Basic sm failsafe (#38)

Co-authored-by: Anthony Bertnyk <[email protected]> Co-authored-by: TheSpaceDragon <[email protected]> Co-authored-by: Navtaj Hundal <[email protected]> Co-authored-by: unknown <[email protected]> Co-authored-by: WARG-Laptop <[email protected]> Co-authored-by: Aidan Bowers <[email protected]> Co-authored-by: Hardy <[email protected]>
UWARG · Nov 16, 2023 · 289e79d · 289e79d
1 parent 548078a
commit 289e79d
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Showing 28 changed files with 596 additions and 146 deletions.
diff --git a/.DS_Store b/.DS_Store
diff --git a/.gitignore b/.gitignore
@@ -24,3 +24,4 @@
 .DS_Store/
 Tools/*/build
 Debug/
+/.metadata/
diff --git a/.settings/com.st.stm32cube.ide.mcu.sfrview.prefs b/.settings/com.st.stm32cube.ide.mcu.sfrview.prefs
@@ -0,0 +1,2 @@
+eclipse.preferences.version=1
+sfrviewstate={"fFavorites"\:{"fLists"\:{}},"fProperties"\:{"fNodeProperties"\:{}}}
diff --git a/Boardfiles/discoveryl562qe/Core/Src/main.c b/Boardfiles/discoveryl562qe/Core/Src/main.c
@@ -59,6 +59,7 @@ SD_HandleTypeDef hsd1;
 
 SPI_HandleTypeDef hspi1;
 
+TIM_HandleTypeDef htim2;
 TIM_HandleTypeDef htim4;
 TIM_HandleTypeDef htim16;
 TIM_HandleTypeDef htim17;

diff --git a/Boardfiles/nucleol552zeq/.mxproject b/Boardfiles/nucleol552zeq/.mxproject
diff --git a/Boardfiles/nucleol552zeq/.settings/language.settings.xml b/Boardfiles/nucleol552zeq/.settings/language.settings.xml
@@ -5,7 +5,7 @@
 			<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
 			<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
 			<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
-			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="1342465184571275188" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
+			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="1682148698121324352" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
 				<language-scope id="org.eclipse.cdt.core.gcc"/>
 				<language-scope id="org.eclipse.cdt.core.g++"/>
 			</provider>
@@ -16,7 +16,7 @@
 			<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
 			<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
 			<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
-			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="1342465184571275188" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
+			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="1682148698121324352" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
 				<language-scope id="org.eclipse.cdt.core.gcc"/>
 				<language-scope id="org.eclipse.cdt.core.g++"/>
 			</provider>
@@ -27,7 +27,7 @@
 			<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
 			<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
 			<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
-			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="1342465184571275188" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
+			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="1682148698121324352" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
 				<language-scope id="org.eclipse.cdt.core.gcc"/>
 				<language-scope id="org.eclipse.cdt.core.g++"/>
 			</provider>
@@ -38,7 +38,7 @@
 			<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
 			<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
 			<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
-			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="1342465184571275188" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
+			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="1682148698121324352" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
 				<language-scope id="org.eclipse.cdt.core.gcc"/>
 				<language-scope id="org.eclipse.cdt.core.g++"/>
 			</provider>

diff --git a/Boardfiles/nucleol552zeq/.settings/stm32cubeide.project.prefs b/Boardfiles/nucleol552zeq/.settings/stm32cubeide.project.prefs
@@ -1,5 +1,5 @@
 635E684B79701B039C64EA45C3F84D30=133CEB6F04A68B38073C17D67206B6A5
 66BE74F758C12D739921AEA421D593D3=0
 8DF89ED150041C4CBC7CB9A9CAA90856=26D62537746E9FFBD9A8CC3638B113BC
-DC22A860405A8BF2F2C095E5B6529F12=E03D1377FF9DFAFFEE5681C9DDDBDE4E
+DC22A860405A8BF2F2C095E5B6529F12=26D62537746E9FFBD9A8CC3638B113BC
 eclipse.preferences.version=1
diff --git a/Boardfiles/nucleol552zeq/Core/Inc/stm32l5xx_it.h b/Boardfiles/nucleol552zeq/Core/Inc/stm32l5xx_it.h
@@ -55,8 +55,11 @@ void DebugMon_Handler(void);
 void DMA1_Channel1_IRQHandler(void);
 void DMA1_Channel2_IRQHandler(void);
 void DMA1_Channel3_IRQHandler(void);
+void DMA1_Channel4_IRQHandler(void);
 void TIM5_IRQHandler(void);
 void USART3_IRQHandler(void);
+void DMA1_Channel4_IRQHandler(void);
+void USART2_IRQHandler(void);
 /* USER CODE BEGIN EFP */
 
 /* USER CODE END EFP */

diff --git a/Boardfiles/nucleol552zeq/Core/Inc/tim.h b/Boardfiles/nucleol552zeq/Core/Inc/tim.h
@@ -36,6 +36,8 @@ extern TIM_HandleTypeDef htim1;
 
 extern TIM_HandleTypeDef htim2;
 
+extern TIM_HandleTypeDef htim3;
+
 extern TIM_HandleTypeDef htim4;
 
 extern TIM_HandleTypeDef htim5;
@@ -46,6 +48,7 @@ extern TIM_HandleTypeDef htim5;
 
 void MX_TIM1_Init(void);
 void MX_TIM2_Init(void);
+void MX_TIM3_Init(void);
 void MX_TIM4_Init(void);
 void MX_TIM5_Init(void);
 

diff --git a/Boardfiles/nucleol552zeq/Core/Src/dma.c b/Boardfiles/nucleol552zeq/Core/Src/dma.c
@@ -53,6 +53,9 @@ void MX_DMA_Init(void)
   /* DMA1_Channel3_IRQn interrupt configuration */
   HAL_NVIC_SetPriority(DMA1_Channel3_IRQn, 5, 0);
   HAL_NVIC_EnableIRQ(DMA1_Channel3_IRQn);
+  /* DMA1_Channel4_IRQn interrupt configuration */
+  HAL_NVIC_SetPriority(DMA1_Channel4_IRQn, 5, 0);
+  HAL_NVIC_EnableIRQ(DMA1_Channel4_IRQn);
 
 }
 

diff --git a/Boardfiles/nucleol552zeq/Core/Src/gpio.c b/Boardfiles/nucleol552zeq/Core/Src/gpio.c
@@ -46,10 +46,10 @@ void MX_GPIO_Init(void)
   GPIO_InitTypeDef GPIO_InitStruct = {0};
 
   /* GPIO Ports Clock Enable */
+  __HAL_RCC_GPIOE_CLK_ENABLE();
   __HAL_RCC_GPIOC_CLK_ENABLE();
   __HAL_RCC_GPIOF_CLK_ENABLE();
   __HAL_RCC_GPIOA_CLK_ENABLE();
-  __HAL_RCC_GPIOE_CLK_ENABLE();
   __HAL_RCC_GPIOB_CLK_ENABLE();
   __HAL_RCC_GPIOD_CLK_ENABLE();
   __HAL_RCC_GPIOG_CLK_ENABLE();

diff --git a/Boardfiles/nucleol552zeq/Core/Src/iwdg.c b/Boardfiles/nucleol552zeq/Core/Src/iwdg.c
@@ -38,9 +38,9 @@ void MX_IWDG_Init(void)
 
   /* USER CODE END IWDG_Init 1 */
   hiwdg.Instance = IWDG;
-  hiwdg.Init.Prescaler = IWDG_PRESCALER_4;
+  hiwdg.Init.Prescaler = IWDG_PRESCALER_8;
   hiwdg.Init.Window = 4095;
-  hiwdg.Init.Reload = 4095;
+  hiwdg.Init.Reload = 3999;
   if (HAL_IWDG_Init(&hiwdg) != HAL_OK)
   {
     Error_Handler();

diff --git a/Boardfiles/nucleol552zeq/Core/Src/main.c → Boardfiles/nucleol552zeq/Core/Src/main.cpp b/Boardfiles/nucleol552zeq/Core/Src/main.c → Boardfiles/nucleol552zeq/Core/Src/main.cpp
@@ -34,7 +34,9 @@
 
 /* Private includes ----------------------------------------------------------*/
 /* USER CODE BEGIN Includes */
-
+#include "SystemManager.hpp"
+#include "drivers_config.hpp"
+#include "independent_watchdog.h"
 /* USER CODE END Includes */
 
 /* Private typedef -----------------------------------------------------------*/
@@ -59,15 +61,21 @@
 /* USER CODE END PV */
 
 /* Private function prototypes -----------------------------------------------*/
-void SystemClock_Config(void);
-void MX_FREERTOS_Init(void);
+extern "C" {
+    void SystemClock_Config(void);
+    void MX_FREERTOS_Init(void);
+}
 /* USER CODE BEGIN PFP */
 
 /* USER CODE END PFP */
 
 /* Private user code ---------------------------------------------------------*/
 /* USER CODE BEGIN 0 */
+void SMTask(void *pvParameters) {
+    SystemManager SM;
+    SM.flyManually();
 
+}
 /* USER CODE END 0 */
 
 /**
@@ -118,8 +126,16 @@ int main(void)
   MX_ADC1_Init();
   MX_ICACHE_Init();
   MX_IWDG_Init();
+  MX_TIM3_Init();
   /* USER CODE BEGIN 2 */
 
+
+
+
+  TaskHandle_t hSM = NULL;
+  xTaskCreate(SMTask, "SM", 500U, NULL, osPriorityNormal, &hSM);
+
+
   /* USER CODE END 2 */
 
   /* Init scheduler */

diff --git a/Boardfiles/nucleol552zeq/Core/Src/spi.c b/Boardfiles/nucleol552zeq/Core/Src/spi.c
@@ -110,11 +110,11 @@ void HAL_SPI_MspInit(SPI_HandleTypeDef* spiHandle)
 
     __HAL_RCC_GPIOA_CLK_ENABLE();
     /**SPI1 GPIO Configuration
-    PA1     ------> SPI1_SCK
+    PA5     ------> SPI1_SCK
     PA6     ------> SPI1_MISO
     PA7     ------> SPI1_MOSI
     */
-    GPIO_InitStruct.Pin = GPIO_PIN_1|GPIO_PIN_6|GPIO_PIN_7;
+    GPIO_InitStruct.Pin = GPIO_PIN_5|GPIO_PIN_6|GPIO_PIN_7;
     GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
     GPIO_InitStruct.Pull = GPIO_NOPULL;
     GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
@@ -180,11 +180,11 @@ void HAL_SPI_MspDeInit(SPI_HandleTypeDef* spiHandle)
     __HAL_RCC_SPI1_CLK_DISABLE();
 
     /**SPI1 GPIO Configuration
-    PA1     ------> SPI1_SCK
+    PA5     ------> SPI1_SCK
     PA6     ------> SPI1_MISO
     PA7     ------> SPI1_MOSI
     */
-    HAL_GPIO_DeInit(GPIOA, GPIO_PIN_1|GPIO_PIN_6|GPIO_PIN_7);
+    HAL_GPIO_DeInit(GPIOA, GPIO_PIN_5|GPIO_PIN_6|GPIO_PIN_7);
 
   /* USER CODE BEGIN SPI1_MspDeInit 1 */
 

diff --git a/Boardfiles/nucleol552zeq/Core/Src/stm32l5xx_it.c b/Boardfiles/nucleol552zeq/Core/Src/stm32l5xx_it.c
@@ -59,6 +59,9 @@
 /* External variables --------------------------------------------------------*/
 extern DMA_HandleTypeDef hdma_usart3_rx;
 extern UART_HandleTypeDef huart3;
+extern DMA_HandleTypeDef hdma_usart2_rx;
+extern DMA_HandleTypeDef hdma_usart2_tx;
+extern UART_HandleTypeDef huart2;
 extern DMA_HandleTypeDef hdma_tim5_ch1;
 extern DMA_HandleTypeDef hdma_tim5_ch2;
 extern TIM_HandleTypeDef htim5;
@@ -201,11 +204,26 @@ void DMA1_Channel3_IRQHandler(void)
 
   /* USER CODE END DMA1_Channel3_IRQn 0 */
   HAL_DMA_IRQHandler(&hdma_usart3_rx);
+  HAL_DMA_IRQHandler(&hdma_usart2_rx);
   /* USER CODE BEGIN DMA1_Channel3_IRQn 1 */
 
   /* USER CODE END DMA1_Channel3_IRQn 1 */
 }
 
+/**
+  * @brief This function handles DMA1 channel4 global interrupt.
+  */
+void DMA1_Channel4_IRQHandler(void)
+{
+  /* USER CODE BEGIN DMA1_Channel4_IRQn 0 */
+
+  /* USER CODE END DMA1_Channel4_IRQn 0 */
+  HAL_DMA_IRQHandler(&hdma_usart2_tx);
+  /* USER CODE BEGIN DMA1_Channel4_IRQn 1 */
+
+  /* USER CODE END DMA1_Channel4_IRQn 1 */
+}
+
 /**
   * @brief This function handles TIM5 global interrupt.
   */
@@ -234,6 +252,20 @@ void USART3_IRQHandler(void)
   /* USER CODE END USART3_IRQn 1 */
 }
 
+/** 
+  * @brief This function handles USART2 global interrupt / USART2 wake-up interrupt through EXTI line 27.
+  */
+void USART2_IRQHandler(void)
+{
+  /* USER CODE BEGIN USART2_IRQn 0 */
+
+  /* USER CODE END USART2_IRQn 0 */
+  HAL_UART_IRQHandler(&huart2);
+  /* USER CODE BEGIN USART2_IRQn 1 */
+
+  /* USER CODE END USART2_IRQn 1 */
+}
+
 /* USER CODE BEGIN 1 */
 
 /* USER CODE END 1 */
Original file line number	Diff line number	Diff line change
		@@ -0,0 +1,2 @@
		eclipse.preferences.version=1
		sfrviewstate={"fFavorites"\:{"fLists"\:{}},"fProperties"\:{"fNodeProperties"\:{}}}