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CAN bringup - mileage may vary #39

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CAN bringup - mileage may vary #39

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31 changes: 21 additions & 10 deletions firmware/src/debug_builds/CAN.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -3,12 +3,10 @@

#define CAN_MUX PA6


static void handleCanMessage(FDCAN_RxHeaderTypeDef rxHeader, uint8_t *rxData);
static void init_CAN(void);
static void Button_Down(void);


// pass in optional shutdown and terminator pins that disable transceiver and add 120ohm resistor respectively
SimpleCan can1;
SimpleCan::RxHandler can1RxHandler(8, handleCanMessage);
Expand All @@ -18,6 +16,10 @@ uint8_t TxData[8];

u_int32_t last_send = 0;

// (PA8 SDA, PC4 SCL)
#define QUIIK_SDA PA8
#define QUIIK_SCL PC4

void setup()
{
Serial.begin(115200);
Expand All @@ -30,6 +32,11 @@ void setup()
pinMode(LED_BUILTIN, OUTPUT);
// attachInterrupt(digitalPinToInterrupt(BUTTON), Button_Down, LOW);

pinMode(QUIIK_SDA, OUTPUT);
pinMode(QUIIK_SCL, OUTPUT);
digitalWrite(QUIIK_SDA, LOW);
digitalWrite(QUIIK_SCL, LOW);

delay(100);
init_CAN();
}
Expand All @@ -41,15 +48,17 @@ void loop()
last_send = millis();
Button_Down();
}
digitalWrite(QUIIK_SDA, LOW);
digitalWrite(QUIIK_SCL, LOW);
}

static void init_CAN()
{
Serial.println(can1.init(CanSpeed::Mbit1) == HAL_OK
? "CAN: initialized."
: "CAN: error when initializing.");
? "CAN: initialized."
: "CAN: error when initializing.");

// FDCAN_FilterTypeDef sFilterConfig;
FDCAN_FilterTypeDef sFilterConfig;

// // Configure Rx filter
// sFilterConfig.IdType = FDCAN_STANDARD_ID;
Expand All @@ -61,11 +70,11 @@ static void init_CAN()

// can1.configFilter(&sFilterConfig);
// can1.configGlobalFilter(FDCAN_REJECT, FDCAN_REJECT, FDCAN_FILTER_REMOTE, FDCAN_FILTER_REMOTE);
can1.activateNotification(&can1RxHandler);
// can1.activateNotification(&can1RxHandler);

Serial.println(can1.start() == HAL_OK
? "CAN: started."
: "CAN: error when starting.");
? "CAN: started."
: "CAN: error when starting.");
}

int dlcToLength(uint32_t dlc)
Expand All @@ -88,6 +97,7 @@ int dlcToLength(uint32_t dlc)

static void handleCanMessage(FDCAN_RxHeaderTypeDef rxHeader, uint8_t *rxData)
{
digitalWrite(QUIIK_SDA, HIGH);
int byte_length = dlcToLength(rxHeader.DataLength);

Serial.print("Received packet, id=0x");
Expand All @@ -111,6 +121,7 @@ static void Button_Down()
{

static uint8_t press_count = 0;
digitalWrite(QUIIK_SCL, HIGH);

press_count++;

Expand All @@ -129,6 +140,6 @@ static void Button_Down()

Serial.print("CAN: sending message ");
Serial.println(can1.addMessageToTxFifoQ(&TxHeader, TxData) == HAL_OK
? "was ok."
: "failed.");
? "was ok."
: "failed.");
}
Empty file added firmware/src/debug_builds/LEDs.cpp
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