Merge pull request #82 from Churrosoft/feat/rticV2_migration

Update GPIO for pcb v4.x
Churrosoft · Nov 24, 2023 · 56151b8 · 56151b8
2 parents b8aae72 + 6e2aae6
commit 56151b8
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Showing 14 changed files with 348 additions and 111 deletions.
diff --git a/Cargo.toml b/Cargo.toml
@@ -59,5 +59,5 @@ version = "2.0.1"
 features = ["thumbv7-backend"]
 
 [dependencies.rtic-monotonics]
-version = "1.0.0"
-features = ["cortex-m-systick"]
+version = "1.1.0"
+features = ["cortex-m-systick", "systick-10khz"]
diff --git a/src/app/engine/cpwm.rs b/src/app/engine/cpwm.rs
@@ -1,5 +1,6 @@
 use crate::app::engine::efi_cfg::VRSensor;
 
+#[derive(Copy, Clone)]
 pub struct VRStatus {
     pub current_time: u32,
     pub current_gap: u32,
@@ -96,7 +97,7 @@ pub fn time_to_angle(trigger: &VRStatus, time: &u32) -> i32 {
     return (*time as f32 * trigger.degreesPeruSx32768) as i32 / 32768;
 }
 
-pub fn get_crank_angle(trigger: &mut VRStatus, trigger_config: &VRSensor, cpu_tick: u32) -> i32 {
+pub fn get_crank_angle(trigger: &VRStatus, trigger_config: &VRSensor, cpu_tick: u32) -> i32 {
     const CRANK_ANGLE_MAX: i32 = 360;
 
     //Number of teeth that have passed since tooth 1, multiplied by the angle each tooth represents, plus the angle that tooth 1 is ATDC. This gives accuracy only to the nearest tooth.

diff --git a/src/app/engine/pmic.rs b/src/app/engine/pmic.rs
@@ -7,7 +7,7 @@ use stm32f4xx_hal::gpio::{Output, PushPull};
 use crate::app::engine::error::Error;
 use crate::app::gpio::ISPI;
 use serde::{ Serialize};
-pub type PmicT = PMIC<SharedBus<ISPI>, gpio::PA15<Output<PushPull>>>;
+pub type PmicT = PMIC<SharedBus<ISPI>, gpio::PB11<Output<PushPull>>>;
 
 #[derive(Serialize)]
 #[repr(u8)]

diff --git a/src/app/engine/sensors.rs b/src/app/engine/sensors.rs
@@ -3,7 +3,7 @@ use micromath::F32Ext;
 
 use stm32f4xx_hal::{
     adc::{config::SampleTime, Adc},
-    pac::ADC1,
+    pac::ADC2,
 };
 
 const EMA_LP_ALPHA: f32 = 0.45f32;
@@ -14,6 +14,7 @@ pub enum SensorTypes {
     CooltanTemp,
     AirTemp,
     BatteryVoltage,
+    ExternalLambda,
 }
 
 #[derive(Debug,Clone,Copy)]
@@ -23,13 +24,15 @@ pub struct SensorValues {
     pub cooltan_temp: f32,
     pub air_temp: f32,
     pub batt: f32,
+    pub ext_o2: f32,
 
     // private:
     raw_map: f32,
     raw_tps: f32,
     raw_temp: f32,
     raw_air_temp: f32,
     raw_batt: f32,
+    raw_ext_o2: f32,
 }
 
 impl SensorValues {
@@ -40,12 +43,14 @@ impl SensorValues {
             cooltan_temp: 45.69f32,
             air_temp: 0.0f32,
             batt: 13.42f32,
+            ext_o2: 0.0f32,
             // valores en raw son en bits del ADC; luego se pasan a mV
             raw_map: 0.0f32,
             raw_tps: 0.0f32,
             raw_temp: 0.0f32,
             raw_air_temp: 0.0f32,
             raw_batt: 0.0f32,
+            raw_ext_o2: 0.0f32,
         }
     }
 
@@ -86,14 +91,18 @@ impl SensorValues {
 
                 self.batt = 14.2;
             }
+
+            SensorTypes::ExternalLambda => {
+                self.ext_o2 = raw_value as f32;
+            }
         }
     }
 }
 
 pub fn get_sensor_raw(
     sensor_type: SensorTypes,
     adc_pins: &mut ADCMapping,
-    adc: &mut Adc<ADC1>,
+    adc: &mut Adc<ADC2>,
 ) -> u16 {
     let a = sensor_type as u8;
     let b = a;

diff --git a/src/app/gpio.rs b/src/app/gpio.rs
@@ -11,43 +11,50 @@ use stm32f4xx_hal::{
 pub struct InjectionGpioMapping {
     pub iny_1: gpio::PD8<Output<PushPull>>,
     pub iny_2: gpio::PD9<Output<PushPull>>,
-    pub iny_3: gpio::PD10<Output<PushPull>>,
-    pub iny_4: gpio::PD11<Output<PushPull>>,
 }
 
 pub struct IgnitionGpioMapping {
-    pub ecn_1: gpio::PD12<Output<PushPull>>,
-    pub ecn_2: gpio::PD13<Output<PushPull>>,
-    pub ecn_3: gpio::PD14<Output<PushPull>>,
-    pub ecn_4: gpio::PD15<Output<PushPull>>,
+    pub ecn_1: gpio::PD10<Output<PushPull>>,
+    pub ecn_2: gpio::PD11<Output<PushPull>>,
 }
 
 pub struct PMICGpioMapping {
-    pub pmic_enable: gpio::PB12<Output<PushPull>>,
-    pub pmic_spark: gpio::PB13<Input>,
-    pub pmic_cs: gpio::PA15<Output<PushPull>>,
-    pub pmic_nomi: gpio::PC10<Input>,
-    pub pmic_maxi: gpio::PC11<Input>,
+    pub pmic1_enable: gpio::PB12<Output<PushPull>>,
+    pub pmic1_cs: gpio::PB11<Output<PushPull>>,
+    pub pmic2_enable: gpio::PB13<Output<PushPull>>,
+    pub pmic2_cs: gpio::PB9<Output<PushPull>>,
 }
 
 pub struct LedGpioMapping {
-    pub led_0: gpio::PC13<Output<PushPull>>,
-    pub led_1: gpio::PC14<Output<PushPull>>,
-    pub led_2: gpio::PC15<Output<PushPull>>,
+    pub led_0: gpio::PC1<Output<PushPull>>,
+    pub led_1: gpio::PC2<Output<PushPull>>,
+    pub led_2: gpio::PC3<Output<PushPull>>,
     pub led_can_tx: gpio::PD6<Output<PushPull>>,
     pub led_can_rx: gpio::PD7<Output<PushPull>>,
-    pub led_check: gpio::PC9<Output<PushPull>>,
-    pub led_mil: gpio::PC8<Output<PushPull>>,
+    pub led_check: gpio::PB1<Output<PushPull>>,
+    pub led_mil: gpio::PA8<Output<PushPull>>,
 }
 
 pub struct AuxIoMapping {
-    pub in_1: gpio::PC4<Input>,
-    pub in_2: gpio::PC5<Input>,
 
-    pub out_1: gpio::PB5<Output<PushPull>>,
-    pub out_2: gpio::PB6<Output<PushPull>>,
-    pub out_3: gpio::PB7<Output<PushPull>>,
-    pub out_4: gpio::PB8<Output<PushPull>>,
+    // on external connector
+    pub in_1: gpio::PD12<Input>,
+    pub in_2: gpio::PD13<Input>,
+    pub in_3: gpio::PD14<Input>,
+    pub in_4: gpio::PD15<Input>,
+
+    // on expansion header
+
+    pub in_5: gpio::PB5<Input>,
+    pub in_6: gpio::PB7<Input>,
+    pub in_7: gpio::PB8<Input>,
+    pub in_8: gpio::PE1<Input>,
+
+
+    pub out_1: gpio::PC4<Output<PushPull>>,
+    pub out_2: gpio::PC5<Output<PushPull>>,
+    pub out_3: gpio::PB0<Output<PushPull>>,
+    pub out_4: gpio::PA10<Output<PushPull>>,
 
     pub cs_1: gpio::PE14<Output<PushPull>>,
     pub cs_2: gpio::PE15<Output<PushPull>>,
@@ -61,19 +68,42 @@ pub struct RelayMapping {
 }
 
 pub struct ADCMapping {
-    pub mux_a: gpio::PD2<Output<PushPull>>,
-    pub mux_b: gpio::PD3<Output<PushPull>>,
-    pub mux_c: gpio::PD4<Output<PushPull>>,
-    pub analog_in: gpio::PA0<Analog>,
+    pub baro_cs: gpio::PA6<Output<PushPull>>,
+
+    pub mux_a: gpio::PD3<Output<PushPull>>,
+    pub mux_b: gpio::PD4<Output<PushPull>>,
+    pub mux_c: gpio::PD5<Output<PushPull>>,
+    pub analog_in: gpio::PA7<Analog>,
 }
 
+pub struct ADC_DMA_Mapping {
+    pub tps: gpio::PA0<Analog>,
+    pub iat: gpio::PA1<Analog>,
+    pub map: gpio::PA2<Analog>,
+    pub clt: gpio::PA3<Analog>,
+    pub o2: gpio::PA4<Analog>,
+    pub vbatt: gpio::PA5<Analog>,
+}
+
+
 pub struct StepperMapping{
     pub step: gpio::PE7<Output<PushPull>>,
     pub dir: gpio::PE8<Output<PushPull>>,
     pub fault: gpio::PE9<Output<PushPull>>,
     pub enable: gpio::PE10<Output<PushPull>>,
 }
 
+pub struct SDCard {
+    pub dat_0: Pin<'C', 8>,
+    pub dat_1: Pin<'C', 9>,
+    pub dat_2: Pin<'C', 10>,
+    pub dat_3: Pin<'C',11>,
+    pub dat_clk: gpio::PC12,
+    pub cmd: Pin<'D', 2>,
+
+    pub cd: gpio::PB6<Input>,
+}
+
 pub struct GpioMapping {
     // LED's / User feedback
     pub led: LedGpioMapping,
@@ -110,7 +140,10 @@ pub struct GpioMapping {
     pub spi_miso: gpio::PB14<Alternate<5>>,
     pub spi_mosi: gpio::PB15<Alternate<5, PushPull>>,
 
+    pub sd_card: SDCard,
+
     pub adc: ADCMapping,
+    pub adc_dma: ADC_DMA_Mapping,
 }
 
 pub fn init_gpio(
@@ -123,38 +156,33 @@ pub fn init_gpio(
     let mut gpio = GpioMapping {
         // LED's / User feedback
         led: LedGpioMapping {
-            led_0: gpio_c.pc13.into_push_pull_output(),
-            led_1: gpio_c.pc14.into_push_pull_output(),
-            led_2: gpio_c.pc15.into_push_pull_output(),
+            led_0: gpio_c.pc1.into_push_pull_output(),
+            led_1: gpio_c.pc2.into_push_pull_output(),
+            led_2: gpio_c.pc3.into_push_pull_output(),
             led_can_tx: gpio_d.pd6.into_push_pull_output(),
             led_can_rx: gpio_d.pd7.into_push_pull_output(),
-            led_check: gpio_c.pc9.into_push_pull_output(),
-            led_mil: gpio_c.pc8.into_push_pull_output(),
+            led_check: gpio_b.pb1.into_push_pull_output(),
+            led_mil: gpio_a.pa8.into_push_pull_output(),
         },
 
         // Injection
         injection: InjectionGpioMapping {
             iny_1: gpio_d.pd8.into_push_pull_output(),
             iny_2: gpio_d.pd9.into_push_pull_output(),
-            iny_3: gpio_d.pd10.into_push_pull_output(),
-            iny_4: gpio_d.pd11.into_push_pull_output(),
         },
 
         // Ignition
         ignition: IgnitionGpioMapping {
-            ecn_1: gpio_d.pd12.into_push_pull_output(),
-            ecn_2: gpio_d.pd13.into_push_pull_output(),
-            ecn_3: gpio_d.pd14.into_push_pull_output(),
-            ecn_4: gpio_d.pd15.into_push_pull_output(),
+            ecn_1: gpio_d.pd10.into_push_pull_output(),
+            ecn_2: gpio_d.pd11.into_push_pull_output(),
         },
 
         // PMIC
         pmic: PMICGpioMapping {
-            pmic_enable: gpio_b.pb12.into_push_pull_output(),
-            pmic_spark: gpio_b.pb13.into_input(),
-            pmic_cs: gpio_a.pa15.into_push_pull_output(),
-            pmic_nomi: gpio_c.pc10.into_input(),
-            pmic_maxi: gpio_c.pc11.into_input(),
+            pmic1_enable: gpio_b.pb12.into_push_pull_output(),
+            pmic1_cs: gpio_b.pb11.into_push_pull_output(),
+            pmic2_enable: gpio_b.pb13.into_push_pull_output(),
+            pmic2_cs: gpio_b.pb9.into_push_pull_output(),
         },
 
         // CKP/CMP
@@ -182,13 +210,19 @@ pub fn init_gpio(
 
         // AUX I/O
         aux: AuxIoMapping {
-            in_1: gpio_c.pc4.into_input(),
-            in_2: gpio_c.pc5.into_input(),
-
-            out_1: gpio_b.pb5.into_push_pull_output(),
-            out_2: gpio_b.pb6.into_push_pull_output(),
-            out_3: gpio_b.pb7.into_push_pull_output(),
-            out_4: gpio_b.pb8.into_push_pull_output(),
+            in_1: gpio_d.pd12.into_input(),
+            in_2: gpio_d.pd13.into_input(),
+            in_3: gpio_d.pd14.into_input(),
+            in_4: gpio_d.pd15.into_input(),
+            in_5: gpio_b.pb5.into_input(),
+            in_6: gpio_b.pb7.into_input(),
+            in_7: gpio_b.pb8.into_input(),
+            in_8: gpio_e.pe1.into_input(),
+
+            out_1: gpio_c.pc4.into_push_pull_output(),
+            out_2: gpio_c.pc5.into_push_pull_output(),
+            out_3: gpio_b.pb0.into_push_pull_output(),
+            out_4: gpio_a.pa10.into_push_pull_output(),
 
             cs_1: gpio_e.pe14.into_push_pull_output(),
             cs_2: gpio_e.pe15.into_push_pull_output(),
@@ -203,11 +237,33 @@ pub fn init_gpio(
         spi_miso: gpio_b.pb14.into_alternate(),
         spi_mosi: gpio_b.pb15.into_alternate().internal_pull_up(true),
 
+        adc_dma: ADC_DMA_Mapping {
+            tps: gpio_a.pa0.into_analog(),
+            iat: gpio_a.pa1.into_analog(),
+            map:gpio_a.pa2.into_analog(),
+            clt: gpio_a.pa3.into_analog(),
+            o2: gpio_a.pa4.into_analog(),
+            vbatt: gpio_a.pa5.into_analog(),
+        },
+
         adc: ADCMapping {
-            mux_a: gpio_d.pd2.into_push_pull_output(),
-            mux_b: gpio_d.pd3.into_push_pull_output(),
-            mux_c: gpio_d.pd4.into_push_pull_output(),
-            analog_in: gpio_a.pa0.into_analog(),
+
+            baro_cs: gpio_a.pa6.into_push_pull_output(),
+
+            mux_a: gpio_d.pd3.into_push_pull_output(),
+            mux_b: gpio_d.pd4.into_push_pull_output(),
+            mux_c: gpio_d.pd5.into_push_pull_output(),
+
+            analog_in: gpio_a.pa7.into_analog(),
+        },
+
+        sd_card: SDCard {dat_0 : gpio_c.pc8.internal_pull_up(true),
+            dat_1 : gpio_c.pc9.internal_pull_up(true),
+            dat_2 : gpio_c.pc10.internal_pull_up(true),
+            dat_3 : gpio_c.pc11.internal_pull_up(true),
+            dat_clk : gpio_c.pc12,
+            cmd : gpio_d.pd2.internal_pull_up(true),
+            cd: gpio_b.pb6.into_input(),
         },
     };
 
@@ -226,7 +282,8 @@ pub fn init_gpio(
     // 4231 reversa
     // 1234 derecho
 
-    gpio.pmic.pmic_cs.set_high();
+    gpio.pmic.pmic1_cs.set_high();
+    gpio.pmic.pmic2_cs.set_high();
     gpio.memory_cs.set_high();
 
     return gpio;