/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file : main.c
* @brief : Main program body
******************************************************************************
* @attention
*
* <h2><center>© Copyright (c) 2022 STMicroelectronics.
* All rights reserved.</center></h2>
*
* This software component is licensed by ST under BSD 3-Clause license,
* the "License"; You may not use this file except in compliance with the
* License. You may obtain a copy of the License at:
* opensource.org/licenses/BSD-3-Clause
*
******************************************************************************
*/
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "AIR_State_Maschine.h"
#include "AMS_Errorcodes.h"
#include "CAN_Communication.h"
#include "Error_Check.h"
#include "SPI_Slave_Communication.h"
#include "Slave_Monitoring.h"
/* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */
/* USER CODE END PTD */
/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
/* USER CODE END PD */
/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */
/* USER CODE END PM */
/* Private variables ---------------------------------------------------------*/
CRC_HandleTypeDef hcrc;
FDCAN_HandleTypeDef hfdcan1;
SPI_HandleTypeDef hspi1;
/* USER CODE BEGIN PV */
/* USER CODE END PV */
/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
static void MX_GPIO_Init(void);
static void MX_FDCAN1_Init(void);
static void MX_SPI1_Init(void);
static void MX_CRC_Init(void);
/* USER CODE BEGIN PFP */
void setAMSError(void);
/* USER CODE END PFP */
/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
AIRStateHandler airstates;
ErrorFlags errorflags;
AMSErrorHandle defaulterrorhandle = {0};
/* USER CODE END 0 */
/**
* @brief The application entry point.
* @retval int
*/
int main(void) {
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */
/* MCU Configuration--------------------------------------------------------*/
/* 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_FDCAN1_Init();
MX_SPI1_Init();
MX_CRC_Init();
/* USER CODE BEGIN 2 */
airstates = init_AIR_State_Maschine();
initSlaves();
set_SPI_errorInfo(&defaulterrorhandle);
spi_communication_init(&hspi1, &airstates);
CAN_Init(&hfdcan1);
HAL_GPIO_WritePin(Status_LED_GPIO_Port, Status_LED_Pin, GPIO_PIN_SET);
// setAMSError();
uint32_t lastCycle = HAL_GetTick();
uint32_t cycleTime = HAL_GetTick();
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1) {
cycleTime = HAL_GetTick() - lastCycle;
lastCycle = HAL_GetTick();
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
CAN_Receive(&hfdcan1); // Run CAN Event Loop
errorflags = CheckErrorFlags(); // Check for Errors
Update_AIR_Info(&airstates);
checkSlaveTimeout(); // check for Slave Timeout
Update_AIR_State(&airstates); // Update AIR State Maschine
checkSPI(); // Handles SPI Communication*
}
/* USER CODE END 3 */
}
/**
* @brief System Clock Configuration
* @retval None
*/
void SystemClock_Config(void) {
RCC_OscInitTypeDef RCC_OscInitStruct = {0};
RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
/** Configure the main internal regulator output voltage
*/
HAL_PWREx_ControlVoltageScaling(PWR_REGULATOR_VOLTAGE_SCALE1);
/** Initializes the RCC Oscillators according to the specified parameters
* in the RCC_OscInitTypeDef structure.
*/
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
RCC_OscInitStruct.HSIState = RCC_HSI_ON;
RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
RCC_OscInitStruct.PLL.PLLM = RCC_PLLM_DIV1;
RCC_OscInitStruct.PLL.PLLN = 8;
RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
RCC_OscInitStruct.PLL.PLLQ = RCC_PLLQ_DIV8;
RCC_OscInitStruct.PLL.PLLR = RCC_PLLR_DIV8;
if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK) {
Error_Handler();
}
/** Initializes the CPU, AHB and APB buses clocks
*/
RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK | RCC_CLOCKTYPE_SYSCLK |
RCC_CLOCKTYPE_PCLK1 | RCC_CLOCKTYPE_PCLK2;
RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1;
RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_0) != HAL_OK) {
Error_Handler();
}
}
/**
* @brief CRC Initialization Function
* @param None
* @retval None
*/
static void MX_CRC_Init(void) {
/* USER CODE BEGIN CRC_Init 0 */
/* USER CODE END CRC_Init 0 */
/* USER CODE BEGIN CRC_Init 1 */
/* USER CODE END CRC_Init 1 */
hcrc.Instance = CRC;
hcrc.Init.DefaultPolynomialUse = DEFAULT_POLYNOMIAL_ENABLE;
hcrc.Init.DefaultInitValueUse = DEFAULT_INIT_VALUE_ENABLE;
hcrc.Init.InputDataInversionMode = CRC_INPUTDATA_INVERSION_NONE;
hcrc.Init.OutputDataInversionMode = CRC_OUTPUTDATA_INVERSION_DISABLE;
hcrc.InputDataFormat = CRC_INPUTDATA_FORMAT_BYTES;
if (HAL_CRC_Init(&hcrc) != HAL_OK) {
Error_Handler();
}
/* USER CODE BEGIN CRC_Init 2 */
/* USER CODE END CRC_Init 2 */
}
/**
* @brief FDCAN1 Initialization Function
* @param None
* @retval None
*/
static 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_CLASSIC;
hfdcan1.Init.Mode = FDCAN_MODE_NORMAL;
hfdcan1.Init.AutoRetransmission = DISABLE;
hfdcan1.Init.TransmitPause = DISABLE;
hfdcan1.Init.ProtocolException = DISABLE;
hfdcan1.Init.NominalPrescaler = 2;
hfdcan1.Init.NominalSyncJumpWidth = 4;
hfdcan1.Init.NominalTimeSeg1 = 13;
hfdcan1.Init.NominalTimeSeg2 = 2;
hfdcan1.Init.DataPrescaler = 2;
hfdcan1.Init.DataSyncJumpWidth = 4;
hfdcan1.Init.DataTimeSeg1 = 13;
hfdcan1.Init.DataTimeSeg2 = 2;
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 */
/* USER CODE END FDCAN1_Init 2 */
}
/**
* @brief SPI1 Initialization Function
* @param None
* @retval None
*/
static void MX_SPI1_Init(void) {
/* USER CODE BEGIN SPI1_Init 0 */
/* USER CODE END SPI1_Init 0 */
/* USER CODE BEGIN SPI1_Init 1 */
/* USER CODE END SPI1_Init 1 */
/* SPI1 parameter configuration*/
hspi1.Instance = SPI1;
hspi1.Init.Mode = SPI_MODE_SLAVE;
hspi1.Init.Direction = SPI_DIRECTION_2LINES;
hspi1.Init.DataSize = SPI_DATASIZE_8BIT;
hspi1.Init.CLKPolarity = SPI_POLARITY_LOW;
hspi1.Init.CLKPhase = SPI_PHASE_1EDGE;
hspi1.Init.NSS = SPI_NSS_SOFT;
hspi1.Init.FirstBit = SPI_FIRSTBIT_MSB;
hspi1.Init.TIMode = SPI_TIMODE_DISABLE;
hspi1.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE;
hspi1.Init.CRCPolynomial = 7;
hspi1.Init.CRCLength = SPI_CRC_LENGTH_DATASIZE;
hspi1.Init.NSSPMode = SPI_NSS_PULSE_DISABLE;
if (HAL_SPI_Init(&hspi1) != HAL_OK) {
Error_Handler();
}
/* USER CODE BEGIN SPI1_Init 2 */
/* USER CODE END SPI1_Init 2 */
}
/**
* @brief GPIO Initialization Function
* @param None
* @retval None
*/
static void MX_GPIO_Init(void) {
GPIO_InitTypeDef GPIO_InitStruct = {0};
/* GPIO Ports Clock Enable */
__HAL_RCC_GPIOC_CLK_ENABLE();
__HAL_RCC_GPIOA_CLK_ENABLE();
__HAL_RCC_GPIOB_CLK_ENABLE();
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOC,
Slaves_Enable_Pin | BOOT0_FF_CLK_Pin | BOOT0_FF_DATA_Pin,
GPIO_PIN_RESET);
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOA, Inter_STM_IRQ_Pin | Status_LED_Pin, GPIO_PIN_RESET);
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOB,
PreCharge_Control_Pin | AIR_Positive_Control_Pin |
AIR_negative_Control_Pin,
GPIO_PIN_RESET);
/*Configure GPIO pins : Slaves_Enable_Pin BOOT0_FF_CLK_Pin BOOT0_FF_DATA_Pin
*/
GPIO_InitStruct.Pin =
Slaves_Enable_Pin | BOOT0_FF_CLK_Pin | BOOT0_FF_DATA_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
/*Configure GPIO pin : AMS_ERROR_Pin */
GPIO_InitStruct.Pin = AMS_ERROR_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(AMS_ERROR_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pin : Inter_STM_CS_Pin */
GPIO_InitStruct.Pin = Inter_STM_CS_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(Inter_STM_CS_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pins : Inter_STM_IRQ_Pin Status_LED_Pin */
GPIO_InitStruct.Pin = Inter_STM_IRQ_Pin | Status_LED_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/*Configure GPIO pins : PreCharge_Control_Pin AIR_Positive_Control_Pin
* AIR_negative_Control_Pin */
GPIO_InitStruct.Pin = PreCharge_Control_Pin | AIR_Positive_Control_Pin |
AIR_negative_Control_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
}
/* USER CODE BEGIN 4 */
void AMS_Error_Handler(AMSErrorHandle errorinfo) {
while (1) {
set_SPI_errorInfo(&errorinfo);
errorinfo.errorarg[7] = 1;
setAMSError();
airstates.targetTSState = TS_ERROR;
Update_AIR_State(&airstates);
CAN_Receive(&hfdcan1);
errorflags = CheckErrorFlags();
checkSPI();
}
}
int errors = 0;
void setAMSError() {
errors++;
GPIO_InitTypeDef GPIO_InitStruct = {0};
GPIO_InitStruct.Pin = AMS_ERROR_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(AMS_ERROR_GPIO_Port, &GPIO_InitStruct);
HAL_GPIO_WritePin(AMS_ERROR_GPIO_Port, AMS_ERROR_Pin, GPIO_PIN_RESET);
}
/* USER CODE END 4 */
/**
* @brief This function is executed in case of error occurrence.
* @retval None
*/
void Error_Handler(void) {
/* USER CODE BEGIN Error_Handler_Debug */
/* User can add his own implementation to report the HAL error return state */
__disable_irq();
while (1) {
}
/* USER CODE END Error_Handler_Debug */
}
#ifdef USE_FULL_ASSERT
/**
* @brief Reports the name of the source file and the source line number
* where the assert_param error has occurred.
* @param file: pointer to the source file name
* @param line: assert_param error line source number
* @retval None
*/
void assert_failed(uint8_t* file, uint32_t line) {
/* USER CODE BEGIN 6 */
/* User can add his own implementation to report the file name and line
number, ex: printf("Wrong parameters value: file %s on line %d\r\n", file,
line) */
/* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */