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Work towards vecraft library
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@yorickdewid
yorickdewid committed Apr 22, 2024
1 parent f689c11 commit 38aa904
Showing 1 changed file with 63 additions and 110 deletions.
173 changes: 63 additions & 110 deletions m-ecu/src/main.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -23,6 +23,8 @@ const PKG_VERSION_PATCH: &str = env!("CARGO_PKG_VERSION_PATCH");
const HSE: Hertz = Hertz::MHz(25);
/// System clock frequency.
const SYS_CLOCK: Hertz = Hertz::MHz(400);
/// Peripheral clock frequency.
const PERIPHERAL_CLOCK: Hertz = Hertz::MHz(32);
/// FDCAN peripheral clock.
const FDCAN_CLOCK: Hertz = Hertz::MHz(32);
/// USART peripheral clock.
Expand Down Expand Up @@ -94,27 +96,27 @@ mod app {
fn init(ctx: init::Context) -> (SharedResources, LocalResources, init::Monotonics) {
let mono = Systick::new(ctx.core.SYST, crate::SYS_CLOCK.to_Hz());

let pwr = ctx.device.PWR.constrain();
let pwrcfg = pwr.freeze();
let pwrcfg = {
let pwr = ctx.device.PWR.constrain();
pwr.freeze()
};

// RCC
let rcc = ctx.device.RCC.constrain();
let mut ccdr = rcc
.use_hse(crate::HSE)
.sys_ck(crate::SYS_CLOCK)
.per_ck(32.MHz())
.per_ck(crate::PERIPHERAL_CLOCK)
.pll1_strategy(rcc::PllConfigStrategy::Iterative)
.pll1_q_ck(crate::FDCAN_CLOCK)
.pll3_strategy(rcc::PllConfigStrategy::Iterative)
.pll3_p_ck(crate::SYS_CLOCK)
.pll3_q_ck(crate::USART_CLOCK)
.freeze(pwrcfg, &ctx.device.SYSCFG);

// Switch adc_ker_ck_input multiplexer to per_ck
#[rustfmt::skip]
ccdr.peripheral.kernel_adc_clk_mux(rcc::rec::AdcClkSel::Per);

ccdr.peripheral
.kernel_usart234578_clk_mux(rcc::rec::Usart234578ClkSel::Pll3Q);
#[rustfmt::skip]
ccdr.peripheral.kernel_usart234578_clk_mux(rcc::rec::Usart234578ClkSel::Pll3Q);

let mut watchdog = SystemWindowWatchdog::new(ctx.device.WWDG, &ccdr);

Expand All @@ -125,70 +127,48 @@ mod app {
// let gpioc = ctx.device.GPIOC.split(ccdr.peripheral.GPIOC);
let gpioe = ctx.device.GPIOE.split(ccdr.peripheral.GPIOE);

let led = vecraft::RGBLed::new_with_color(
gpiob.pb13.into_push_pull_output(),
gpiob.pb14.into_push_pull_output(),
gpiob.pb12.into_push_pull_output(),
&vecraft::state::State::ConfigurationError.as_led(),
);

// Configure the SCL and the SDA pin for our I2C bus
let scl = gpiob.pb8.into_alternate_open_drain();
let sda = gpiob.pb9.into_alternate_open_drain();

let i2c = ctx
.device
.I2C1
.i2c((scl, sda), 400.kHz(), ccdr.peripheral.I2C1, &ccdr.clocks);

let mut eeprom = vecraft::eeprom::Eeprom::new(i2c);

// TODO: Remove this block
// eeprom.write_page(
// vecraft::VECRAFT_CONFIG_PAGE + 250,
// &vecraft::VecraftConfig::default().to_bytes(),
// );

// TODO: Replace array size with a constant
let mut vecraft_config = [0; 64];
eeprom.read_page(vecraft::VECRAFT_CONFIG_PAGE, &mut vecraft_config);

let config = match vecraft::VecraftConfig::try_from(&vecraft_config[..]) {
Err(vecraft::ConfigError::InvalidHeader) => {
let mut vecraft_config_default = [0; 64];
eeprom.read_page(
vecraft::VECRAFT_CONFIG_PAGE + 250,
&mut vecraft_config_default,
);

vecraft::VecraftConfig::try_from(&vecraft_config_default[..])
.expect("No factory config");

eeprom.write_page(vecraft::VECRAFT_CONFIG_PAGE, &vecraft_config_default);
vecraft::sys_reboot();
unreachable!();
}
Err(vecraft::ConfigError::InvalidVersion) => panic!("Invalid config"),
Ok(config) => config,
let led = {
let led_green = gpiob.pb13.into_push_pull_output();
let led_blue = gpiob.pb14.into_push_pull_output();
let led_red = gpiob.pb12.into_push_pull_output();

vecraft::RGBLed::new_with_color(
led_green,
led_blue,
led_red,
&vecraft::state::State::ConfigurationError.as_led(),
)
};

// UART
let mut console = vecraft::console::Console::new(
ctx.device
let mut eeprom = {
let scl = gpiob.pb8.into_alternate_open_drain();
let sda = gpiob.pb9.into_alternate_open_drain();

#[rustfmt::skip]
let i2c1 = ctx.device.I2C1.i2c((scl, sda), 400.kHz(), ccdr.peripheral.I2C1, &ccdr.clocks);

vecraft::eeprom::Eeprom::new(i2c1)
};

let config = vecraft::get_config(&mut eeprom);

let mut console = {
let rx = gpiod.pd5.into_alternate();
let tx = gpiod.pd6.into_alternate();

let usart2 = ctx
.device
.USART2
.serial(
(gpiod.pd5.into_alternate(), gpiod.pd6.into_alternate()),
(rx, tx),
config.uart_baudrate.bps(),
ccdr.peripheral.USART2,
&ccdr.clocks,
)
.unwrap(),
);
.expect("Failed to initialize USART2");

let fdcan_prec = ccdr
.peripheral
.FDCAN
.kernel_clk_mux(rcc::rec::FdcanClkSel::Pll1Q);
vecraft::console::Console::new(usart2)
};

assert!(config.canbus1_bitrate == 250_000 || config.canbus1_bitrate == 500_000);

Expand All @@ -197,8 +177,15 @@ mod app {
let tx = gpiod.pd1.into_alternate().speed(gpio::Speed::VeryHigh);
let term = gpiod.pd3.into_push_pull_output();

let fdcan_prec = ccdr
.peripheral
.FDCAN
.kernel_clk_mux(rcc::rec::FdcanClkSel::Pll1Q);

let fdcan1 = ctx.device.FDCAN1.fdcan(tx, rx, fdcan_prec);

#[rustfmt::skip]
let builder = vecraft::can::CanBuilder::new(ctx.device.FDCAN1.fdcan(tx, rx, fdcan_prec), term)
let builder = vecraft::can::CanBuilder::new(fdcan1, term)
.set_bit_timing(vecraft::can::bit_timing_from_baudrate(config.canbus1_bitrate).unwrap_or(vecraft::can::BITRATE_250K))
.set_j1939_broadcast_filter()
.set_j1939_destination_address_filter(config.j1939_address)
Expand Down Expand Up @@ -257,28 +244,16 @@ mod app {
//

firmware_state::spawn().ok();
// firmware_test::spawn().ok();
// commit_config::spawn_after(1.minutes().into()).ok();

watchdog.start(75.millis());
// watchdog.listen(EarlyWakeup); // TODO: Always listen for early wakeup

// TOOD: Move to vecraft module
{
// TODO: Make an identity number based on debug and firmware version
let name = NameBuilder::default()
.identity_number(config.serial_number().1)
.manufacturer_code(config.j1939_name().manufacturer_code)
.function_instance(config.j1939_name().function_instance)
.ecu_instance(config.j1939_name().ecu_instance)
.function(config.j1939_name().function)
.vehicle_system(config.j1939_name().vehicle_system)
.vehicle_system_instance(config.j1939_name().vehicle_system_instance)
.industry_group(config.j1939_name().industry_group)
.arbitrary_address(config.j1939_name().arbitrary_address)
.build();

canbus1.send(protocol::address_claimed(config.j1939_address, name));
}
canbus1.send(protocol::address_claimed(
config.j1939_address,
config.j1939_name(),
));

// TOOD: Move to vecraft module
{
Expand Down Expand Up @@ -341,28 +316,18 @@ mod app {
if config.is_dirty {
let config = ctx.shared.config.lock(|config| *config);

#[rustfmt::skip]
ctx.local.eeprom.write_page(vecraft::VECRAFT_CONFIG_PAGE, &config.to_bytes());
vecraft::put_config(ctx.local.eeprom, &config);

#[rustfmt::skip]
ctx.shared.config.lock(|config| config.is_dirty = false);
vecraft::sys_reboot();
}
if config.is_factory_reset {
let mut vecraft_config_default = [0; 64];
let default_config = vecraft::reset_config(ctx.local.eeprom);

#[rustfmt::skip]
ctx.local.eeprom.read_page(vecraft::VECRAFT_CONFIG_PAGE + 250, &mut vecraft_config_default);

vecraft::VecraftConfig::try_from(&vecraft_config_default[..])
.expect("No factory config");

#[rustfmt::skip]
ctx.local.eeprom.write_page(vecraft::VECRAFT_CONFIG_PAGE, &vecraft_config_default);
ctx.shared.config.lock(|config| *config = default_config);

#[rustfmt::skip]
ctx.shared.config.lock(|config| config.is_factory_reset = false);
vecraft::sys_reboot();
}
}

Expand Down Expand Up @@ -464,23 +429,11 @@ mod app {
ctx.shared.canbus1.lock(|canbus1| canbus1.send(frame));
}
PGN::AddressClaimed => {
// TODO: Make an identity number based on debug and firmware version
let name = NameBuilder::default()
.identity_number(config.serial_number().1)
.manufacturer_code(config.j1939_name().manufacturer_code)
.function_instance(config.j1939_name().function_instance)
.ecu_instance(config.j1939_name().ecu_instance)
.function(config.j1939_name().function)
.vehicle_system(config.j1939_name().vehicle_system)
.vehicle_system_instance(
config.j1939_name().vehicle_system_instance,
)
.industry_group(config.j1939_name().industry_group)
.arbitrary_address(config.j1939_name().arbitrary_address)
.build();

ctx.shared.canbus1.lock(|canbus1| {
canbus1.send(protocol::address_claimed(config.j1939_address, name))
canbus1.send(protocol::address_claimed(
config.j1939_address,
config.j1939_name(),
))
});
}
_ => {
Expand Down

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