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203 lines
9.5 KiB
Markdown
203 lines
9.5 KiB
Markdown
BTA CANbus node controller
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====================================
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# Pinout
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PP - push-pull, OD - open drain, I - floating input, A - analog input, AFn - alternate function number n.
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1 - active high, 0 - active low.
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### Sorted by pin number
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|**Pin #**|**Pin name** | **function**| **settings**| **comment** |
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|---------|-------------|-------------|-------------|------------------|
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| 1 | VBAT | 3v3 | | |
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| 2 | PC13 | buzzer | PP1 | |
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| 3 | PC14 | relay | PP1 | |
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| 4 | PC15 | usb pullup | PP1 | |
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| 5 | PF0 | OSCIN | | |
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| 6 | PF1 | OSCOUT | | |
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| 7 | NRST | reset | | |
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| 8 | VSSA | gnd | | |
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| 9 | VDDA | 3v3 | | |
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| 10 | PA0 | AIN0 | A | |
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| 11 | PA1 | AIN1 | A | |
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| 12 | PA2 | ANI2 | A | |
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| 13 | PA3 | AIN3 | A | |
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| 14 | PA4 | DIN | I | mul0/1 input |
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| 15 | PA5 | DEN0 | PP0 | enable mul0 |
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| 16 | PA6 | DEN1 | PP0 | enable mul1 |
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| 17 | PA7 | PWM | AF1 | TIM17CH1 PWM |
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| 18 | PB0 | ADDR0 | PP | MUL address |
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| 19 | PB1 | ADDR1 | PP | selection |
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| 20 | PB2 | ADDR2 | PP | |
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| 21 | PB10 | PB10 | gpio | reserved gpio |
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| 22 | PB11 | PB11 | gpio | reserved gpio |
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| 23 | VSS | gnd | | |
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| 24 | VDD | 3v3 | | |
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| 25 | PB12 | SPI2 NSS | AF5 | isolated |
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| 26 | PB13 | SPI2 SCK | AF5 | external |
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| 27 | PB14 | SPI2 MISO | AF5 | SPI |
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| 28 | PB15 | SPI2 MOSI | AF5 | |
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| 29 | PA8 | PA8 | gpio | reserved gpio |
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| 30 | PA9 | USART1 TX | AF7 | RS-422 interface |
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| 31 | PA10 | USART1 RX | AF7 | (opt) |
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| 32 | PA11 | USB DM | AF14 | |
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| 33 | PA12 | USB DP | AF14 | |
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| 34 | PA13 | SWDIO | AF0 | |
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| 35 | VSS | gnd | | |
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| 36 | VDD | 3v3 | | |
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| 37 | PA14 | SWCLK | AF0 | |
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| 38 | PA15 | PA15 | gpio | reserved gpio |
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| 39 | PB3 | SPI1 SCK | AF5 | SSI interface |
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| 40 | PB4 | SPI1 MISO | AF5 | (opt) |
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| 41 | PB5 | X | | |
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| 42 | PB6 | I2C1 SCL | AF4 | non-isolated |
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| 43 | PB7 | I2C1 SDA | AF4 | ext. I2C |
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| 44 | BOOT0 | boot | | |
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| 45 | PB8 | CAN RX | AF9 | |
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| 46 | PB9 | CAN TX | AF9 | |
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| 47 | VSS | gnd | | |
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| 48 | VDD | 3v3 | | |
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|---------|-------------|-------------|-------------|------------------|
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### Sorted by port
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// sort -Vk4 Readme.md
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|**Pin #**|**Pin name** | **function**| **settings**| **comment** |
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|---------|-------------|-------------|-------------|------------------|
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| 44 | BOOT0 | boot | | |
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| 7 | NRST | reset | | |
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| 10 | PA0 | AIN0 | A | |
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| 11 | PA1 | AIN1 | A | |
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| 12 | PA2 | ANI2 | A | |
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| 13 | PA3 | AIN3 | A | |
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| 14 | PA4 | DIN | I | mul0/1 input |
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| 15 | PA5 | DEN0 | PP0 | enable mul0 |
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| 16 | PA6 | DEN1 | PP0 | enable mul1 |
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| 17 | PA7 | PWM | AF1 | TIM17CH1 PWM |
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| 29 | PA8 | PA8 | gpio | reserved gpio |
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| 30 | PA9 | USART1 TX | AF7 | RS-422 interface |
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| 31 | PA10 | USART1 RX | AF7 | (opt) |
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| 32 | PA11 | USB DM | AF14 | |
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| 33 | PA12 | USB DP | AF14 | |
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| 34 | PA13 | SWDIO | AF0 | |
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| 37 | PA14 | SWCLK | AF0 | |
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| 38 | PA15 | PA15 | gpio | reserved gpio |
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| 18 | PB0 | ADDR0 | PP | MUL address |
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| 19 | PB1 | ADDR1 | PP | selection |
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| 20 | PB2 | ADDR2 | PP | |
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| 39 | PB3 | SPI1 SCK | AF5 | SSI interface |
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| 40 | PB4 | SPI1 MISO | AF5 | (opt) |
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| 41 | PB5 | X | | |
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| 42 | PB6 | I2C1 SCL | AF4 | non-isolated |
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| 43 | PB7 | I2C1 SDA | AF4 | ext. I2C |
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| 45 | PB8 | CAN RX | AF9 | |
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| 46 | PB9 | CAN TX | AF9 | |
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| 21 | PB10 | PB10 | gpio | reserved gpio |
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| 22 | PB11 | PB11 | gpio | reserved gpio |
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| 25 | PB12 | SPI2 NSS | AF5 | isolated |
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| 26 | PB13 | SPI2 SCK | AF5 | external |
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| 27 | PB14 | SPI2 MISO | AF5 | SPI |
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| 28 | PB15 | SPI2 MOSI | AF5 | |
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| 2 | PC13 | buzzer | PP1 | |
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| 3 | PC14 | relay | PP1 | |
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| 4 | PC15 | usb pullup | PP1 | |
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| 5 | PF0 | OSCIN | | |
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| 6 | PF1 | OSCOUT | | |
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| 1 | VBAT | 3v3 | | |
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| 9 | VDDA | 3v3 | | |
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| 24 | VDD | 3v3 | | |
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| 36 | VDD | 3v3 | | |
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| 48 | VDD | 3v3 | | |
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| 8 | VSSA | gnd | | |
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| 23 | VSS | gnd | | |
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| 35 | VSS | gnd | | |
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| 47 | VSS | gnd | | |
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|---------|-------------|-------------|-------------|------------------|
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# DMA usage
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## DMA1
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Channel1 - ADC1.
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## DMA2
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# Other resources usage
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## Timers
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- SysTick is 1ms system time counter (`Tms`).
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- TIM2 is 32bit timer with 2mks period (system timestamp for PEP emulation).
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## CAN
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CAN bus is primary interface.
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## USB
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USB (PL2303 emulation with iINTERFACE="canbusbta") used as alternate managing interface and for debugging.
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## USART
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USART1 can be used to operate with external encoder or other device over RS-422.
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## SPI
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- SPI1 used to work with external SSI encoder.
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- SPI2 used with some external things.
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## I2C
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not implemented yet
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## ADC
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ADC1 used to measure internal temperature (CH16) and external:
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- CH1 - external power supply (raw value approx Uext/10).
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- CH2 - onboard 5V supply after DC-DC (raw value approx V/2).
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- CH3, CH4 - external inputs through dividers on RV1/R14 and RV2/R15.
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## GPIO
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GPIOA:
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- PA4 - DIN - input of multiplexers U1 and U2.
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- PA5 - DEN0 - enable multiplexer U1.
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- PA6 - DEN1 - enable multiplexer U2.
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GPIOB:
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- PB0..PB2 - 3bit input address on multiplexer.
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GPIOC:
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- PC13 - buzzer (not implemented yet).
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- PC14 - relay.
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- PC15 - USB pullup.
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# Text command protocol
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Text commands have format of `parameter[number][=setter]`. Where
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- *parameter* is any possible command,
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- *number* is its number (if need, like esw5),
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- *setter* is new value to set parameter.
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Without setter command works like getter or run some routine.
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**All commands should have codes more than '@'.**
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## Text commands list
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# CAN bus command protocol
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All commands have variable length format: e.g. you don't need to send 8 random data bytes for commands like
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`reset`, which needs no arguments and couldn't be a setter. So, starting from 1st byte in data packet:
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**0** - command code (L)
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**1** - command code (H) - uint16_t
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**2** - command parameter, 0..127 (setter have 1 in MSB)
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**3** - error code (only in answers)
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**4..7** - data (int32_t, little endian)
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## CAN bus command codes
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