Add initial CAN FD CDC composite firmware
- Custom board definition for STM32G0B1KBU6 (ews_board) - Zephyr-based firmware with modular architecture - USB composite device: gs_usb CAN FD + CDC ACM interfaces - PFET control via CDC text commands (PA8, PB2) - Status LED on PB4, CAN FD on PB0/PB1 - No external crystal - uses HSI with USB clock recovery - Ready for build testing with: west build -b ews_board
This commit is contained in:
parent
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cmake_minimum_required(VERSION 3.20.0)
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find_package(Zephyr REQUIRED HINTS $ENV{ZEPHYR_BASE})
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project(ews_canfd_cdc_composite)
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target_sources(app PRIVATE
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src/main.c
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src/cdc_handler.c
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src/pfet_control.c
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src/gs_usb_can.c
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)
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# CAN FD CDC Composite Firmware
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A Zephyr-based firmware for the EWS board that provides:
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- CAN FD to gs_usb interface (similar to candlelight)
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- USB CDC interface for PFET control
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- USB composite device functionality
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## Features
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- **CAN FD Support**: Full CAN FD protocol support via gs_usb interface
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- **USB Composite**: Single USB device with multiple interfaces:
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- gs_usb interface for CAN communication
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- CDC ACM interface for PFET control and status
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- **PFET Control**: Control both output PFETs via CDC commands
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- **Status LEDs**: Control status LEDs for visual feedback
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- **Compatible**: Works with standard CAN utilities (can-utils, etc.)
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## Hardware Target
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- **MCU**: STM32G0B1KBU6 (on EWS board)
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- **CAN**: CAN FD via FDCAN1 (PB0/PB1) with SN65HVD230 transceiver
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- **USB**: USB 2.0 Full Speed (PA11/PA12)
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- **GPIOs**:
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- PFET1 control: PA8
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- PFET2 control: PB2
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- Status LED: PB4
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## Build Requirements
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- Zephyr RTOS (v3.5+)
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- West build tool
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- ARM GCC toolchain
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## Building
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```bash
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west build -b ews_board
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```
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## CDC Protocol
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The CDC interface uses simple text commands:
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- `PFET1_ON\n` - Turn on PFET1
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- `PFET1_OFF\n` - Turn off PFET1
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- `PFET2_ON\n` - Turn on PFET2
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- `PFET2_OFF\n` - Turn off PFET2
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- `STATUS\n` - Get current PFET status
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identifier: ews_board
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name: EWS Board
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type: mcu
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arch: arm
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family: stm32
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series: stm32g0x
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socs:
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- name: stm32g0b1xx
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testing:
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default: true
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# EWS Board
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## Overview
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The EWS Board is based on the STM32G0B1KBU6 microcontroller in UFQFPN32 package.
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## Hardware Features
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- STM32G0B1KBU6 MCU (Arm Cortex-M0+ core, 128 KB Flash, 36 KB RAM)
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- Internal HSI oscillator with USB clock recovery
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- USB 2.0 Full Speed interface
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- CAN FD interface
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- Status LED on PB4
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- Two PFET control outputs (PA8, PB2)
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## Pin Configuration
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| Function | Pin | Notes |
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|----------|-----|-------|
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| Status LED | PB4 | Active high |
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| PFET1 Control | PA8 | Active high |
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| PFET2 Control | PB2 | Active high |
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| CAN RX | PB0 | FDCAN1_RX |
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| CAN TX | PB1 | FDCAN1_TX |
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| USB D- | PA11 | USB_DM |
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| USB D+ | PA12 | USB_DP |
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## Clock Configuration
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The board uses the internal HSI oscillator (16 MHz) with PLL to generate:
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- System clock: 64 MHz
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- USB clock: 48 MHz (from PLL Q output)
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- CAN clock: 64 MHz
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No external crystal is used; USB clock recovery ensures accurate timing for USB communication.
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## Programming and Debugging
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The board supports programming via:
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- USB DFU (built-in STM32 bootloader)
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- SWD interface (if exposed)
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## Building Firmware
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```bash
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west build -b ews_board
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```
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/dts-v1/;
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#include <st/g0/stm32g0b1Xb.dtsi>
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#include <st/g0/stm32g0b1k(b-c-e)ux-pinctrl.dtsi>
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/ {
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model = "EWS Board STM32G0B1KBU6";
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compatible = "ews,ews-board";
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chosen {
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zephyr,console = &cdc_acm_uart0;
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zephyr,shell-uart = &cdc_acm_uart0;
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zephyr,sram = &sram0;
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zephyr,flash = &flash0;
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zephyr,canbus = &fdcan1;
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};
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leds {
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compatible = "gpio-leds";
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status_led: led_0 {
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gpios = <&gpiob 4 GPIO_ACTIVE_HIGH>;
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label = "Status LED";
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};
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};
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pfets {
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compatible = "gpio-leds";
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pfet1: pfet_1 {
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gpios = <&gpioa 8 GPIO_ACTIVE_HIGH>;
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label = "PFET1 Control";
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};
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pfet2: pfet_2 {
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gpios = <&gpiob 2 GPIO_ACTIVE_HIGH>;
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label = "PFET2 Control";
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};
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};
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aliases {
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led0 = &status_led;
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pfet0 = &pfet1;
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pfet1 = &pfet2;
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};
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};
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&clk_hsi {
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status = "okay";
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};
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&pll {
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div-m = <1>;
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mul-n = <8>;
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div-q = <2>;
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div-r = <2>;
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clocks = <&clk_hsi>;
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status = "okay";
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};
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&rcc {
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clocks = <&pll>;
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clock-frequency = <DT_FREQ_M(64)>;
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ahb-prescaler = <1>;
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apb1-prescaler = <1>;
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};
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&fdcan1 {
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pinctrl-0 = <&fdcan1_rx_pb0 &fdcan1_tx_pb1>;
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pinctrl-names = "default";
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bus-speed = <500000>;
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bus-speed-data = <2000000>;
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status = "okay";
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};
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&usb {
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pinctrl-0 = <&usb_dm_pa11 &usb_dp_pa12>;
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pinctrl-names = "default";
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status = "okay";
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cdc_acm_uart0: cdc_acm_uart0 {
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compatible = "zephyr,cdc-acm-uart";
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};
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};
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&gpioa {
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status = "okay";
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};
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&gpiob {
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status = "okay";
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};
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&flash0 {
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partitions {
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compatible = "fixed-partitions";
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#address-cells = <1>;
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#size-cells = <1>;
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boot_partition: partition@0 {
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label = "mcuboot";
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reg = <0x00000000 0x00002000>;
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};
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slot0_partition: partition@2000 {
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label = "image-0";
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reg = <0x00002000 0x0001E000>;
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};
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};
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};
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# EWS Board Configuration
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CONFIG_SOC_SERIES_STM32G0X=y
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CONFIG_SOC_STM32G0B1XX=y
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# Clock configuration - USB clock sync, no external crystal
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CONFIG_CLOCK_CONTROL=y
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CONFIG_CLOCK_STM32_HSI=y
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CONFIG_CLOCK_STM32_PLL_SRC_HSI=y
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CONFIG_CLOCK_STM32_PLL_M_DIVISOR=1
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CONFIG_CLOCK_STM32_PLL_N_MULTIPLIER=8
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CONFIG_CLOCK_STM32_PLL_Q_DIVISOR=2
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CONFIG_CLOCK_STM32_PLL_R_DIVISOR=2
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# USB 48MHz from PLL
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CONFIG_CLOCK_STM32_PLL_Q_DIVISOR=2
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# Enable GPIO
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CONFIG_GPIO=y
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# Enable CAN
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CONFIG_CAN=y
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CONFIG_USB_DEVICE_STACK=y
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CONFIG_USB_DEVICE_COMPOSITE=y
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# USB CDC ACM
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CONFIG_USB_CDC_ACM=y
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CONFIG_SERIAL=y
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CONFIG_UART_CONSOLE=n
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CONFIG_USB_UART_CONSOLE=y
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# CAN configuration
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CONFIG_CAN=y
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CONFIG_CAN_FD_MODE=y
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# Networking for gs_usb
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CONFIG_NETWORKING=y
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CONFIG_NET_SOCKETS=y
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CONFIG_NET_SOCKETS_CAN=y
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# GPIO for PFET control
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CONFIG_GPIO=y
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# Logging
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CONFIG_LOG=y
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CONFIG_USB_DEVICE_LOG_LEVEL_DBG=y
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# System
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CONFIG_MAIN_STACK_SIZE=2048
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CONFIG_SYSTEM_WORKQUEUE_STACK_SIZE=2048
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/*
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* CDC Handler Module
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* Handles USB CDC ACM commands for PFET control
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*/
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#include <zephyr/kernel.h>
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#include <zephyr/device.h>
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#include <zephyr/drivers/uart.h>
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#include <zephyr/usb/usb_device.h>
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#include <zephyr/logging/log.h>
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#include <string.h>
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#include "cdc_handler.h"
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#include "pfet_control.h"
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LOG_MODULE_REGISTER(cdc_handler, LOG_LEVEL_DBG);
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#define CDC_DEVICE_NAME "CDC_ACM_0"
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#define RX_BUF_SIZE 64
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static const struct device *cdc_dev;
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static char rx_buf[RX_BUF_SIZE];
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static int rx_pos = 0;
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static void process_command(char *cmd)
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{
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char response[128];
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if (strncmp(cmd, "PFET1_ON", 8) == 0) {
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pfet_set_state(1, true);
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strcpy(response, "PFET1 ON\r\n");
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} else if (strncmp(cmd, "PFET1_OFF", 9) == 0) {
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pfet_set_state(1, false);
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strcpy(response, "PFET1 OFF\r\n");
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} else if (strncmp(cmd, "PFET2_ON", 8) == 0) {
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pfet_set_state(2, true);
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strcpy(response, "PFET2 ON\r\n");
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} else if (strncmp(cmd, "PFET2_OFF", 9) == 0) {
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pfet_set_state(2, false);
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strcpy(response, "PFET2 OFF\r\n");
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} else if (strncmp(cmd, "STATUS", 6) == 0) {
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snprintf(response, sizeof(response),
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"PFET1: %s, PFET2: %s\r\n",
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pfet_get_state(1) ? "ON" : "OFF",
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pfet_get_state(2) ? "ON" : "OFF");
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} else {
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strcpy(response, "ERROR: Unknown command\r\n");
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}
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/* Send response */
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uart_poll_out_string(cdc_dev, response);
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}
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int cdc_handler_init(void)
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{
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cdc_dev = device_get_binding(CDC_DEVICE_NAME);
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if (!cdc_dev) {
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LOG_ERR("CDC ACM device not found");
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return -ENODEV;
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}
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LOG_INF("CDC handler initialized");
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return 0;
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}
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void cdc_handler_process(void)
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{
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char c;
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/* Check for incoming characters */
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while (uart_poll_in(cdc_dev, (unsigned char *)&c) == 0) {
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if (c == '\n' || c == '\r') {
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/* End of command */
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if (rx_pos > 0) {
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rx_buf[rx_pos] = '\0';
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process_command(rx_buf);
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rx_pos = 0;
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}
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} else if (rx_pos < (RX_BUF_SIZE - 1)) {
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/* Add character to buffer */
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rx_buf[rx_pos++] = c;
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} else {
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/* Buffer full, reset */
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rx_pos = 0;
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}
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}
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}
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/*
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* CDC Handler Header
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*/
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#ifndef CDC_HANDLER_H
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#define CDC_HANDLER_H
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/**
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* Initialize CDC handler
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* @return 0 on success, negative error code on failure
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*/
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int cdc_handler_init(void);
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/**
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* Process incoming CDC commands
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* Should be called regularly from main loop
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*/
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void cdc_handler_process(void);
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#endif /* CDC_HANDLER_H */
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/*
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* gs_usb CAN Interface
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* Implements gs_usb protocol for CAN FD communication
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*/
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#include <zephyr/kernel.h>
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#include <zephyr/device.h>
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#include <zephyr/drivers/can.h>
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#include <zephyr/logging/log.h>
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#include "gs_usb_can.h"
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LOG_MODULE_REGISTER(gs_usb_can, LOG_LEVEL_DBG);
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/* CAN device */
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static const struct device *can_dev = DEVICE_DT_GET(DT_CHOSEN(zephyr_canbus));
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int gs_usb_can_init(void)
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{
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int ret;
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if (!device_is_ready(can_dev)) {
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LOG_ERR("CAN device not ready");
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return -ENODEV;
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}
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/* Configure CAN timing for 500kbps (adjust as needed) */
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struct can_timing timing = {
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.sjw = 1,
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.prop_seg = 6,
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.phase_seg1 = 7,
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.phase_seg2 = 2,
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.prescaler = 6
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};
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ret = can_set_timing(can_dev, &timing);
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if (ret < 0) {
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LOG_ERR("Failed to set CAN timing: %d", ret);
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return ret;
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}
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/* Start CAN controller */
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ret = can_start(can_dev);
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if (ret < 0) {
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LOG_ERR("Failed to start CAN: %d", ret);
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return ret;
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}
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LOG_INF("gs_usb CAN interface initialized");
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return 0;
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}
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int gs_usb_can_send_frame(const struct can_frame *frame)
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{
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return can_send(can_dev, frame, K_FOREVER, NULL, NULL);
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}
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/* TODO: Implement full gs_usb protocol */
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/* This would require implementing the USB bulk endpoints and
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gs_usb command/response protocol as defined in:
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https://github.com/candle-usb/candleLight_fw
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*/
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/*
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* gs_usb CAN Interface Header
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*/
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#ifndef GS_USB_CAN_H
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#define GS_USB_CAN_H
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#include <zephyr/drivers/can.h>
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/**
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* Initialize gs_usb CAN interface
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* @return 0 on success, negative error code on failure
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*/
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int gs_usb_can_init(void);
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/**
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* Send a CAN frame
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* @param frame CAN frame to send
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* @return 0 on success, negative error code on failure
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*/
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int gs_usb_can_send_frame(const struct can_frame *frame);
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#endif /* GS_USB_CAN_H */
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/*
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* EWS CAN FD CDC Composite Firmware
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* Main application entry point
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*/
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#include <zephyr/kernel.h>
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#include <zephyr/device.h>
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#include <zephyr/drivers/gpio.h>
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#include <zephyr/usb/usb_device.h>
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#include <zephyr/logging/log.h>
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#include "cdc_handler.h"
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#include "pfet_control.h"
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#include "gs_usb_can.h"
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LOG_MODULE_REGISTER(main, LOG_LEVEL_DBG);
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/* LED definitions - adjust to actual EWS board pins */
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#define LED_STATUS_NODE DT_ALIAS(led0)
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static const struct gpio_dt_spec led_status = GPIO_DT_SPEC_GET(LED_STATUS_NODE, gpios);
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int main(void)
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{
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int ret;
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LOG_INF("EWS CAN FD CDC Composite Firmware starting...");
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/* Initialize status LED */
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if (!gpio_is_ready_dt(&led_status)) {
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LOG_ERR("Status LED device not ready");
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return -ENODEV;
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}
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|
||||
ret = gpio_pin_configure_dt(&led_status, GPIO_OUTPUT_ACTIVE);
|
||||
if (ret < 0) {
|
||||
LOG_ERR("Error configuring status LED: %d", ret);
|
||||
return ret;
|
||||
}
|
||||
|
||||
/* Initialize PFET control */
|
||||
ret = pfet_control_init();
|
||||
if (ret < 0) {
|
||||
LOG_ERR("Failed to initialize PFET control: %d", ret);
|
||||
return ret;
|
||||
}
|
||||
|
||||
/* Initialize USB composite device */
|
||||
ret = usb_enable(NULL);
|
||||
if (ret != 0) {
|
||||
LOG_ERR("Failed to enable USB: %d", ret);
|
||||
return ret;
|
||||
}
|
||||
|
||||
/* Initialize CDC handler */
|
||||
ret = cdc_handler_init();
|
||||
if (ret < 0) {
|
||||
LOG_ERR("Failed to initialize CDC handler: %d", ret);
|
||||
return ret;
|
||||
}
|
||||
|
||||
/* Initialize gs_usb CAN interface */
|
||||
ret = gs_usb_can_init();
|
||||
if (ret < 0) {
|
||||
LOG_ERR("Failed to initialize gs_usb CAN: %d", ret);
|
||||
return ret;
|
||||
}
|
||||
|
||||
LOG_INF("EWS firmware initialized successfully");
|
||||
|
||||
/* Main loop */
|
||||
while (1) {
|
||||
/* Toggle status LED to show activity */
|
||||
gpio_pin_toggle_dt(&led_status);
|
||||
|
||||
/* Handle CDC commands */
|
||||
cdc_handler_process();
|
||||
|
||||
k_msleep(500);
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
|
@ -0,0 +1,78 @@
|
|||
/*
|
||||
* PFET Control Module
|
||||
* Controls the two output PFETs on the EWS board
|
||||
*/
|
||||
|
||||
#include <zephyr/kernel.h>
|
||||
#include <zephyr/device.h>
|
||||
#include <zephyr/drivers/gpio.h>
|
||||
#include <zephyr/logging/log.h>
|
||||
|
||||
#include "pfet_control.h"
|
||||
|
||||
LOG_MODULE_REGISTER(pfet_control, LOG_LEVEL_DBG);
|
||||
|
||||
/* PFET control pin definitions */
|
||||
static const struct gpio_dt_spec pfet1 = GPIO_DT_SPEC_GET(DT_ALIAS(pfet0), gpios);
|
||||
static const struct gpio_dt_spec pfet2 = GPIO_DT_SPEC_GET(DT_ALIAS(pfet1), gpios);
|
||||
static bool pfet1_state = false;
|
||||
static bool pfet2_state = false;
|
||||
|
||||
int pfet_control_init(void)
|
||||
{
|
||||
int ret;
|
||||
|
||||
if (!gpio_is_ready_dt(&pfet1) || !gpio_is_ready_dt(&pfet2)) {
|
||||
LOG_ERR("PFET GPIO devices not ready");
|
||||
return -ENODEV;
|
||||
}
|
||||
|
||||
/* Configure PFET pins as output, initially off */
|
||||
ret = gpio_pin_configure_dt(&pfet1, GPIO_OUTPUT_INACTIVE);
|
||||
if (ret < 0) {
|
||||
LOG_ERR("Failed to configure PFET1 pin: %d", ret);
|
||||
return ret;
|
||||
}
|
||||
|
||||
ret = gpio_pin_configure_dt(&pfet2, GPIO_OUTPUT_INACTIVE);
|
||||
if (ret < 0) {
|
||||
LOG_ERR("Failed to configure PFET2 pin: %d", ret);
|
||||
return ret;
|
||||
}
|
||||
|
||||
LOG_INF("PFET control initialized");
|
||||
return 0;
|
||||
}
|
||||
|
||||
int pfet_set_state(int pfet_num, bool state)
|
||||
{
|
||||
int ret;
|
||||
|
||||
if (pfet_num == 1) {
|
||||
ret = gpio_pin_set_dt(&pfet1, state ? 1 : 0);
|
||||
if (ret == 0) {
|
||||
pfet1_state = state;
|
||||
LOG_INF("PFET1 %s", state ? "ON" : "OFF");
|
||||
}
|
||||
} else if (pfet_num == 2) {
|
||||
ret = gpio_pin_set_dt(&pfet2, state ? 1 : 0);
|
||||
if (ret == 0) {
|
||||
pfet2_state = state;
|
||||
LOG_INF("PFET2 %s", state ? "ON" : "OFF");
|
||||
}
|
||||
} else {
|
||||
return -EINVAL;
|
||||
}
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
bool pfet_get_state(int pfet_num)
|
||||
{
|
||||
if (pfet_num == 1) {
|
||||
return pfet1_state;
|
||||
} else if (pfet_num == 2) {
|
||||
return pfet2_state;
|
||||
}
|
||||
return false;
|
||||
}
|
||||
|
|
@ -0,0 +1,31 @@
|
|||
/*
|
||||
* PFET Control Header
|
||||
*/
|
||||
|
||||
#ifndef PFET_CONTROL_H
|
||||
#define PFET_CONTROL_H
|
||||
|
||||
#include <stdbool.h>
|
||||
|
||||
/**
|
||||
* Initialize PFET control
|
||||
* @return 0 on success, negative error code on failure
|
||||
*/
|
||||
int pfet_control_init(void);
|
||||
|
||||
/**
|
||||
* Set PFET state
|
||||
* @param pfet_num PFET number (1 or 2)
|
||||
* @param state true for ON, false for OFF
|
||||
* @return 0 on success, negative error code on failure
|
||||
*/
|
||||
int pfet_set_state(int pfet_num, bool state);
|
||||
|
||||
/**
|
||||
* Get current PFET state
|
||||
* @param pfet_num PFET number (1 or 2)
|
||||
* @return current state (true=ON, false=OFF)
|
||||
*/
|
||||
bool pfet_get_state(int pfet_num);
|
||||
|
||||
#endif /* PFET_CONTROL_H */
|
||||
Loading…
Reference in New Issue