Hi,
I'm currently working on sending signals through FDCAN or UART of B-G431B-ESC1 while driving a motor.
I have written a debug code which sends UART data when a button is pressed.
However, the function is called once and never called again, nor the motor won't start.
"stm32g4xx_mc_it"
uint8_t mc_it_debug[64];
void EXTI15_10_IRQHandler (void)
{
/* USER CODE BEGIN START_STOP_BTN */
sprintf(mc_it_debug, "StartStop Button Pressed\r\n");
HAL_UART_Transmit_DMA(&huart2, mc_it_debug, sizeof(mc_it_debug));
if ( 0U == LL_EXTI_ReadFlag_0_31(LL_EXTI_LINE_10) )
{
/* Nothing to do */
}
else
{
LL_EXTI_ClearFlag_0_31 (LL_EXTI_LINE_10);
( void )UI_HandleStartStopButton_cb ();
}
}
in the main.c file,
/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
HAL_Init();
/* USER CODE BEGIN Init */
/* USER CODE END Init */
/* Configure the system clock */
SystemClock_Config();
/* USER CODE BEGIN SysInit */
/* USER CODE END SysInit */
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_DMA_Init();
MX_ADC1_Init();
MX_ADC2_Init();
MX_COMP1_Init();
MX_COMP2_Init();
MX_COMP4_Init();
MX_CORDIC_Init();
MX_DAC3_Init();
MX_OPAMP1_Init();
MX_OPAMP2_Init();
MX_OPAMP3_Init();
MX_TIM1_Init();
MX_MotorControl_Init();
MX_FDCAN1_Init();
MX_USART2_UART_Init();
/* Initialize interrupts */
MX_NVIC_Init();
I am assuming it is a priority issue, which is set as
Any advice will be helpful.
In the software side, it works fine, but when I try to debug using oscilloscope, the waveform won't show.
In TSK_HighFrequencyTask() (16 kHz), I downsampled to 8kHz, then stores alphabeta current and voltage (8 bytes per cycle) to a 64 byte buffer then sends a FDCAN signal storing that buffer. (so tx frequency is 1kHz)
my code :
// in fdcan.c,
/* FDCAN1 init function */
void MX_FDCAN1_Init(void)
{
/* USER CODE BEGIN FDCAN1_Init 0 */
/* USER CODE END FDCAN1_Init 0 */
/* USER CODE BEGIN FDCAN1_Init 1 */
/* USER CODE END FDCAN1_Init 1 */
hfdcan1.Instance = FDCAN1;
hfdcan1.Init.ClockDivider = FDCAN_CLOCK_DIV1;
hfdcan1.Init.FrameFormat = FDCAN_FRAME_FD_NO_BRS;
hfdcan1.Init.Mode = FDCAN_MODE_NORMAL;
hfdcan1.Init.AutoRetransmission = DISABLE;
hfdcan1.Init.TransmitPause = DISABLE;
hfdcan1.Init.ProtocolException = DISABLE;
hfdcan1.Init.NominalPrescaler = 1;
hfdcan1.Init.NominalSyncJumpWidth = 1;
hfdcan1.Init.NominalTimeSeg1 = 5;
hfdcan1.Init.NominalTimeSeg2 = 2;
hfdcan1.Init.DataPrescaler = 1;
hfdcan1.Init.DataSyncJumpWidth = 1;
hfdcan1.Init.DataTimeSeg1 = 1;
hfdcan1.Init.DataTimeSeg2 = 1;
hfdcan1.Init.StdFiltersNbr = 0;
hfdcan1.Init.ExtFiltersNbr = 0;
hfdcan1.Init.TxFifoQueueMode = FDCAN_TX_FIFO_OPERATION;
if (HAL_FDCAN_Init(&hfdcan1) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN FDCAN1_Init 2 */
/* configure reception filter to Rx buffer 0*/
sFilterConfig.IdType = FDCAN_STANDARD_ID;
sFilterConfig.FilterIndex = 0;
sFilterConfig.FilterType = FDCAN_FILTER_MASK;
sFilterConfig.FilterID1 = 0x11;
sFilterConfig.FilterID2 = 0x11;
sFilterConfig.FilterConfig = FDCAN_FILTER_TO_RXFIFO0;
if(HAL_FDCAN_ConfigFilter(&hfdcan1, &sFilterConfig)!= HAL_OK)
{
Error_Handler();
}
/* configure Tx buffer message */
// Configure Tx Header
TxHeader.Identifier = 0x11;
TxHeader.IdType = FDCAN_STANDARD_ID;
TxHeader.TxFrameType = FDCAN_DATA_FRAME;
TxHeader.DataLength = FDCAN_DLC_BYTES_64;
TxHeader.ErrorStateIndicator = FDCAN_ESI_ACTIVE;
TxHeader.BitRateSwitch = FDCAN_BRS_OFF;
TxHeader.FDFormat = FDCAN_FD_CAN;
TxHeader.TxEventFifoControl = FDCAN_NO_TX_EVENTS;
TxHeader.MessageMarker = 0;
/* Start FDCAN module */
if(HAL_FDCAN_Start(&hfdcan1) != HAL_OK)
{
Error_Handler();
}
/* USER CODE END FDCAN1_Init 2 */
}
// in mc_tasks.c, TSK_HighFrequencyTask()
/* USER CODE BEGIN HighFrequencyTask 1 */
(void)TSK_StoreToBuffer(TxData, buffer_index);
/* USER CODE END HighFrequencyTask 1 */
void TSK_StoreToBuffer(uint8_t * const buffer, uint8_t idx)
{
if (buffer_flag == BUFFER_READY)
{
// alphabeta_t data1, data2;
// data1 = FOCVars[M1].Ialphabeta;
// data2 = FOCVars[M1].Valphabeta;
//
// buffer[idx] = (uint8_t)(data1.alpha & 0xff);
// buffer[idx+1] = (uint8_t)((data1.alpha)>>8 & 0xff);
//
// buffer[idx + 16] = (uint8_t)(data1.beta & 0xff);
// buffer[idx + 17] = (uint8_t)((data1.beta)>>8 & 0xff);
//
// buffer[idx + 32] = (uint8_t)(data2.alpha & 0xff);
// buffer[idx + 33] = (uint8_t)((data2.alpha)>>8 & 0xff);
//
// buffer[idx + 48] = (uint8_t)(data2.beta & 0xff);
// buffer[idx + 49] = (uint8_t)((data2.beta)>>8 & 0xff);
buffer[idx] = (uint8_t)(0x31);
buffer[idx+1] = (uint8_t)(0x32);
buffer[idx + 16] = (uint8_t)(0x33);
buffer[idx + 17] = (uint8_t)(0x34);
buffer[idx + 32] = (uint8_t)(0x35);
buffer[idx + 33] = (uint8_t)(0x36);
buffer[idx + 48] = (uint8_t)(0x37);
buffer[idx + 49] = (uint8_t)(0x38);
idx += 2;
buffer_flag = BUFFER_BUSY;
}
else
{
if (idx == 16) // transmit message
{
//HAL_UART_Transmit_IT(&huart2, buffer, sizeof(buffer));
HAL_FDCAN_AddMessageToTxFifoQ(&hfdcan1, &TxHeader, buffer);
idx = 0;
}
buffer_flag++; // BUFFER_READY = (uint8_t) 1, BUFFER_BUSY = (uint8_t) 0
}
}
I also set CAN_TERM pin to high
Any thoughts on what am I missing?
