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use SAE J1850 for pedal

master
Kevin Roscom 2022-02-23 00:12:44 -06:00
parent b8ce1c9686
commit 4522320fdc
2 changed files with 16 additions and 14 deletions
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2
board/SConscript
View File

@ -21,7 +21,7 @@ if os.getenv("PEDAL"):
"-DPEDAL",
]
if os.getenv("GATEWAY"):
elif os.getenv("GATEWAY"):
PROJECT = "panda"
STARTUP_FILE = "startup_stm32f413xx.s"
if os.getenv("IBST"):

28
board/pedal/main.c
View File

@ -137,7 +137,8 @@ uint32_t current_index = 0;
#define FAULT_INVALID 6U
uint8_t state = FAULT_STARTUP;
const uint8_t crc_poly = 0xD5; // standard crc8
const uint8_t crc_poly = 0x1D; // standard crc8
uint8_t crc8_lut_1d[256];
void CAN1_RX0_IRQ_Handler(void) {
while ((CAN->RF0R & CAN_RF0R_FMP0) != 0) {
@ -160,15 +161,15 @@ void CAN1_RX0_IRQ_Handler(void) {
}
// normal packet
uint8_t dat[8];
for (int i=0; i<8; i++) {
uint8_t dat[6];
for (int i=0; i<6; i++) {
dat[i] = GET_BYTE(&CAN->sFIFOMailBox[0], i);
}
uint16_t value_0 = (dat[0] << 8) | dat[1];
uint16_t value_1 = (dat[2] << 8) | dat[3];
bool enable = ((dat[4] >> 7) & 1U) != 0U;
uint8_t index = dat[4] & COUNTER_CYCLE;
if (crc_checksum(dat, CAN_GAS_SIZE - 1, crc_poly) == dat[5]) {
uint16_t value_0 = (dat[2] << 8) | dat[1];
uint16_t value_1 = (dat[4] << 8) | dat[3];
bool enable = ((dat[5] >> 7) & 1U) != 0U;
uint8_t index = dat[5] & COUNTER_CYCLE;
if (dat[0] == lut_checksum(dat, CAN_GAS_SIZE, crc8_lut_1d)) {
if (((current_index + 1U) & COUNTER_CYCLE) == index) {
#ifdef DEBUG
puts("setting gas ");
@ -225,13 +226,13 @@ void TIM3_IRQ_Handler(void) {
// check timer for sending the user pedal and clearing the CAN
if ((CAN->TSR & CAN_TSR_TME0) == CAN_TSR_TME0) {
uint8_t dat[8];
dat[0] = (pdl0 >> 8) & 0xFFU;
uint8_t dat[6];
dat[1] = (pdl0 >> 0) & 0xFFU;
dat[2] = (pdl1 >> 8) & 0xFFU;
dat[2] = (pdl0 >> 8) & 0xFFU;
dat[3] = (pdl1 >> 0) & 0xFFU;
dat[4] = ((state & 0xFU) << 4) | pkt_idx;
dat[5] = crc_checksum(dat, CAN_GAS_SIZE - 1, crc_poly);
dat[4] = (pdl1 >> 8) & 0xFFU;
dat[5] = ((state & 0xFU) << 4) | pkt_idx;
dat[0] = lut_checksum(dat, CAN_GAS_SIZE, crc8_lut_1d);
CAN->sTxMailBox[0].TDLR = dat[0] | (dat[1] << 8) | (dat[2] << 16) | (dat[3] << 24);
CAN->sTxMailBox[0].TDHR = dat[4] | (dat[5] << 8);
CAN->sTxMailBox[0].TDTR = 6; // len of packet is 5
@ -323,6 +324,7 @@ int main(void) {
timer_init(TIM3, 15);
NVIC_EnableIRQ(TIM3_IRQn);
gen_crc_lookup_table(crc_poly, crc8_lut_1d);
watchdog_init();
puts("**** INTERRUPTS ON ****\n");