463 lines
13 KiB
C
463 lines
13 KiB
C
/* USER CODE BEGIN Header */
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/**
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******************************************************************************
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* @file : main.c
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* @brief : Main program body
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******************************************************************************
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* @attention
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*
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* <h2><center>© Copyright (c) 2022 STMicroelectronics.
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* All rights reserved.</center></h2>
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*
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* This software component is licensed by ST under BSD 3-Clause license,
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* the "License"; You may not use this file except in compliance with the
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* License. You may obtain a copy of the License at:
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* opensource.org/licenses/BSD-3-Clause
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*
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******************************************************************************
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*/
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/* USER CODE END Header */
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/* Includes ------------------------------------------------------------------*/
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#include "main.h"
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#include "SoC_Estimation.h"
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#include "app_fatfs.h"
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#include "usb_device.h"
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/* Private includes ----------------------------------------------------------*/
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/* USER CODE BEGIN Includes */
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#include "CAN_Communication.h"
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#include "Check_Shunt_Limits.h"
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#include "Fan_Control.h"
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#include "SD_SPI_Driver.h"
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#include "SPI_Communication.h"
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#include "USB_Shell.h"
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/* USER CODE END Includes */
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/* Private typedef -----------------------------------------------------------*/
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/* USER CODE BEGIN PTD */
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/* USER CODE END PTD */
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/* Private define ------------------------------------------------------------*/
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/* USER CODE BEGIN PD */
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/* USER CODE END PD */
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/* Private macro -------------------------------------------------------------*/
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/* USER CODE BEGIN PM */
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/* USER CODE END PM */
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/* Private variables ---------------------------------------------------------*/
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FDCAN_HandleTypeDef hfdcan1;
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SPI_HandleTypeDef hspi1;
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SPI_HandleTypeDef hspi3;
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TIM_HandleTypeDef htim3;
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/* USER CODE BEGIN PV */
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/* USER CODE END PV */
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/* Private function prototypes -----------------------------------------------*/
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void SystemClock_Config(void);
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static void MX_GPIO_Init(void);
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static void MX_FDCAN1_Init(void);
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static void MX_SPI1_Init(void);
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static void MX_SPI3_Init(void);
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static void MX_TIM3_Init(void);
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/* USER CODE BEGIN PFP */
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void setAMSError();
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/* USER CODE END PFP */
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/* Private user code ---------------------------------------------------------*/
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/* USER CODE BEGIN 0 */
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void AMS_Error_Handler(uint8_t ErrorCode);
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void Send_Can_Info_Frame(void);
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void softTSAL(void);
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/* USER CODE END 0 */
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/**
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* @brief The application entry point.
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* @retval int
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*/
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int main(void) {
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/* USER CODE BEGIN 1 */
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/* USER CODE END 1 */
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/* MCU Configuration--------------------------------------------------------*/
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/* Reset of all peripherals, Initializes the Flash interface and the Systick.
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*/
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HAL_Init();
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/* USER CODE BEGIN Init */
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/* USER CODE END Init */
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/* Configure the system clock */
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SystemClock_Config();
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/* USER CODE BEGIN SysInit */
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/* USER CODE END SysInit */
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/* Initialize all configured peripherals */
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MX_GPIO_Init();
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MX_FDCAN1_Init();
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MX_SPI1_Init();
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MX_SPI3_Init();
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MX_TIM3_Init();
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if (MX_FATFS_Init() != APP_OK) {
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Error_Handler();
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}
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MX_USB_Device_Init();
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/* USER CODE BEGIN 2 */
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// SD_SPI_Driver_Init(&hspi3);
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// SPI_SD_Init(1);
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HAL_GPIO_WritePin(Status_LED_GPIO_Port, Status_LED_Pin, GPIO_PIN_SET);
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CAN_Init(&hfdcan1);
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InitSPI(&hspi1);
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Temp_Ctrl_Init(&htim3);
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shuntvoltage1 = 0;
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shuntvoltage2 = 0;
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shuntcurrent = 0;
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/* USER CODE END 2 */
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/* Infinite loop */
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/* USER CODE BEGIN WHILE */
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uint32_t lastlap = 0;
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uint32_t thislap = HAL_GetTick();
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uint32_t laptime = 0;
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while (1) {
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/* USER CODE END WHILE */
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/* USER CODE BEGIN 3 */
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lastlap = thislap;
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thislap = HAL_GetTick();
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laptime = HAL_GetTick() - lastlap;
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CAN_Receive(&hfdcan1);
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CAN_SendAbxStatus(&hfdcan1);
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CheckShuntLimits();
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CAN_SendLoggingFrame(&hfdcan1);
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HAL_GPIO_TogglePin(Status_LED_GPIO_Port, Status_LED_Pin);
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Temp_Ctrl_Loop();
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softTSAL();
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InterSTMFrame(TSTargetState);
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estimate_soc();
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HAL_Delay(10);
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}
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/* USER CODE END 3 */
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}
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/**
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* @brief System Clock Configuration
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* @retval None
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*/
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void SystemClock_Config(void) {
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RCC_OscInitTypeDef RCC_OscInitStruct = {0};
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RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
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/** Configure the main internal regulator output voltage
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*/
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HAL_PWREx_ControlVoltageScaling(PWR_REGULATOR_VOLTAGE_SCALE1);
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/** Initializes the RCC Oscillators according to the specified parameters
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* in the RCC_OscInitTypeDef structure.
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*/
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RCC_OscInitStruct.OscillatorType =
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RCC_OSCILLATORTYPE_HSI | RCC_OSCILLATORTYPE_HSI48;
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RCC_OscInitStruct.HSIState = RCC_HSI_ON;
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RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
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RCC_OscInitStruct.HSI48State = RCC_HSI48_ON;
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RCC_OscInitStruct.PLL.PLLState = RCC_PLL_NONE;
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if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK) {
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Error_Handler();
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}
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/** Initializes the CPU, AHB and APB buses clocks
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*/
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RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK | RCC_CLOCKTYPE_SYSCLK |
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RCC_CLOCKTYPE_PCLK1 | RCC_CLOCKTYPE_PCLK2;
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RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_HSI;
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RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
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RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1;
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RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
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if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_0) != HAL_OK) {
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Error_Handler();
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}
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}
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/**
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* @brief FDCAN1 Initialization Function
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* @param None
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* @retval None
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*/
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static void MX_FDCAN1_Init(void) {
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/* USER CODE BEGIN FDCAN1_Init 0 */
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/* USER CODE END FDCAN1_Init 0 */
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/* USER CODE BEGIN FDCAN1_Init 1 */
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/* USER CODE END FDCAN1_Init 1 */
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hfdcan1.Instance = FDCAN1;
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hfdcan1.Init.ClockDivider = FDCAN_CLOCK_DIV1;
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hfdcan1.Init.FrameFormat = FDCAN_FRAME_CLASSIC;
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hfdcan1.Init.Mode = FDCAN_MODE_NORMAL;
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hfdcan1.Init.AutoRetransmission = DISABLE;
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hfdcan1.Init.TransmitPause = DISABLE;
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hfdcan1.Init.ProtocolException = DISABLE;
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hfdcan1.Init.NominalPrescaler = 2;
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hfdcan1.Init.NominalSyncJumpWidth = 4;
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hfdcan1.Init.NominalTimeSeg1 = 13;
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hfdcan1.Init.NominalTimeSeg2 = 2;
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hfdcan1.Init.DataPrescaler = 2;
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hfdcan1.Init.DataSyncJumpWidth = 4;
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hfdcan1.Init.DataTimeSeg1 = 13;
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hfdcan1.Init.DataTimeSeg2 = 2;
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hfdcan1.Init.StdFiltersNbr = 5;
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hfdcan1.Init.ExtFiltersNbr = 0;
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hfdcan1.Init.TxFifoQueueMode = FDCAN_TX_FIFO_OPERATION;
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if (HAL_FDCAN_Init(&hfdcan1) != HAL_OK) {
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Error_Handler();
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}
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/* USER CODE BEGIN FDCAN1_Init 2 */
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/* USER CODE END FDCAN1_Init 2 */
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}
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/**
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* @brief SPI1 Initialization Function
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* @param None
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* @retval None
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*/
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static void MX_SPI1_Init(void) {
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/* USER CODE BEGIN SPI1_Init 0 */
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/* USER CODE END SPI1_Init 0 */
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/* USER CODE BEGIN SPI1_Init 1 */
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/* USER CODE END SPI1_Init 1 */
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/* SPI1 parameter configuration*/
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hspi1.Instance = SPI1;
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hspi1.Init.Mode = SPI_MODE_MASTER;
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hspi1.Init.Direction = SPI_DIRECTION_2LINES;
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hspi1.Init.DataSize = SPI_DATASIZE_8BIT;
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hspi1.Init.CLKPolarity = SPI_POLARITY_LOW;
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hspi1.Init.CLKPhase = SPI_PHASE_1EDGE;
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hspi1.Init.NSS = SPI_NSS_SOFT;
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hspi1.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_256;
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hspi1.Init.FirstBit = SPI_FIRSTBIT_MSB;
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hspi1.Init.TIMode = SPI_TIMODE_DISABLE;
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hspi1.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE;
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hspi1.Init.CRCPolynomial = 7;
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hspi1.Init.CRCLength = SPI_CRC_LENGTH_DATASIZE;
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hspi1.Init.NSSPMode = SPI_NSS_PULSE_ENABLE;
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if (HAL_SPI_Init(&hspi1) != HAL_OK) {
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Error_Handler();
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}
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/* USER CODE BEGIN SPI1_Init 2 */
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/* USER CODE END SPI1_Init 2 */
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}
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/**
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* @brief SPI3 Initialization Function
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* @param None
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* @retval None
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*/
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static void MX_SPI3_Init(void) {
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/* USER CODE BEGIN SPI3_Init 0 */
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/* USER CODE END SPI3_Init 0 */
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/* USER CODE BEGIN SPI3_Init 1 */
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/* USER CODE END SPI3_Init 1 */
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/* SPI3 parameter configuration*/
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hspi3.Instance = SPI3;
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hspi3.Init.Mode = SPI_MODE_MASTER;
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hspi3.Init.Direction = SPI_DIRECTION_2LINES;
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hspi3.Init.DataSize = SPI_DATASIZE_8BIT;
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hspi3.Init.CLKPolarity = SPI_POLARITY_LOW;
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hspi3.Init.CLKPhase = SPI_PHASE_2EDGE;
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hspi3.Init.NSS = SPI_NSS_SOFT;
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hspi3.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_256;
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hspi3.Init.FirstBit = SPI_FIRSTBIT_MSB;
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hspi3.Init.TIMode = SPI_TIMODE_DISABLE;
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hspi3.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE;
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hspi3.Init.CRCPolynomial = 7;
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hspi3.Init.CRCLength = SPI_CRC_LENGTH_DATASIZE;
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hspi3.Init.NSSPMode = SPI_NSS_PULSE_DISABLE;
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if (HAL_SPI_Init(&hspi3) != HAL_OK) {
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Error_Handler();
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}
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/* USER CODE BEGIN SPI3_Init 2 */
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/* USER CODE END SPI3_Init 2 */
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}
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/**
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* @brief TIM3 Initialization Function
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* @param None
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* @retval None
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*/
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static void MX_TIM3_Init(void) {
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/* USER CODE BEGIN TIM3_Init 0 */
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/* USER CODE END TIM3_Init 0 */
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TIM_MasterConfigTypeDef sMasterConfig = {0};
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TIM_OC_InitTypeDef sConfigOC = {0};
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/* USER CODE BEGIN TIM3_Init 1 */
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/* USER CODE END TIM3_Init 1 */
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htim3.Instance = TIM3;
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htim3.Init.Prescaler = 0;
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htim3.Init.CounterMode = TIM_COUNTERMODE_UP;
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htim3.Init.Period = 65535;
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htim3.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
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htim3.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
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if (HAL_TIM_PWM_Init(&htim3) != HAL_OK) {
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Error_Handler();
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}
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sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
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sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
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if (HAL_TIMEx_MasterConfigSynchronization(&htim3, &sMasterConfig) != HAL_OK) {
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Error_Handler();
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}
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sConfigOC.OCMode = TIM_OCMODE_PWM1;
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sConfigOC.Pulse = 0;
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sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
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sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
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if (HAL_TIM_PWM_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_4) != HAL_OK) {
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Error_Handler();
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}
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/* USER CODE BEGIN TIM3_Init 2 */
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/* USER CODE END TIM3_Init 2 */
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HAL_TIM_MspPostInit(&htim3);
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}
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/**
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* @brief GPIO Initialization Function
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* @param None
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* @retval None
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*/
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static void MX_GPIO_Init(void) {
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GPIO_InitTypeDef GPIO_InitStruct = {0};
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/* GPIO Ports Clock Enable */
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__HAL_RCC_GPIOA_CLK_ENABLE();
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__HAL_RCC_GPIOB_CLK_ENABLE();
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/*Configure GPIO pin Output Level */
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HAL_GPIO_WritePin(GPIOB, SD_Select_Pin | Status_LED_Pin | Soft_TSAL_Pin,
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GPIO_PIN_RESET);
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/*Configure GPIO pin Output Level */
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HAL_GPIO_WritePin(InterSTM_SPI_CS_GPIO_Port, InterSTM_SPI_CS_Pin,
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GPIO_PIN_RESET);
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/*Configure GPIO pins : AMS_ERROR_Pin InterSTM_IRQ_Line_Pin */
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GPIO_InitStruct.Pin = AMS_ERROR_Pin | InterSTM_IRQ_Line_Pin;
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GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
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GPIO_InitStruct.Pull = GPIO_NOPULL;
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HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
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/*Configure GPIO pins : SD_Select_Pin Status_LED_Pin Soft_TSAL_Pin */
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GPIO_InitStruct.Pin = SD_Select_Pin | Status_LED_Pin | Soft_TSAL_Pin;
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GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
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GPIO_InitStruct.Pull = GPIO_NOPULL;
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GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
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HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
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/*Configure GPIO pin : InterSTM_SPI_CS_Pin */
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GPIO_InitStruct.Pin = InterSTM_SPI_CS_Pin;
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GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
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GPIO_InitStruct.Pull = GPIO_NOPULL;
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GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
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HAL_GPIO_Init(InterSTM_SPI_CS_GPIO_Port, &GPIO_InitStruct);
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}
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/* USER CODE BEGIN 4 */
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void AMS_Error_Handler(uint8_t ErrorCode) {
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while (1) {
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setAMSError();
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CAN_SendAMSPanic(&hfdcan1);
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CAN_Receive(&hfdcan1);
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InterSTMFrame(TSTargetState);
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}
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}
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void softTSAL() {
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uint8_t tsoff_condition = errorflags.positive_AIR_and_PC_open &
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errorflags.negative_AIR_open &
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errorflags.HV_Inactive;
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if (tsoff_condition) {
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HAL_GPIO_WritePin(Soft_TSAL_GPIO_Port, Soft_TSAL_Pin,
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GPIO_PIN_SET); // Turn LED On
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} else {
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HAL_GPIO_WritePin(Soft_TSAL_GPIO_Port, Soft_TSAL_Pin,
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GPIO_PIN_RESET); // Turn LEF Off
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}
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}
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void setAMSError() {
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GPIO_InitTypeDef GPIO_InitStruct = {0};
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GPIO_InitStruct.Pin = AMS_ERROR_Pin;
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GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
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GPIO_InitStruct.Pull = GPIO_NOPULL;
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GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
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HAL_GPIO_Init(AMS_ERROR_GPIO_Port, &GPIO_InitStruct);
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HAL_GPIO_WritePin(AMS_ERROR_GPIO_Port, AMS_ERROR_Pin, GPIO_PIN_RESET);
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}
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/* USER CODE END 4 */
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/**
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* @brief This function is executed in case of error occurrence.
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* @retval None
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*/
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void Error_Handler(void) {
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/* USER CODE BEGIN Error_Handler_Debug */
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/* User can add his own implementation to report the HAL error return state */
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__disable_irq();
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while (1) {
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}
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/* USER CODE END Error_Handler_Debug */
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}
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#ifdef USE_FULL_ASSERT
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/**
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* @brief Reports the name of the source file and the source line number
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* where the assert_param error has occurred.
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* @param file: pointer to the source file name
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* @param line: assert_param error line source number
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* @retval None
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*/
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void assert_failed(uint8_t* file, uint32_t line) {
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/* USER CODE BEGIN 6 */
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/* User can add his own implementation to report the file name and line
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number, ex: printf("Wrong parameters value: file %s on line %d\r\n", file,
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line) */
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/* USER CODE END 6 */
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}
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#endif /* USE_FULL_ASSERT */
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