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SDCL/sdcl-firmware/Core/Src/main.c

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/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file : main.c
* @brief : Main program body
******************************************************************************
* @attention
*
* Copyright (c) 2022 FaSTTUBe / Oskar W.
* All rights reserved.
*
******************************************************************************
*/
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include <stdbool.h>
#include <string.h>
/* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */
// BITFIELDS ARE LSB FIRST!
typedef union {
uint8_t raw[1];
struct {
bool as_driving_mode : 1;
bool as_close_sdc : 1;
bool watchdog : 1;
uint8_t _padding : 5;
} signals;
} rx_data_t;
typedef union {
uint8_t raw[1];
struct {
bool sdc_in : 1;
bool sdc_ready : 1;
bool ts_start : 1;
uint8_t _padding : 5;
} signals;
} tx_data_t;
/* USER CODE END PTD */
/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
#define CAN_ID_RX 0x10
#define CAN_ID_TX 0x11
// Wait 20ms. Needs to be less than watchdog period!
#define RX_UPDATE_PERIOD 20
// Defined in DBC. Should be multiple of RX_UPDATE_PERIOD
#define TX_UPDATE_PERIOD 100
/* USER CODE END PD */
/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */
/* USER CODE END PM */
/* Private variables ---------------------------------------------------------*/
CAN_HandleTypeDef hcan;
/* USER CODE BEGIN PV */
rx_data_t RxData;
/* USER CODE END PV */
/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
static void MX_GPIO_Init(void);
static void MX_CAN_Init(void);
/* USER CODE BEGIN PFP */
/* USER CODE END PFP */
/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 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_CAN_Init();
/* USER CODE BEGIN 2 */
// Init data as LOW
memset(&RxData, 0, sizeof(rx_data_t));
if (HAL_CAN_Start(&hcan) != HAL_OK)
Error_Handler();
CAN_FilterTypeDef canfilterconfig;
canfilterconfig.FilterActivation = CAN_FILTER_ENABLE;
canfilterconfig.FilterBank = 0;
canfilterconfig.FilterFIFOAssignment = CAN_FILTER_FIFO0;
canfilterconfig.FilterIdHigh = 0;
canfilterconfig.FilterIdLow = 0;
canfilterconfig.FilterMaskIdHigh = 0;
canfilterconfig.FilterMaskIdLow = 0;
canfilterconfig.FilterMode = CAN_FILTERMODE_IDMASK;
canfilterconfig.FilterScale = CAN_FILTERSCALE_32BIT;
canfilterconfig.SlaveStartFilterBank = 14;
if (HAL_CAN_ConfigFilter(&hcan, &canfilterconfig) != HAL_OK) {
Error_Handler();
}
if (HAL_CAN_ActivateNotification(&hcan, CAN_IT_RX_FIFO0_MSG_PENDING) != HAL_OK)
Error_Handler();
CAN_TxHeaderTypeDef TxHeader;
uint32_t TxMailbox;
tx_data_t TxData;
memset(&TxData, 0, sizeof(tx_data_t));
// Prep the tx frame
TxHeader.IDE = CAN_ID_STD;
TxHeader.StdId = CAN_ID_TX;
TxHeader.RTR = CAN_RTR_DATA;
TxHeader.DLC = 1;
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
uint32_t counter = 0;
while (true) {
// Write out all values received via interrupt to the pins
HAL_GPIO_WritePin(GPIOA, AS_driving_mode_Pin, RxData.signals.as_driving_mode);
HAL_GPIO_WritePin(GPIOA, AS_close_SDC_Pin, RxData.signals.as_close_sdc);
HAL_GPIO_WritePin(GPIOA, Watchdog_Pin, RxData.signals.watchdog);
// every nth rx, we tx¨
if (++counter >= (TX_UPDATE_PERIOD / RX_UPDATE_PERIOD)) {
// Read values to send
uint8_t s = HAL_GPIO_ReadPin(GPIOA, SDC_in_3V3_Pin) == GPIO_PIN_SET;
uint8_t r = HAL_GPIO_ReadPin(GPIOA, SDC_is_ready_Pin) == GPIO_PIN_SET;
uint8_t t = HAL_GPIO_ReadPin(GPIOA, TS_activate_MUXed_Pin) == GPIO_PIN_SET;
TxData.signals.sdc_in = s;
TxData.signals.sdc_ready = r;
TxData.signals.ts_start = t;
// Send out CAN message
if (HAL_CAN_AddTxMessage(&hcan, &TxHeader, TxData.raw, &TxMailbox) != HAL_OK)
Error_Handler();
counter = 0;
}
// Slow the loop
HAL_Delay(RX_UPDATE_PERIOD);
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
}
/* USER CODE END 3 */
}
/**
* @brief System Clock Configuration
* @retval None
*/
void SystemClock_Config(void)
{
RCC_OscInitTypeDef RCC_OscInitStruct = {0};
RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
/** 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_NONE;
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_HSI;
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 CAN Initialization Function
* @param None
* @retval None
*/
static void MX_CAN_Init(void)
{
/* USER CODE BEGIN CAN_Init 0 */
/* USER CODE END CAN_Init 0 */
/* USER CODE BEGIN CAN_Init 1 */
/* USER CODE END CAN_Init 1 */
hcan.Instance = CAN;
hcan.Init.Prescaler = 1;
hcan.Init.Mode = CAN_MODE_NORMAL;
hcan.Init.SyncJumpWidth = CAN_SJW_1TQ;
hcan.Init.TimeSeg1 = CAN_BS1_13TQ;
hcan.Init.TimeSeg2 = CAN_BS2_2TQ;
hcan.Init.TimeTriggeredMode = DISABLE;
hcan.Init.AutoBusOff = DISABLE;
hcan.Init.AutoWakeUp = DISABLE;
hcan.Init.AutoRetransmission = ENABLE;
hcan.Init.ReceiveFifoLocked = DISABLE;
hcan.Init.TransmitFifoPriority = DISABLE;
if (HAL_CAN_Init(&hcan) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN CAN_Init 2 */
/* USER CODE END CAN_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_GPIOA_CLK_ENABLE();
__HAL_RCC_GPIOB_CLK_ENABLE();
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOA, AS_close_SDC_Pin|AS_driving_mode_Pin|Watchdog_Pin, GPIO_PIN_RESET);
/*Configure GPIO pins : SDC_is_ready_Pin SDC_in_3V3_Pin */
GPIO_InitStruct.Pin = SDC_is_ready_Pin|SDC_in_3V3_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/*Configure GPIO pins : AS_close_SDC_Pin AS_driving_mode_Pin Watchdog_Pin */
GPIO_InitStruct.Pin = AS_close_SDC_Pin|AS_driving_mode_Pin|Watchdog_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 pin : TS_activate_MUXed_Pin */
GPIO_InitStruct.Pin = TS_activate_MUXed_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = GPIO_PULLDOWN;
HAL_GPIO_Init(TS_activate_MUXed_GPIO_Port, &GPIO_InitStruct);
}
/* USER CODE BEGIN 4 */
// CAN RX interrupt handler
void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan) {
CAN_RxHeaderTypeDef RxHeader;
uint8_t RxBuffer[8];
// Read frame from HW into buffer
if (HAL_CAN_GetRxMessage(hcan, CAN_RX_FIFO0, &RxHeader, RxBuffer) != HAL_OK)
Error_Handler();
// Copy into the bitfield if it's for us
if (RxHeader.StdId == CAN_ID_RX)
RxData.raw[0] = RxBuffer[0];
}
/* 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 */
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