Updated rudder PID

projects/base-library/project/Core/Inc/can.h

@@ -1,14 +1,37 @@
 /*
- *  can.h
+ * can.h
  *
- *  Description: Provides declarations for variables and function prototypes related to CAN.
+ *  Created on: Mar 8, 2025
+ *      Author: Alisha
  *
- *  Created on: April 4, 2024
- *  Author: Peter, Jordan, Katherine
+ *  @brief Header file for FDCAN library.
+ *
+ *  @details This file contains function prototypes and global variables for configuring,
+ *           transmitting, and receiving FDCAN messages on the STM32.
  */
+#ifndef SRC_CAN_H_
+#define SRC_CAN_H_
 
 /* Includes ------------------------------------------------------------------*/
+#include "stm32u5xx_hal.h"
+#include "stm32u5xx_hal_fdcan.h"
+#include <stdint.h>
+#include <stdlib.h>
 
 /* Variables ------------------------------------------------------------------*/
+extern FDCAN_HandleTypeDef hfdcan1; /* Handle for FDCAN1 */
+extern uint8_t* RxData1; 			/* Pointer to receive buffer for FIFO0 (Standard ID)*/
+extern uint8_t* RxData2; 			/* Pointer to receive buffer for FIFO1 (Extended ID)*/
+extern uint16_t RxData1_Length; 	/* Length of data received in FIFO0 */
+extern uint16_t RxData2_Length; 	/* Length of data received in FIFO1 */
+
+/* Function prototypes ------------------------------------------------------------------*/
+void CAN_SetRxBufferSize(uint16_t RxData1_Length, uint16_t RxData2_Length);
+void CAN_Init(void);
+HAL_StatusTypeDef CAN_Transmit(uint32_t Identifier, uint32_t IdType, uint32_t DataLength, uint8_t* DataBuffer);
+void HAL_FDCAN_RxFifo0Callback(FDCAN_HandleTypeDef *hfdcan, uint32_t RxFifo0ITs);
+void HAL_FDCAN_RxFifo1Callback(FDCAN_HandleTypeDef *hfdcan, uint32_t RxFifo1ITs);
+void CAN_PrintRxData(void);
+
+#endif /* SRC_CAN_H_ */
 
-/* Functions ------------------------------------------------------------------*/

projects/base-library/project/Core/Src/can.c

@@ -1,14 +1,230 @@
 /*
- *  can.c
+ * can.c
  *
- *  Description: Provides CAN message framing, parsing and other related features other than read/write.
+ *  Created on: Mar 8, 2025
+ *      Author: Alisha
  *
- *  Created on: April 4, 2024
- *  Author: Peter, Jordan, Katherine
+ *  @brief 	 This file implements the function prototypes in can.h to initialize and handle FDCAN on an STM32.
+ *
+ *  @details The implementation includes buffer management, initialization, transmission, and
+ *           reception handling with callback functions for handling received messages.
  */
 
 /* Includes ------------------------------------------------------------------*/
+#include "can.h"
+#include "main.h"
+#include <stdio.h>
 
 /* Variables ------------------------------------------------------------------*/
+FDCAN_HandleTypeDef hfdcan1;  		/* Handle for FDCAN1 */
+HAL_StatusTypeDef CanStartStatus; 	/* Status of FDCAN start operation */
+uint8_t* RxData1 = NULL; 			/* Pointer to receive buffer for FIFO0 (Standard ID)*/
+uint8_t* RxData2 = NULL; 			/* Pointer to receive buffer for FIFO1 (Extended ID)*/
+uint16_t RxData1_BufferLength = 0; 	/* Length of data received in FIFO0 */
+uint16_t RxData2_BufferLength = 0; 	/* Length of data received in FIFO1 */
 
 /* Functions ------------------------------------------------------------------*/
+
+/**
+ * @brief Allocates memory for FDCAN receive buffers.
+ * @param RxData1_Length: Length of buffer for FIFO0.
+ * @param RxData2_Length: Length of buffer for FIFO1.
+ */
+void CAN_SetRxBufferSize(uint16_t RxData1_Length, uint16_t RxData2_Length) {
+    if (RxData1 != NULL) {
+        free(RxData1);
+    }
+    if (RxData2 != NULL) {
+        free(RxData2);
+    }
+
+    RxData1_BufferLength = RxData1_Length;
+    RxData2_BufferLength = RxData2_Length;
+
+    RxData1 = (uint8_t* )malloc(RxData1_Length);
+    RxData2 = (uint8_t* )malloc(RxData2_Length);
+    if (RxData1 == NULL || RxData2 == NULL) {
+        Error_Handler();
+    }
+}
+
+/**
+ * @brief 	Initializes the FDCAN module.
+ * @details In order:
+ * 			Configures standard ID reception filter to Rx buffer
+ * 			Configures extended ID reception filter to Rx FIFO 1
+ * 			Configures global filter: Filter all remote frames with STD and EXT ID
+ * 									  Reject non matching frames with STD ID and EXT ID
+ * 			Starts the FDCAN controller (continuous listening CAN bus)
+ * 			Activates Notifications
+ */
+void CAN_Init(void) {
+	/*##-1 Configures FDCAN meta data and controllers*/
+	FDCAN_FilterTypeDef sFilterConfig;
+	sFilterConfig.IdType = FDCAN_STANDARD_ID;
+	sFilterConfig.FilterIndex = 0;
+	sFilterConfig.FilterType = FDCAN_FILTER_RANGE;
+	sFilterConfig.FilterConfig = FDCAN_FILTER_TO_RXFIFO0;
+	sFilterConfig.FilterID1 = 0x000;
+	sFilterConfig.FilterID2 = 0x2FF;
+	if (HAL_FDCAN_ConfigFilter(&hfdcan1, &sFilterConfig) != HAL_OK)
+	{
+	Error_Handler();
+	}
+
+	sFilterConfig.IdType = FDCAN_EXTENDED_ID;
+	sFilterConfig.FilterIndex = 0;
+	sFilterConfig.FilterType = FDCAN_FILTER_RANGE_NO_EIDM;
+	sFilterConfig.FilterConfig = FDCAN_FILTER_TO_RXFIFO1;
+	sFilterConfig.FilterID1 = 0x1111111;
+	sFilterConfig.FilterID2 = 0x2222222;
+	if (HAL_FDCAN_ConfigFilter(&hfdcan1, &sFilterConfig) != HAL_OK)
+	{
+	Error_Handler();
+	}
+
+	if (HAL_FDCAN_ConfigGlobalFilter(&hfdcan1, FDCAN_ACCEPT_IN_RX_FIFO0, FDCAN_ACCEPT_IN_RX_FIFO0, FDCAN_FILTER_REMOTE, FDCAN_FILTER_REMOTE) != HAL_OK)
+	{
+	  Error_Handler();
+	}
+
+	/*##-2 Start FDCAN controller (continuous listening CAN bus) ##############*/
+	CanStartStatus = HAL_FDCAN_Start(&hfdcan1);
+	if (CanStartStatus != HAL_OK)
+	{
+	Error_Handler();
+	}
+
+	if (HAL_FDCAN_ActivateNotification(&hfdcan1, FDCAN_IT_RX_FIFO0_NEW_MESSAGE, 0) != HAL_OK)
+	{
+	Error_Handler();
+	}
+
+	if (HAL_FDCAN_ActivateNotification(&hfdcan1, FDCAN_IT_RX_FIFO1_NEW_MESSAGE, 0) != HAL_OK)
+	{
+	Error_Handler();
+	}
+}
+
+/**
+ * @brief 	Transmits a FDCAN message.
+ * @param 	Identifier: Message identifier (In-line with Filter used).
+ * @param 	IdType: Identifier type (FDCAN_STANDARD_ID or FDCAN_EXTENDED_ID).
+ * @param 	DataLength: Length of the TxData buffer in the form of FDCAN_data_length_code
+ * 						FDCAN_data_length_code (X bytes data field):
+ * 						FDCAN_DLC_BYTES_0, FDCAN_DLC_BYTES_1, FDCAN_DLC_BYTES_2,
+ * 						FDCAN_DLC_BYTES_3, FDCAN_DLC_BYTES_4, FDCAN_DLC_BYTES_5,
+ * 						FDCAN_DLC_BYTES_6, FDCAN_DLC_BYTES_7, FDCAN_DLC_BYTES_8,
+ * 						FDCAN_DLC_BYTES_12, FDCAN_DLC_BYTES_16, FDCAN_DLC_BYTES_20,
+ * 						FDCAN_DLC_BYTES_24, FDCAN_DLC_BYTES_32, FDCAN_DLC_BYTES_48,
+ * 						FDCAN_DLC_BYTES_64
+ * @param 	DataBuffer: Pointer to the TxData buffer.
+ * @return 	HAL_StatusTypeDef HAL_OK if successful, !HAL_OK otherwise.
+ */
+HAL_StatusTypeDef CAN_Transmit(uint32_t Identifier, uint32_t IdType, uint32_t DataLength, uint8_t* DataBuffer) {
+    FDCAN_TxHeaderTypeDef TxHeader;
+
+    TxHeader.Identifier = Identifier;
+    TxHeader.IdType = IdType;
+    TxHeader.TxFrameType = FDCAN_DATA_FRAME;
+    TxHeader.DataLength = DataLength;
+    TxHeader.ErrorStateIndicator = FDCAN_ESI_ACTIVE;
+    TxHeader.BitRateSwitch = FDCAN_BRS_ON;
+    TxHeader.FDFormat = FDCAN_FD_CAN;
+    TxHeader.TxEventFifoControl = FDCAN_STORE_TX_EVENTS;
+
+    return HAL_FDCAN_AddMessageToTxFifoQ(&hfdcan1, &TxHeader, DataBuffer);
+}
+
+/**
+ * @brief 	FDCAN has multiple Callbacks. This section highlights the order of the callbacks
+ * 			which you are able to overwrite for specific purposes (like flashing an LED
+ * 			for debugging or changing the Tx data in any way).
+ * 			These can be overwritten from stm32u5xx_hal_fdcan.h
+ * @details When CAN_Transmit is called:
+ * 			1. HAL_FDCAN_TxEventFifoCallback(): Triggered when a new entry is added to the Tx Event FIFO after a successful transmission.
+ *               - Log transmission status, toggle an LED, or trigger another action upon successful transmission.
+ * 			2. HAL_FDCAN_TxBufferCompleteCallback(): Triggered when a dedicated Tx buffer completes transmission.
+ *               - This can be used to add functionality after the TxData has been fired.
+ * 			3. HAL_FDCAN_RxFifo0Callback(): Triggered when a new message is received in Rx FIFO 0.
+ * 			4. HAL_FDCAN_RxFifo1Callback(): Triggered when a new message is received in Rx FIFO 1.
+ *               - Process received data, used for debugging (toggle an LED) or trigger other operations based on received messages.
+ * 			5. HAL_FDCAN_AbortTxRequest(): Called if transmission is aborted before completion (can be triggered by user).
+ *               - Handle retransmission, alert on transmission failure or manually abort for testing.
+ * 			6. HAL_FDCAN_HighPriorityMessageCallback(): Triggered when a high-priority message or remote frame is received.
+ *               - When processing of urgent messages
+ */
+
+
+/**
+ * @brief Callback function for handling messages received in FIFO0.
+ * @param hfdcan: Pointer to FDCAN handle.
+ * @param RxFifo0ITs: FIFO0 interrupt flags.
+ */
+void HAL_FDCAN_RxFifo0Callback(FDCAN_HandleTypeDef *hfdcan, uint32_t RxFifo0ITs) {
+    if ((RxFifo0ITs & FDCAN_IT_RX_FIFO0_NEW_MESSAGE) != RESET) {
+        FDCAN_RxHeaderTypeDef RxHeader;
+        if (RxData1 == NULL) {
+            Error_Handler();
+        }
+        if (HAL_FDCAN_GetRxMessage(hfdcan, FDCAN_RX_FIFO0, &RxHeader, RxData1) != HAL_OK) {
+            Error_Handler();
+        }
+        //check actual length incoming against the buf len rather than stringcmp?
+        RxData1_BufferLength = RxHeader.DataLength;
+    }
+    /* added for debug */
+    //HAL_GPIO_WritePin(GPIOA, GPIO_PIN_5, GPIO_PIN_SET);
+}
+
+/**
+ * @brief Callback function for handling messages received in FIFO1.
+ * @param hfdcan: Pointer to FDCAN handle.
+ * @param RxFifo1ITs: FIFO1 interrupt flags.
+ */
+void HAL_FDCAN_RxFifo1Callback(FDCAN_HandleTypeDef *hfdcan, uint32_t RxFifo1ITs) {
+    if ((RxFifo1ITs & FDCAN_IT_RX_FIFO1_NEW_MESSAGE) != RESET) {
+        FDCAN_RxHeaderTypeDef RxHeader;
+        if (RxData2 == NULL) {
+            Error_Handler();
+        }
+        if (HAL_FDCAN_GetRxMessage(hfdcan, FDCAN_RX_FIFO1, &RxHeader, RxData2) != HAL_OK) {
+            Error_Handler();
+        }
+        RxData2_BufferLength = RxHeader.DataLength;
+    }
+}
+
+/**
+ * @brief  	Prints the received RxDataX recived from FIFO0 and FIFO1.
+ *
+ * @details This function checks if there is received data in the Rx buffers
+ * 			If data is available, it prints it in hexadecimal format;
+ * 			otherwise, it indicates that no data has been received.
+ *
+ * @note 	This function assumes that RxData1 and RxData2 have been allocated and
+ *       	populated by the Rx FIFO callbacks.
+ *
+ * @retval 	None
+ */
+void CAN_PrintRxData(void) {
+    if (RxData1 != NULL && RxData1_BufferLength > 0) {
+        printf("FIFO0 Received: ");
+        for (uint16_t i = 0; i < RxData1_BufferLength; i++) {
+            printf("%02X ", RxData1[i]);
+        }
+        printf("\n");
+    } else {
+        printf("FIFO0: No data received.\n");
+    }
+
+    if (RxData2 != NULL && RxData2_BufferLength > 0) {
+        printf("FIFO1 Received: ");
+        for (uint16_t i = 0; i < RxData2_BufferLength; i++) {
+            printf("%02X ", RxData2[i]);
+        }
+        printf("\n");
+    } else {
+        printf("FIFO1: No data received.\n");
+    }
+}