE_HANDLER(UsbPackageType_FIRMWAREPACKAGEACK, FirmwarePackageAck),
MESSAGE_HANDLER(UsbPackageType_REQUEST_DEVICE_LIST, RequestDeviceList),
MESSAGE_HANDLER(UsbPackageType_RESPONSE_DEVICE_LIST, ResponseDeviceList),
};
@@ -189,6 +193,25 @@ bool UsbDataPacket_head_check(const UsbDataPacket *p) {
return p->head.check == UsbDataPacket_head_sum(p);
}
#include "usbd_cdc_if.h"
#include <pb_encode.h>
static UsbDataPacket packet;
void USBDataResonse(void * msg, const pb_msgdesc_t* fields, UsbPackageType typeid) {
pb_ostream_t ostream = pb_ostream_from_buffer(packet.data,sizeof(packet.data));
bool status = pb_encode(&ostream, fields ,msg);
packet.head.length = ostream.bytes_written;
packet.head.type = typeid;
packet.head.check = UsbDataPacket_head_sum(&packet);
if(status) {
while (CDC_Transmit_HS((uint8_t*)&packet, packet.head.length + sizeof(UsbDataPacketHead) ) == USBD_BUSY)
{
osDelay(3);
}
} else {
Error_Handler();
}
}
//__attribute__((weak)) void DataClbk_FirmwareStart(void *msg, uint32_t length) {}
//__attribute__((weak)) void DataClbk_FirmwarePackage(void *msg, uint32_t length) {}

52
Application/Tasks/UsbDataHandler.h
View File

@@ -93,53 +93,17 @@ void UsbDataHandler_Runner();
*/
int UsbDataHandler_RxCallback(uint8_t* Buf, uint32_t Len);
/**
* @brief Callback function that is invoked when firmware update message is received.
*
* Other parts of the software can implement this function to handle the start of a firmware update.
*
* @param msg A pointer to the message related to the firmware start.
* @param length The length of the message, in bytes.
*
* @return void
*/
void DataClbk_FirmwareStart(void* msg, uint32_t length);
/**
* @brief Callback function that is invoked when a firmware package message is received.
*
* Other parts of the software can implement this function to handle each received firmware package.
*
* @param msg A pointer to the message related to the received firmware package.
* @param length The length of the message, in bytes.
*
* @return void
*/
void DataClbk_FirmwarePackage(void* msg, uint32_t length);
/**
* @brief Callback function that is invoked when a firmware package acknowledgment message is received.
*
* Other parts of the software can implement this function to handle the acknowledgment of a received firmware package.
*
* @param msg A pointer to the message related to the firmware package acknowledgment.
* @param length The length of the message, in bytes.
*
* @return void
*/
void DataClbk_FirmwareStart(void* msg, uint32_t length);
void DataClbk_FirmwarePackage(void* msg, uint32_t length);
void DataClbk_FirmwarePackageAck(void* msg, uint32_t length);
/**
* @brief Callback function that is invoked when firmware update done message.
*
* Other parts of the software can implement this function to handle the completion of a firmware update.
*
* @param msg A pointer to the message related to the completion of the firmware update.
* @param length The length of the message, in bytes.
*
* @return void
*/
void DataClbk_FirmwareDone(void* msg, uint32_t length);
void DataClbk_ResponseDeviceList(void* msg, uint32_t length);
void DataClbk_RequestDeviceList(void* msg, uint32_t length);
#include "firmware.pb.h"
void USBDataResonse(void * msg, const pb_msgdesc_t *fields, UsbPackageType typeid);
#ifdef __cplusplus
}

3
Core/Src/main.c
View File

@@ -55,7 +55,7 @@
/* Private variables ---------------------------------------------------------*/
/* USER CODE BEGIN PV */
uint8_t gCLS_DEVICE_ADDRESS = 0b10001;
/* USER CODE END PV */
/* Private function prototypes -----------------------------------------------*/
@@ -125,6 +125,7 @@ int main(void)
MX_RNG_Init();
/* USER CODE BEGIN 2 */
HAL_GPIO_WritePin(Periph_Power_GPIO_Port,Periph_Power_Pin,GPIO_PIN_RESET);
gCLS_DEVICE_ADDRESS = 0b10001;
/* USER CODE END 2 */
/* Init scheduler */

17
proto/firmware.proto
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@@ -8,6 +8,8 @@ enum UsbPackageType {
FIRMWAREPACKAGE = 3842; // 0xF02
FIRMWAREDONE = 3843; // 0xF03
FIRMWAREPACKAGEACK = 3844; // 0xF04
REQUEST_DEVICE_LIST = 1000;
RESPONSE_DEVICE_LIST = 1001;
}
message FirmwareStart {
@@ -38,3 +40,18 @@ message FirmwareDone {
required uint32 device_id = 3;
}
message RequestDeviceList {
required uint32 msg =1;
}
message Device {
required bool available =1;
required uint32 canid = 2;
required uint32 device = 3;
required uint32 counter = 4;
}
message ResponseDeviceList {
repeated Device devices = 1 [(nanopb).max_count = 18];
}

71
tools/find_devices.py Normal file
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@@ -0,0 +1,71 @@
import serial
import struct
from google.protobuf.message import DecodeError
from serial.tools import list_ports
from firmware_pb2 import RequestDeviceList, Device, ResponseDeviceList, UsbPackageType
def make_header(typeid: UsbPackageType, length: int) -> bytearray:
struct_format = '<HHB' # '<' for little-endian, 'H' for uint16_t, 'B' for uint8_t
# Calculate the check byte as the sum of length and type
typeidint = int(typeid)
check = (length & 0xFF) + ((length >> 8) & 0xFF) + (typeidint & 0xFF) + ((typeidint >> 8) & 0xFF)
packed_data = struct.pack(struct_format, length, typeid, check)
return packed_data
def send_package(typeid : UsbPackageType, data: bytearray, serial: serial.Serial):
head = make_header(typeid, len(data))
package = head + data
serial.write(package)
if __name__ == "__main__":
stm_port = None
for port in list_ports.comports():
print(port)
if "STM32 Virtual ComPort" in port.description:
stm_port = port.device
break
if stm_port is None:
print("STM32 Virtual ComPort not found")
exit(-1)
else:
# Open the serial port
ser = serial.Serial(stm_port,baudrate=5000000)
# Create a RequestDeviceList message
request = RequestDeviceList()
request.msg = 1 # or whatever value you want to set
# Serialize the request to a bytearray
request_data = request.SerializeToString()
# Send the request
send_package(UsbPackageType.REQUEST_DEVICE_LIST, request_data, ser)
# Now wait for the response
while True:
# Read the header from the serial port
response_header = ser.read(5) # assuming the header is 5 bytes long
# Unpack the header to get the length and type
length, typeid, check = struct.unpack('<HHB', response_header)
# Check if the type is RESPONSE_DEVICE_LIST
if typeid == UsbPackageType.RESPONSE_DEVICE_LIST:
# Read the response data from the serial port
response_data = ser.read(length)
# Try to parse the data as a ResponseDeviceList message
try:
response = ResponseDeviceList.FromString(response_data)
# If we get here, we successfully parsed the response. Break the loop.
break
except DecodeError:
# If we get a DecodeError, it means the data we read is not a valid
# ResponseDeviceList message. Ignore it and continue reading.
pass
# At this point, 'response' contains the ResponseDeviceList message
print(response)