feat: MDI_v1_0

components/mdi/mdi_v1_0/.gitignore

@@ -0,0 +1,76 @@
+
+# Prerequisites
+*.d
+
+# Object files
+*.o
+*.ko
+*.obj
+*.elf
+
+# Linker output
+*.ilk
+*.map
+*.exp
+
+# Precompiled Headers
+*.gch
+*.pch
+
+# Libraries
+*.lib
+*.a
+*.la
+*.lo
+
+# Shared objects (inc. Windows DLLs)
+*.dll
+*.so
+*.so.*
+*.dylib
+
+# Executables
+*.exe
+*.out
+*.app
+*.i*86
+*.x86_64
+*.hex
+
+# Debug files
+*.dSYM/
+*.su
+*.idb
+*.pdb
+
+# Kernel Module Compile Results
+*.mod*
+*.cmd
+.tmp_versions/
+modules.order
+Module.symvers
+Mkfile.old
+dkms.conf
+
+# IDE files
+.idea*
+.metadata*
+.vscode*
+RemoteSystemsTempFiles*
+.settings/*
+**/Backup/
+
+# Compiled binaries
+*.elf
+*.bin
+
+.cache*
+
+# Doxygen files
+Doxyfile-firmwarev3
+
+*.mk
+*.list
+
+# Build Folders
+components/mdi/mdi_v1_0/Debug/

components/mdi/mdi_v1_0/.mxproject

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+[PreviousLibFiles]
+LibFiles=Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_hal_can.h;Drivers\STM32F1xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_hal.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_hal_def.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_hal_rcc.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_hal_rcc_ex.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_hal_gpio.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_hal_gpio_ex.h;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_gpio_ex.c;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_hal_dma_ex.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_hal_dma.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_hal_cortex.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_hal_pwr.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_hal_flash.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_hal_flash_ex.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_hal_exti.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_hal_i2c.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_hal_tim.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_hal_tim_ex.h;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_can.c;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal.c;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_rcc.c;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_rcc_ex.c;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_gpio.c;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_dma.c;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_cortex.c;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_pwr.c;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_flash.c;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_flash_ex.c;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_exti.c;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_i2c.c;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_tim.c;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_tim_ex.c;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_hal_can.h;Drivers\STM32F1xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_hal.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_hal_def.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_hal_rcc.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_hal_rcc_ex.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_hal_gpio.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_hal_gpio_ex.h;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_gpio_ex.c;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_hal_dma_ex.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_hal_dma.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_hal_cortex.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_hal_pwr.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_hal_flash.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_hal_flash_ex.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_hal_exti.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_hal_i2c.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_hal_tim.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_hal_tim_ex.h;Drivers\CMSIS\Device\ST\STM32F1xx\Include\stm32f103xe.h;Drivers\CMSIS\Device\ST\STM32F1xx\Include\stm32f1xx.h;Drivers\CMSIS\Device\ST\STM32F1xx\Include\system_stm32f1xx.h;Drivers\CMSIS\Device\ST\STM32F1xx\Source\Templates\system_stm32f1xx.c;Drivers\CMSIS\Include\cmsis_armcc.h;Drivers\CMSIS\Include\cmsis_armclang.h;Drivers\CMSIS\Include\cmsis_compiler.h;Drivers\CMSIS\Include\cmsis_gcc.h;Drivers\CMSIS\Include\cmsis_iccarm.h;Drivers\CMSIS\Include\cmsis_version.h;Drivers\CMSIS\Include\core_armv8mbl.h;Drivers\CMSIS\Include\core_armv8mml.h;Drivers\CMSIS\Include\core_cm0.h;Drivers\CMSIS\Include\core_cm0plus.h;Drivers\CMSIS\Include\core_cm1.h;Drivers\CMSIS\Include\core_cm23.h;Drivers\CMSIS\Include\core_cm3.h;Drivers\CMSIS\Include\core_cm33.h;Drivers\CMSIS\Include\core_cm4.h;Drivers\CMSIS\Include\core_cm7.h;Drivers\CMSIS\Include\core_sc000.h;Drivers\CMSIS\Include\core_sc300.h;Drivers\CMSIS\Include\mpu_armv7.h;Drivers\CMSIS\Include\mpu_armv8.h;Drivers\CMSIS\Include\tz_context.h;
+
+[PreviousUsedCubeIDEFiles]
+SourceFiles=Core\Src\main.c;Core\Src\stm32f1xx_it.c;Core\Src\stm32f1xx_hal_msp.c;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_gpio_ex.c;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_can.c;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal.c;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_rcc.c;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_rcc_ex.c;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_gpio.c;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_dma.c;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_cortex.c;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_pwr.c;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_flash.c;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_flash_ex.c;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_exti.c;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_i2c.c;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_tim.c;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_tim_ex.c;Drivers\CMSIS\Device\ST\STM32F1xx\Source\Templates\system_stm32f1xx.c;Core\Src\system_stm32f1xx.c;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_gpio_ex.c;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_can.c;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal.c;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_rcc.c;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_rcc_ex.c;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_gpio.c;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_dma.c;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_cortex.c;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_pwr.c;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_flash.c;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_flash_ex.c;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_exti.c;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_i2c.c;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_tim.c;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_tim_ex.c;Drivers\CMSIS\Device\ST\STM32F1xx\Source\Templates\system_stm32f1xx.c;Core\Src\system_stm32f1xx.c;;;
+HeaderPath=Drivers\STM32F1xx_HAL_Driver\Inc;Drivers\STM32F1xx_HAL_Driver\Inc\Legacy;Drivers\CMSIS\Device\ST\STM32F1xx\Include;Drivers\CMSIS\Include;Core\Inc;
+CDefines=USE_HAL_DRIVER;STM32F103xE;USE_HAL_DRIVER;USE_HAL_DRIVER;
+
+[PreviousGenFiles]
+AdvancedFolderStructure=true
+HeaderFileListSize=3
+HeaderFiles#0=..\Core\Inc\stm32f1xx_it.h
+HeaderFiles#1=..\Core\Inc\stm32f1xx_hal_conf.h
+HeaderFiles#2=..\Core\Inc\main.h
+HeaderFolderListSize=1
+HeaderPath#0=..\Core\Inc
+HeaderFiles=;
+SourceFileListSize=3
+SourceFiles#0=..\Core\Src\stm32f1xx_it.c
+SourceFiles#1=..\Core\Src\stm32f1xx_hal_msp.c
+SourceFiles#2=..\Core\Src\main.c
+SourceFolderListSize=1
+SourcePath#0=..\Core\Src
+SourceFiles=;
+

components/mdi/mdi_v1_0/.project

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+<?xml version="1.0" encoding="UTF-8"?>
+<projectDescription>
+	<name>mdi_can_interface</name>
+	<comment></comment>
+	<projects>
+	</projects>
+	<buildSpec>
+		<buildCommand>
+			<name>org.eclipse.cdt.managedbuilder.core.genmakebuilder</name>
+			<triggers>clean,full,incremental,</triggers>
+			<arguments>
+			</arguments>
+		</buildCommand>
+		<buildCommand>
+			<name>org.eclipse.cdt.managedbuilder.core.ScannerConfigBuilder</name>
+			<triggers>full,incremental,</triggers>
+			<arguments>
+			</arguments>
+		</buildCommand>
+	</buildSpec>
+	<natures>
+		<nature>com.st.stm32cube.ide.mcu.MCUProjectNature</nature>
+		<nature>com.st.stm32cube.ide.mcu.MCUCubeProjectNature</nature>
+		<nature>org.eclipse.cdt.core.cnature</nature>
+		<nature>com.st.stm32cube.ide.mcu.MCUCubeIdeServicesRevAev2ProjectNature</nature>
+		<nature>com.st.stm32cube.ide.mcu.MCUAdvancedStructureProjectNature</nature>
+		<nature>com.st.stm32cube.ide.mcu.MCUEndUserDisabledTrustZoneProjectNature</nature>
+		<nature>com.st.stm32cube.ide.mcu.MCUSingleCpuProjectNature</nature>
+		<nature>com.st.stm32cube.ide.mcu.MCURootProjectNature</nature>
+		<nature>org.eclipse.cdt.managedbuilder.core.managedBuildNature</nature>
+		<nature>org.eclipse.cdt.managedbuilder.core.ScannerConfigNature</nature>
+	</natures>
+</projectDescription>

components/mdi/mdi_v1_0/Core/Inc/MDI_Helper_Functions.h

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+/**
+ * This is the header file for the MDI helper functions.
+ *
+ **/
+
+#include "stm32f1xx_hal.h"
+#include <stdio.h>
+#include <stdlib.h>
+#include <stdbool.h>
+#include <math.h>
+
+uint8_t getBit(uint8_t msb, uint8_t two, uint8_t three, uint8_t four, uint8_t five, uint8_t six, uint8_t seven, uint8_t lsb);
+
+void CopyRxData(uint8_t* globalRxData, uint8_t* localRxData);
+
+void Send_Voltage(float parsed_voltage, uint8_t DAC_ADDR, I2C_HandleTypeDef *hi2c2);
+
+uint16_t Parse_Acceleration(uint32_t pedal_data);

components/mdi/mdi_v1_0/Core/Inc/can.h

@@ -0,0 +1,94 @@
+/**
+ * This is the header file for the MDI CAN driver.
+ *
+ **/
+
+#ifndef CAN_H
+#define CAN_H 
+
+#include "stm32f1xx_hal.h"
+#include <stdio.h>
+#include <stdlib.h>
+#include <stdbool.h>
+#include <math.h>
+
+#define BUFFER_SIZE 2
+
+#define REVERSE_TRUE 1 
+#define REVERSE_FALSE 0 
+
+#define REGEN_TRUE 1 
+#define REGEN_FALSE 0 
+
+//Eco mode would be standard operation and maximum efficiency
+//Power mode would be for passing or when we need a boost up a hill
+#define ECO_ON 1
+#define POWER_ON 0
+
+#define UINT10_MAX 0x3FF
+
+#define WHEEL_RADIUS 0.283 //units in m
+
+//Limit voltage out into the motor 
+#define MAX_VOLTAGE_OUT 0x3C1 //Corresponds to 4.7V (0.938*10'b1_111_111_111)
+
+typedef struct
+{
+	uint16_t id;
+	int32_t  velocity;
+	float acceleration;
+	bool direction; 
+	bool power_or_eco; 
+	bool regen;
+
+	//0x501
+	uint8_t motorCurrentFlag;
+	uint8_t velocityFlag;
+	uint8_t busCurrentFlag;
+	uint8_t busVoltageUpperLimitFlag;
+	uint8_t busVoltageLowerLimitFlag;
+	uint8_t heatsinkTemp;
+	uint8_t hardwareOverCurrent;
+	uint8_t softwareOverCurrent;
+	uint8_t DCBusOverVoltage;
+
+	//0x502
+	float busVoltage;
+	float busCurrent;
+
+	//0x503
+	float motorVelocity;
+	float vehicleVelocity;
+	uint32_t  CAN_Velocity;
+
+	//0x50B
+	float motorTemp;
+	float controllerHeatsinkTemp;
+
+} CAN_message_t;
+
+void CAN_Decode_Velocity_Message(uint8_t localRxData[], CAN_message_t* CAN_msg);
+
+void Send_Test_Message(uint8_t* TxData, int32_t velocity, uint32_t acceleration);
+
+void Decode_Frame0(uint8_t localRxData[], CAN_message_t* CAN_msg);
+
+void Decode_Frame2(uint8_t localRxData[], CAN_message_t* CAN_msg);
+
+uint8_t getBit(uint8_t msb, uint8_t two, uint8_t three, uint8_t four, uint8_t five, uint8_t six, uint8_t seven, uint8_t lsb);
+
+void split_32_bit_number(uint32_t number, uint8_t *bytes);
+
+void get501(uint8_t* message501, CAN_message_t CanMessage);
+
+void get502(uint8_t* message502, CAN_message_t CanMessage);
+
+void get503(uint8_t* message503, CAN_message_t CanMessage);
+
+void get50B(uint8_t* message50B, CAN_message_t CanMessage);
+
+void Send_Test_Message(uint8_t* TxData, int32_t velocity, uint32_t acceleration);
+
+void CopyRxData(uint8_t* globalRxData, uint8_t* localRxData);
+
+#endif

components/mdi/mdi_v1_0/Core/Inc/main.h

@@ -0,0 +1,79 @@
+/* USER CODE BEGIN Header */
+/**
+  ******************************************************************************
+  * @file           : main.h
+  * @brief          : Header for main.c file.
+  *                   This file contains the common defines of the application.
+  ******************************************************************************
+  * @attention
+  *
+  * <h2><center>&copy; Copyright (c) 2023 STMicroelectronics.
+  * All rights reserved.</center></h2>
+  *
+  * This software component is licensed by ST under BSD 3-Clause license,
+  * the "License"; You may not use this file except in compliance with the
+  * License. You may obtain a copy of the License at:
+  *                        opensource.org/licenses/BSD-3-Clause
+  *
+  ******************************************************************************
+  */
+/* USER CODE END Header */
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef __MAIN_H
+#define __MAIN_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Includes ------------------------------------------------------------------*/
+#include "stm32f1xx_hal.h"
+
+/* Private includes ----------------------------------------------------------*/
+/* USER CODE BEGIN Includes */
+#include <MDI_Helper_Functions.h>
+/* USER CODE END Includes */
+
+/* Exported types ------------------------------------------------------------*/
+/* USER CODE BEGIN ET */
+
+/* USER CODE END ET */
+
+/* Exported constants --------------------------------------------------------*/
+/* USER CODE BEGIN EC */
+
+/* USER CODE END EC */
+
+/* Exported macro ------------------------------------------------------------*/
+/* USER CODE BEGIN EM */
+
+/* USER CODE END EM */
+
+/* Exported functions prototypes ---------------------------------------------*/
+void Error_Handler(void);
+
+/* USER CODE BEGIN EFP */
+
+/* USER CODE END EFP */
+
+/* Private defines -----------------------------------------------------------*/
+#define Boot_LED_Pin GPIO_PIN_3
+#define Boot_LED_GPIO_Port GPIOA
+#define ECO_Pin GPIO_PIN_12
+#define ECO_GPIO_Port GPIOB
+#define DIR_Pin GPIO_PIN_13
+#define DIR_GPIO_Port GPIOB
+#define REVs_TICK_INPUT_Pin GPIO_PIN_12
+#define REVs_TICK_INPUT_GPIO_Port GPIOA
+/* USER CODE BEGIN Private defines */
+
+/* USER CODE END Private defines */
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __MAIN_H */
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/