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https://github.com/supleed2/ELEC60013-ES-CW2.git
synced 2024-12-22 05:35:51 +00:00
Merge to main
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31
lib/es_can/es_can
Normal file
31
lib/es_can/es_can
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@ -0,0 +1,31 @@
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#include <cstdint>
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#ifndef ES_CAN_H
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#define ES_CAN_H
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// Initialise the CAN module
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uint32_t CAN_Init(bool loopback = false);
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// Enable the CAN module
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uint32_t CAN_Start();
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// Set up a recevie filter
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// Defaults to receive everything
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uint32_t setCANFilter(uint32_t filterID = 0, uint32_t maskID = 0, uint32_t filterBank = 0);
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// Send a message
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uint32_t CAN_TX(uint32_t ID, uint8_t data[8]);
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// Get the number of received messages
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uint32_t CAN_CheckRXLevel();
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// Get a received message from the FIFO
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uint32_t CAN_RX(uint32_t &ID, uint8_t data[8]);
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// Set up an interrupt on received messages
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uint32_t CAN_RegisterRX_ISR(void (&callback)());
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// Set up an interrupt on transmitted messages
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uint32_t CAN_RegisterTX_ISR(void (&callback)());
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#endif
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202
lib/es_can/es_can.cpp
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202
lib/es_can/es_can.cpp
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@ -0,0 +1,202 @@
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#include <es_can>
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#include <stm32l4xx_hal_can.h>
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#include <stm32l4xx_hal_cortex.h>
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#include <stm32l4xx_hal_gpio.h>
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#include <stm32l4xx_hal_rcc.h>
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// Overwrite the weak default IRQ Handlers and callabcks
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extern "C" void CAN1_RX0_IRQHandler(void);
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extern "C" void CAN1_TX_IRQHandler(void);
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// Pointer to user ISRS
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void (*CAN_RX_ISR)() = NULL;
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void (*CAN_TX_ISR)() = NULL;
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// CAN handle struct with initialisation parameters
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// Timing from http://www.bittiming.can-wiki.info/ with bit rate = 125kHz and clock frequency = 80MHz
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CAN_HandleTypeDef CAN_Handle = {
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CAN1,
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{
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40, // Prescaler
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CAN_MODE_NORMAL, // Normal/loopback/silent mode
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CAN_SJW_2TQ, // SyncJumpWidth
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CAN_BS1_13TQ, // TimeSeg1
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CAN_BS2_2TQ, // TimeSeg2
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DISABLE, // TimeTriggeredMode
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DISABLE, // AutoBusOff
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ENABLE, // AutoWakeUp
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ENABLE, // AutoRetransmission
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DISABLE, // ReceiveFifoLocked
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ENABLE // TransmitFifoPriority
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},
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HAL_CAN_STATE_RESET, // State
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HAL_CAN_ERROR_NONE // Error Code
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};
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// Initialise CAN dependencies: GPIO and clock
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void HAL_CAN_MspInit(CAN_HandleTypeDef *CAN_Handle) {
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// Set up the pin initialisation
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GPIO_InitTypeDef GPIO_InitCAN_TX = {
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GPIO_PIN_12, // PA12 is CAN TX
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GPIO_MODE_AF_PP, // Alternate function, push-pull driver
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GPIO_NOPULL, // No pull-up
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GPIO_SPEED_FREQ_MEDIUM, // Medium slew rate
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GPIO_AF9_CAN1 // Alternate function is CAN
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};
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GPIO_InitTypeDef GPIO_InitCAN_RX = {
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GPIO_PIN_11, // PA11 is CAN RX
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GPIO_MODE_AF_PP, // Alternate function, push-pull driver
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GPIO_PULLUP, // Pull-up enabled
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GPIO_SPEED_FREQ_MEDIUM, // Medium slew rate
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GPIO_AF9_CAN1 // Alternate function is CAN
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};
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// Enable the CAN and GPIO clocks
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__HAL_RCC_CAN1_CLK_ENABLE(); // Enable the CAN interface clock
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__HAL_RCC_GPIOA_CLK_ENABLE(); // Enable the clock for the CAN GPIOs
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// Initialise the pins
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HAL_GPIO_Init(GPIOA, &GPIO_InitCAN_TX); // Configure CAN pin
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HAL_GPIO_Init(GPIOA, &GPIO_InitCAN_RX); // Configure CAN pin
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}
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uint32_t CAN_Init(bool loopback) {
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if (loopback)
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CAN_Handle.Init.Mode = CAN_MODE_LOOPBACK;
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return (uint32_t)HAL_CAN_Init(&CAN_Handle);
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}
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uint32_t setCANFilter(uint32_t filterID, uint32_t maskID, uint32_t filterBank) {
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// Set up the filter definition
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CAN_FilterTypeDef filterInfo = {
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(filterID << 5) & 0xffe0, // Filter ID
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0, // Filter ID LSBs = 0
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(maskID << 5) & 0xffe0, // Mask MSBs
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0, // Mask LSBs = 0
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0, // FIFO selection
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filterBank & 0xf, // Filter bank selection
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CAN_FILTERMODE_IDMASK, // Mask mode
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CAN_FILTERSCALE_32BIT, // 32 bit IDs
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CAN_FILTER_ENABLE, // Enable filter
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0 // uint32_t SlaveStartFilterBank
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};
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return (uint32_t)HAL_CAN_ConfigFilter(&CAN_Handle, &filterInfo);
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}
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uint32_t CAN_Start() {
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return (uint32_t)HAL_CAN_Start(&CAN_Handle);
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}
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uint32_t CAN_TX(uint32_t ID, uint8_t data[8]) {
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// Set up the message header
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CAN_TxHeaderTypeDef txHeader = {
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ID & 0x7ff, // Standard ID
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0, // Ext ID = 0
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CAN_ID_STD, // Use Standard ID
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CAN_RTR_DATA, // Data Frame
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8, // Send 8 bytes
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DISABLE // No time triggered mode
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};
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// Wait for free mailbox
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while (!HAL_CAN_GetTxMailboxesFreeLevel(&CAN_Handle))
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;
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// Start the transmission
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return (uint32_t)HAL_CAN_AddTxMessage(&CAN_Handle, &txHeader, data, NULL);
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}
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uint32_t CAN_CheckRXLevel() {
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return HAL_CAN_GetRxFifoFillLevel(&CAN_Handle, 0);
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}
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uint32_t CAN_RX(uint32_t &ID, uint8_t data[8]) {
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CAN_RxHeaderTypeDef rxHeader;
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// Wait for message in FIFO
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while (!HAL_CAN_GetRxFifoFillLevel(&CAN_Handle, 0))
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;
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// Get the message from the FIFO
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uint32_t result = (uint32_t)HAL_CAN_GetRxMessage(&CAN_Handle, 0, &rxHeader, data);
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// Store the ID from the header
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ID = rxHeader.StdId;
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return result;
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}
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uint32_t CAN_RegisterRX_ISR(void (&callback)()) {
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// Store pointer to user ISR
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CAN_RX_ISR = &callback;
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// Enable message received interrupt in HAL
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uint32_t status = (uint32_t)HAL_CAN_ActivateNotification(&CAN_Handle, CAN_IT_RX_FIFO0_MSG_PENDING);
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// Switch on the interrupt
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HAL_NVIC_SetPriority(CAN1_RX0_IRQn, 6, 0);
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HAL_NVIC_EnableIRQ(CAN1_RX0_IRQn);
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return status;
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}
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uint32_t CAN_RegisterTX_ISR(void (&callback)()) {
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// Store pointer to user ISR
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CAN_TX_ISR = &callback;
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// Enable message received interrupt in HAL
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uint32_t status = (uint32_t)HAL_CAN_ActivateNotification(&CAN_Handle, CAN_IT_TX_MAILBOX_EMPTY);
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// Switch on the interrupt
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HAL_NVIC_SetPriority(CAN1_TX_IRQn, 6, 0);
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HAL_NVIC_EnableIRQ(CAN1_TX_IRQn);
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return status;
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}
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void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan) {
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// Call the user ISR if it has been registered
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if (CAN_RX_ISR)
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CAN_RX_ISR();
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}
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void HAL_CAN_TxMailbox0CompleteCallback(CAN_HandleTypeDef *hcan) {
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// Call the user ISR if it has been registered
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if (CAN_TX_ISR)
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CAN_TX_ISR();
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}
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void HAL_CAN_TxMailbox1CompleteCallback(CAN_HandleTypeDef *hcan) {
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// Call the user ISR if it has been registered
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if (CAN_TX_ISR)
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CAN_TX_ISR();
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}
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void HAL_CAN_TxMailbox2CompleteCallback(CAN_HandleTypeDef *hcan) {
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// Call the user ISR if it has been registered
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if (CAN_TX_ISR)
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CAN_TX_ISR();
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}
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// This is the base ISR at the interrupt vector
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void CAN1_RX0_IRQHandler(void) {
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// Use the HAL interrupt handler
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HAL_CAN_IRQHandler(&CAN_Handle);
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}
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// This is the base ISR at the interrupt vector
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void CAN1_TX_IRQHandler(void) {
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// Use the HAL interrupt handler
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HAL_CAN_IRQHandler(&CAN_Handle);
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}
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72
src/main.cpp
72
src/main.cpp
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@ -2,6 +2,7 @@
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#include <STM32FreeRTOS.h>
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#include <U8g2lib.h>
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#include <atomic>
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#include <es_can>
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#include <knob>
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#include <string>
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@ -10,9 +11,12 @@
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const uint32_t interval = 10; // Display update interval
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const uint8_t octave = 4; // Octave to start on
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const uint32_t samplingRate = 44100; // Sampling rate
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const uint32_t canID = 0x123;
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// Variables
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std::atomic<int32_t> currentStepSize;
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std::atomic<uint8_t> keyArray[7];
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QueueHandle_t msgInQ;
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uint8_t RX_Message[8] = {0};
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// Objects
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U8G2_SSD1305_128X32_NONAME_F_HW_I2C u8g2(U8G2_R0); // Display driver object
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Knob K3 = Knob(0, 16); // Knob driver object
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@ -120,7 +124,7 @@ uint16_t getTopKey() {
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for (uint8_t i = 0; i < 3; i++) {
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for (uint8_t j = 0; j < 4; j++) {
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if (keyArray[i] & (0x1 << j)) {
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topKey = (octave - 2) * 12 + i * 4 + j + 1;
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topKey = (octave - 1) * 12 + i * 4 + j + 1;
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}
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}
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}
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@ -135,6 +139,36 @@ void sampleISR() {
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analogWrite(OUTR_PIN, Vout + 128);
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}
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void CAN_RX_ISR() {
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uint8_t ISR_RX_Message[8];
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uint32_t ISR_rxID;
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CAN_RX(ISR_rxID, ISR_RX_Message);
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xQueueSendFromISR(msgInQ, ISR_RX_Message, nullptr);
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}
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void decodeTask(void *pvParameters) {
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while (1) {
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xQueueReceive(msgInQ, RX_Message, portMAX_DELAY);
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if (RX_Message[0] == 0x50) { // Pressed
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currentStepSize = notes[(RX_Message[1] - 1) * 12 + RX_Message[2]].stepSize;
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} else { // Released
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currentStepSize = 0;
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}
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}
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}
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void keyChangedSendTXMessage(uint8_t octave, uint8_t key, bool pressed) {
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uint8_t TX_Message[8] = {0};
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if (pressed) {
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TX_Message[0] = 0x50; // "P"
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} else {
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TX_Message[0] = 0x52; // "R"
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}
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TX_Message[1] = octave;
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TX_Message[2] = key;
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CAN_TX(canID, TX_Message);
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}
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// Task to update keyArray values at a higher priority
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void scanKeysTask(void *pvParameters) {
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const TickType_t xFrequency = 50 / portTICK_PERIOD_MS;
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@ -143,8 +177,19 @@ void scanKeysTask(void *pvParameters) {
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vTaskDelayUntil(&xLastWakeTime, xFrequency);
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for (uint8_t i = 0; i < 7; i++) {
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setRow(i);
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uint8_t oldRow = keyArray[i];
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delayMicroseconds(3);
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keyArray[i] = readCols();
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uint8_t newRow = readCols();
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if (oldRow == newRow) {
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continue;
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} else {
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keyArray[i] = newRow;
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for (uint8_t j = 0; j < 4; j++) {
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if ((oldRow & (0x1 << j)) ^ (newRow & (0x1 << j))) {
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keyChangedSendTXMessage(octave, i * 4 + j + 1, newRow & (0x1 << j));
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}
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}
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}
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}
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currentStepSize = notes[getTopKey()].stepSize; // Atomic Store
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K3.updateRotation(keyArray[3] & 0x1, keyArray[3] & 0x2);
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@ -157,6 +202,8 @@ void displayUpdateTask(void *pvParameters) {
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TickType_t xLastWakeTime = xTaskGetTickCount();
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while (1) {
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vTaskDelayUntil(&xLastWakeTime, xFrequency);
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uint32_t rxID;
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u8g2.clearBuffer(); // clear the internal memory
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u8g2.setFont(u8g2_font_profont12_mf); // choose a suitable font
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uint16_t key = getTopKey();
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@ -166,7 +213,11 @@ void displayUpdateTask(void *pvParameters) {
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for (uint8_t i = 0; i < 7; i++) {
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u8g2.print(keyArray[i], HEX);
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}
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u8g2.drawXBM(118, 0, 10, 10, icon_bits);
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// u8g2.drawXBM(118, 0, 10, 10, icon_bits);
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u8g2.setCursor(100, 10);
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u8g2.print((char)RX_Message[0]);
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u8g2.print(RX_Message[1]);
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u8g2.print(RX_Message[2], HEX);
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u8g2.setCursor(2, 30);
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u8g2.print(K3.getRotation());
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u8g2.sendBuffer(); // transfer internal memory to the display
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@ -201,19 +252,26 @@ void setup() {
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Serial.begin(115200);
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Serial.println("Hello World");
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#pragma endregion
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#pragma region CAN Setup
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msgInQ = xQueueCreate(36, 8);
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CAN_Init(true);
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setCANFilter(0x123, 0x7ff);
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CAN_RegisterRX_ISR(CAN_RX_ISR);
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CAN_Start();
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#pragma endregion
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#pragma region Task Scheduler Setup
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TIM_TypeDef *Instance = TIM1;
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HardwareTimer *sampleTimer = new HardwareTimer(Instance);
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sampleTimer->setOverflow(samplingRate, HERTZ_FORMAT);
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sampleTimer->attachInterrupt(sampleISR);
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sampleTimer->resume();
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TaskHandle_t scanKeysHandle = NULL;
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TaskHandle_t displayUpdateHandle = NULL;
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TaskHandle_t scanKeysHandle = nullptr;
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TaskHandle_t displayUpdateHandle = nullptr;
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xTaskCreate(
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scanKeysTask, // Function that implements the task
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"scanKeys", // Text name for the task
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64, // Stack size in words, not bytes
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NULL, // Parameter passed into the task
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nullptr, // Parameter passed into the task
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2, // Task priority
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&scanKeysHandle // Pointer to store the task handle
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);
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@ -221,7 +279,7 @@ void setup() {
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displayUpdateTask, // Function that implements the task
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"displayUpdate", // Text name for the task
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256, // Stack size in words, not bytes
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NULL, // Parameter passed into the task
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nullptr, // Parameter passed into the task
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1, // Task priority
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&displayUpdateHandle // Pointer to store the task handle
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);
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