333 lines
8.7 KiB
C
333 lines
8.7 KiB
C
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/* 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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* Copyright (c) 2022 FaSTTUBe / Oskar W.
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* All rights reserved.
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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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/* Private includes ----------------------------------------------------------*/
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/* USER CODE BEGIN Includes */
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#include <stdbool.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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// BITFIELDS ARE LSB FIRST!
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typedef union {
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uint8_t raw[8];
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struct {
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bool as_driving_mode : 1;
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bool as_close_sdc : 1;
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bool watchdog : 1;
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uint8_t _padding : 5;
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} signals;
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} rx_data_t;
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typedef union {
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uint8_t raw[1];
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struct {
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bool sdc_in : 1;
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bool sdc_ready : 1;
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bool ts_start : 1;
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uint8_t _padding : 5;
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} signals;
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} tx_data_t;
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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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#define CAN_ID_RX 0x10
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#define CAN_ID_TX 0x11
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// Wait 20ms. Needs to be less than watchdog period!
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#define RX_UPDATE_PERIOD 20
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// Defined in DBC. Should be multiple of RX_UPDATE_PERIOD
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#define TX_UPDATE_PERIOD 100
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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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CAN_HandleTypeDef hcan;
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/* USER CODE BEGIN PV */
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rx_data_t RxData;
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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_CAN_Init(void);
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/* USER CODE BEGIN PFP */
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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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/* 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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{
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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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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_CAN_Init();
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/* USER CODE BEGIN 2 */
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if (HAL_CAN_ActivateNotification(&hcan, CAN_IT_RX_FIFO0_MSG_PENDING) != HAL_OK)
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Error_Handler();
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HAL_CAN_Start(&hcan);
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CAN_TxHeaderTypeDef TxHeader;
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uint32_t TxMailbox;
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tx_data_t TxData;
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// Prep the tx frame
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TxHeader.IDE = CAN_ID_STD;
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TxHeader.StdId = CAN_ID_TX;
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TxHeader.RTR = CAN_RTR_DATA;
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TxHeader.DLC = 1;
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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 counter = 0;
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while (true) {
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// Write out all values received via interrupt to the pins
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HAL_GPIO_WritePin(GPIOA, AS_driving_mode_Pin, RxData.signals.as_driving_mode);
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HAL_GPIO_WritePin(GPIOA, AS_close_SDC_Pin, RxData.signals.as_close_sdc);
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HAL_GPIO_WritePin(GPIOA, Watchdog_Pin, RxData.signals.watchdog);
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// every nth rx, we tx
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if (++counter >= (TX_UPDATE_PERIOD / RX_UPDATE_PERIOD)) {
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// Read values to send
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TxData.signals.sdc_in = HAL_GPIO_ReadPin(GPIOA, SDC_in_3V3_Pin);
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TxData.signals.sdc_ready = HAL_GPIO_ReadPin(GPIOA, SDC_is_ready_Pin);
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TxData.signals.ts_start = HAL_GPIO_ReadPin(GPIOA, TS_activate_MUXed_Pin);
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// Send out CAN message
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if (HAL_CAN_AddTxMessage(&hcan, &TxHeader, TxData.raw, &TxMailbox) != HAL_OK)
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Error_Handler();
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counter = 0;
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}
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// Slow the loop
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HAL_Delay(RX_UPDATE_PERIOD);
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/* USER CODE END WHILE */
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/* USER CODE BEGIN 3 */
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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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{
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RCC_OscInitTypeDef RCC_OscInitStruct = {0};
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RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
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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 = RCC_OSCILLATORTYPE_HSI;
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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.PLL.PLLState = RCC_PLL_NONE;
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if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
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{
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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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{
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Error_Handler();
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}
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}
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/**
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* @brief CAN 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_CAN_Init(void)
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{
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/* USER CODE BEGIN CAN_Init 0 */
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/* USER CODE END CAN_Init 0 */
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/* USER CODE BEGIN CAN_Init 1 */
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/* USER CODE END CAN_Init 1 */
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hcan.Instance = CAN;
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hcan.Init.Prescaler = 1;
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hcan.Init.Mode = CAN_MODE_NORMAL;
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hcan.Init.SyncJumpWidth = CAN_SJW_1TQ;
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hcan.Init.TimeSeg1 = CAN_BS1_13TQ;
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hcan.Init.TimeSeg2 = CAN_BS2_2TQ;
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hcan.Init.TimeTriggeredMode = DISABLE;
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hcan.Init.AutoBusOff = DISABLE;
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hcan.Init.AutoWakeUp = DISABLE;
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hcan.Init.AutoRetransmission = DISABLE;
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hcan.Init.ReceiveFifoLocked = DISABLE;
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hcan.Init.TransmitFifoPriority = DISABLE;
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if (HAL_CAN_Init(&hcan) != HAL_OK)
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{
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Error_Handler();
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}
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/* USER CODE BEGIN CAN_Init 2 */
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/* USER CODE END CAN_Init 2 */
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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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{
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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(GPIOA, AS_close_SDC_Pin|AS_driving_mode_Pin|Watchdog_Pin, GPIO_PIN_RESET);
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/*Configure GPIO pins : AS_close_SDC_Pin AS_driving_mode_Pin Watchdog_Pin */
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GPIO_InitStruct.Pin = AS_close_SDC_Pin|AS_driving_mode_Pin|Watchdog_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(GPIOA, &GPIO_InitStruct);
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/*Configure GPIO pins : TS_activate_MUXed_Pin SDC_is_ready_Pin SDC_in_3V3_Pin */
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GPIO_InitStruct.Pin = TS_activate_MUXed_Pin|SDC_is_ready_Pin|SDC_in_3V3_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(GPIOB, &GPIO_InitStruct);
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}
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/* USER CODE BEGIN 4 */
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// CAN RX interrupt handler
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void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan) {
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CAN_RxHeaderTypeDef RxHeader;
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uint8_t RxBuffer[8];
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// Read frame from HW into buffer
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if (HAL_CAN_GetRxMessage(hcan, CAN_RX_FIFO0, &RxHeader, RxBuffer) != HAL_OK)
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Error_Handler();
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// Copy into the bitfield if it's for us
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if (RxHeader.StdId == CAN_ID_RX)
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RxData.raw[0] = RxBuffer[0];
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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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{
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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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}
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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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{
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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 number,
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ex: printf("Wrong parameters value: file %s on line %d\r\n", file, 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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