tire zone definitions and CAN communication
This commit is contained in:
Tim-Erik Düntzsch
@ -19,6 +19,46 @@
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#ifndef INC_HTPA_32X32D_H_
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#define INC_HTPA_32X32D_H_
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#define ReadToFromTable
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// ToDo: Sensor selection / add shortened lookup tables for selection:
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#define HTPA32x32dL2_1HiSiF5_0_Gain3k3
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//#define HTPA32x32dR1L2_1HiSiF5_0_Gain3k3_Extended
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#ifdef HTPA32x32dL2_1HiSiF5_0_Gain3k3
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#define TABLENUMBER 114
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#define PCSCALEVAL 100000000 //327000000000 //PixelConst scale value for table... lower 'L' for (long)
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#define NROFTAELEMENTS 7
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#define NROFADELEMENTS 180 //because of shortened lookup table (capped at 300°C) //1595 default (~930°C)
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#define TAEQUIDISTANCE 100 //dK
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#define ADEQUIDISTANCE 64 //dig
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#define ADEXPBITS 6 //2^ADEXPBITS=ADEQUIDISTANCE
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#define TABLEOFFSET 1024
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#define EQUIADTABLE //if defined, ADELEMENTS have to be 2^N quantizied! else more CPU Power is needed
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#ifdef EQUIADTABLE
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#undef FLOATTABLE
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#endif
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#define MBITTRIMDefault 0x2C //use REF_CAL=2 here. Table does not match, so GlobalGain ist set to 50 % to compensate this.
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#define SensRv 1 //Sensor Revision is set to 1 (Redesign)
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#endif
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#ifdef HTPA32x32dR1L2_1HiSiF5_0_Gain3k3_Extended
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#define TABLENUMBER 114
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#define PCSCALEVAL 100000000 //327000000000 //PixelConst scale value for table... lower 'L' for (long)
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#define NROFTAELEMENTS 12
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#define NROFADELEMENTS 1595 //130 possible due to Program memory, higher values possible if NROFTAELEMENTS is decreased
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#define TAEQUIDISTANCE 100 //dK
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#define ADEQUIDISTANCE 64 //dig
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#define ADEXPBITS 6 //2^ADEXPBITS=ADEQUIDISTANCE
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#define TABLEOFFSET 1792
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#define EQUIADTABLE //if defined, ADELEMENTS have to be 2^N quantizied! else more CPU Power is needed
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#ifdef EQUIADTABLE
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#undef FLOATTABLE
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#endif
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#define MBITTRIMDefault 0x2C
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#define SensRv 1
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#endif
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/// @brief HTPA status register struct
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typedef struct {
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uint8_t block; // currently selected block
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@ -29,12 +69,14 @@ typedef struct {
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void HTPA_Init(I2C_HandleTypeDef *);
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void HTPA_ReadSensor(void);
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void HTPA_Init(I2C_HandleTypeDef *hi2c);
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void HTPA_ReadSensor(uint32_t dataArray[32]);
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uint8_t HTPA_ReadEEPROM_byte(uint16_t address);
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void HTPA_WriteRegister(uint8_t address, uint8_t byte);
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void HTPA_ReadRegister(uint8_t address, uint8_t* pData, uint16_t length);
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void HTPA_GetStatus(void);
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uint32_t HTPA_calcPowerTwo(uint8_t power);
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#endif /* INC_HTPA_32X32D_H_ */
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21159
Core/Inc/HTPA_lookuptable.h
Normal file
21159
Core/Inc/HTPA_lookuptable.h
Normal file
File diff suppressed because one or more lines are too long
1604
Core/Inc/HTPA_lookuptable_short-300degC.h
Normal file
1604
Core/Inc/HTPA_lookuptable_short-300degC.h
Normal file
File diff suppressed because it is too large
Load Diff
1604
Core/Inc/HTPA_lookuptable_short-400degC.h
Normal file
1604
Core/Inc/HTPA_lookuptable_short-400degC.h
Normal file
File diff suppressed because it is too large
Load Diff
@ -7,7 +7,7 @@
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******************************************************************************
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* @attention
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*
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* Copyright (c) 2023 STMicroelectronics.
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* Copyright (c) 2024 STMicroelectronics.
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* All rights reserved.
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*
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* This software is licensed under terms that can be found in the LICENSE file
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@ -57,6 +57,8 @@ void Error_Handler(void);
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/* USER CODE END EFP */
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/* Private defines -----------------------------------------------------------*/
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#define LED_Pin GPIO_PIN_3
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#define LED_GPIO_Port GPIOA
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/* USER CODE BEGIN Private defines */
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@ -35,7 +35,7 @@
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#define HAL_MODULE_ENABLED
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/*#define HAL_ADC_MODULE_ENABLED */
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/*#define HAL_CRYP_MODULE_ENABLED */
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/*#define HAL_CAN_MODULE_ENABLED */
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#define HAL_CAN_MODULE_ENABLED
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/*#define HAL_CEC_MODULE_ENABLED */
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/*#define HAL_COMP_MODULE_ENABLED */
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/*#define HAL_CRC_MODULE_ENABLED */
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@ -73,7 +73,7 @@
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* (when HSE is used as system clock source, directly or through the PLL).
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*/
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#if !defined (HSE_VALUE)
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#define HSE_VALUE ((uint32_t)8000000) /*!< Value of the External oscillator in Hz */
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#define HSE_VALUE ((uint32_t)16000000) /*!< Value of the External oscillator in Hz */
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#endif /* HSE_VALUE */
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/**
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@ -6,7 +6,7 @@
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******************************************************************************
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* @attention
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*
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* Copyright (c) 2023 STMicroelectronics.
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* Copyright (c) 2024 STMicroelectronics.
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* All rights reserved.
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*
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* This software is licensed under terms that can be found in the LICENSE file
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55
Core/Inc/tts.h
Normal file
55
Core/Inc/tts.h
Normal file
@ -0,0 +1,55 @@
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/*
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* tts.h
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*
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* Created on: Jun 29, 2024
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* Author: ted
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*/
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#ifndef INC_TTS_H_
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#define INC_TTS_H_
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#include "main.h"
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typedef enum {
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TTS_FL,
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TTS_FR,
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TTS_RL,
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TTS_RR
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} TTS_SensorID;
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typedef enum {
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FT20e = 20, // "lol" - TEDü
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FT20c = 21,
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FT22,
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FT23,
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FT24
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} TTS_CarID;
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typedef enum {
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UNKNOWN,
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OZ7_SLICKS,
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OZ7_RAIN,
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JP8_SLICKS
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} TTS_TireID;
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typedef struct {
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TTS_TireID id; // Tire ID
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uint8_t epsilon; // Emissivity [%]
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uint8_t outerLeftStart; // First pixel of outer left zone
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uint8_t outerLeftStop; // Last pixel of outer right zone
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uint8_t centerLeftStart;
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uint8_t centerLeftStop;
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uint8_t centerStart;
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uint8_t centerStop;
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uint8_t centerRightStart;
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uint8_t centerRightStop;
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uint8_t outerRightStart;
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uint8_t outerRightStop;
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} TTS_TireData;
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void TTS_Init(CAN_HandleTypeDef *hcan);
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void TTS_LoadTireData(void);
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void TTS_SendCAN(uint32_t tireZones[5]);
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void TTS_TireZones(uint32_t tempArray[32], uint32_t tireTempArray[5]);
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#endif /* INC_TTS_H_ */
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@ -14,6 +14,7 @@
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#include <math.h>
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#include "main.h"
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#include "HTPA_32x32d.h"
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#include "HTPA_lookuptable_short-300degC.h"
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// I2C address
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#define HTPA_SENSOR_ADDRESS 0x1A
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@ -27,26 +28,55 @@
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#define HTPA_SENSOR_TRIM_4 0x06 // Clock frequency
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#define HTPA_SENSOR_TRIM_5 0x07 // Common mode voltage preamplifier top
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#define HTPA_SENSOR_TRIM_6 0x08 // Common mode voltage preamplifier bot
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#define HTPA_SENSOR_TRIM_7 0x09 // Interal pull-ups SDA, SCL
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#define HTPA_SENSOR_TRIM_7 0x09 // Internal pull-ups SDA, SCL
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// Sensor read only registers
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#define HTPA_SENSOR_STATUS 0x02 // Status register
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#define HTPA_SENSOR_READTOP 0x0A // Read top half
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#define HTPA_SENSOR_READBOT 0x0B // Read bot half
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// EEPROM addresses
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#define HTPA_EEPROM_VDDCOMPGRAD 0x0340 // Start address for vddcompgrad[i][j]
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#define HTPA_EEPROM_VDDCOMPOFF 0x0540 // Start address for vddcompoff[i][j]
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#define HTPA_EEPROM_THGRAD 0x0A40 // Start address for thgrad[i][j] (top, block3, pixel 384 -> 0x0740 + 2*384 = 0x0A40
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#define HTPA_EEPROM_THOFFSET 0x1240 // Start address for thoffset[i][j] (top, block3, pixel 384 -> 0x0F40 + 2*384 = 0x1240
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#define HTPA_EEPROM_PI 0x1A40 // Start address for pij[i][j] (top, block3, pixel 384 -> 0x1740 + 2*384 = 0x1A40
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#define HTPA_ROWSELECTION 3u // select which row of block 3 is used for temperature calculation (0-3)
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#define HTPA_CUSTOM_EPSILON 84u
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// I2C transmit delay
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#define HTPA_I2C_MAX_DELAY 0xFFFFFFFF
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#define HTPA_I2C_MAX_DELAY 0xFF
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I2C_HandleTypeDef* htpa_hi2c; // pointer to i2c handle
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HTPA_Status htpa_statusReg;
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// EEPROM data:
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uint8_t gradscale, vddscgrad, vddscoff, epsilon, arraytype, nrofdefpix;
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int8_t globaloff;
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uint16_t vddth1, vddth2, ptatth1, ptatth2, globalgain, tablenumber;
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uint16_t pij[32];
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int16_t thgrad[32];
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int16_t thoffset[32];
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int16_t vddcompgrad[32];
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int16_t vddcompoff[32];
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float pixcmin, pixcmax, ptatgr, ptatoff;
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// Sensor data:
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HTPA_Status htpa_statusReg;
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uint8_t data_topBlock[258];
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uint8_t elOffset_topBlock[258];
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//uint8_t data_botBlock[258];
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uint16_t vdd_topBlock, ptat_topBlock;
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uint16_t pixel_topBlock[32];
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uint16_t elOffset[32];
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uint16_t vdd_topBlock;
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uint16_t ptat_topBlock;
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uint16_t pixel_topBlock[4][32];
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// Calculated values:
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uint32_t gradscale_div, vddscgrad_div, vddscoff_div;
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int32_t pixcij[32]; // sensitivity coefficients per pixel (needed for 11.5)
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int32_t vij_comp[32]; // thermal offset compensated (11.2)
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int32_t vij_comp_s[32]; // electrical offset compensated (11.3)
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int32_t vij_vddcomp[32]; // vdd compensated (11.4)
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int32_t vij_pixc[32]; // sensitivity coefficients applied (11.5)
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uint32_t temp_pix[32]; // final pixel temperature in dK (11.7)
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float ambient_temperature;
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/**
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* @brief Initialization of HTPA Sensor
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@ -59,26 +89,89 @@ uint16_t pixel_topBlock[4][32];
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*/
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void HTPA_Init(I2C_HandleTypeDef *hi2c){
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htpa_hi2c = hi2c;
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// I2C initialized on 400kbit Fast Mode
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/*
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* Read EEPROM calibration values
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*
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HAL_I2C_DeInit(htpa_hi2c);
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htpa_hi2c->Init->Timing = 0; // set I2C frequency to 400kHz
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HAL_I2C_Init(htpa_hi2c);
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EEPROM auslesen:
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HTPA_ReadEEPROM(
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* (see datasheet Figure 13)
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*/
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uint8_t eeprom_float[4] = {0};
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eeprom_float[0] = HTPA_ReadEEPROM_byte(0x0000);
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eeprom_float[1] = HTPA_ReadEEPROM_byte(0x0001);
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eeprom_float[2] = HTPA_ReadEEPROM_byte(0x0002);
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eeprom_float[3] = HTPA_ReadEEPROM_byte(0x0003);
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pixcmin = *(float*)eeprom_float;
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eeprom_float[0] = HTPA_ReadEEPROM_byte(0x0004);
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eeprom_float[1] = HTPA_ReadEEPROM_byte(0x0005);
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eeprom_float[2] = HTPA_ReadEEPROM_byte(0x0006);
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eeprom_float[3] = HTPA_ReadEEPROM_byte(0x0007);
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pixcmax = *(float*)eeprom_float;
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gradscale = HTPA_ReadEEPROM_byte(0x0008);
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tablenumber = HTPA_ReadEEPROM_byte(0x000C) << 8 | HTPA_ReadEEPROM_byte(0x000B);
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epsilon = HTPA_ReadEEPROM_byte(0x000D);
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arraytype = HTPA_ReadEEPROM_byte(0x0022);
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vddth1 = HTPA_ReadEEPROM_byte(0x0027) << 8 | HTPA_ReadEEPROM_byte(0x0026);
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vddth2 = HTPA_ReadEEPROM_byte(0x0029) << 8 | HTPA_ReadEEPROM_byte(0x0028);
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eeprom_float[0] = HTPA_ReadEEPROM_byte(0x0034);
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eeprom_float[1] = HTPA_ReadEEPROM_byte(0x0035);
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eeprom_float[2] = HTPA_ReadEEPROM_byte(0x0036);
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eeprom_float[3] = HTPA_ReadEEPROM_byte(0x0037);
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ptatgr = *(float*)eeprom_float;
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eeprom_float[0] = HTPA_ReadEEPROM_byte(0x0038);
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eeprom_float[1] = HTPA_ReadEEPROM_byte(0x0039);
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eeprom_float[2] = HTPA_ReadEEPROM_byte(0x003A);
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eeprom_float[3] = HTPA_ReadEEPROM_byte(0x003B);
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ptatoff = *(float*)eeprom_float;
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ptatth1 = HTPA_ReadEEPROM_byte(0x003D) << 8 | HTPA_ReadEEPROM_byte(0x003C);
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ptatth2 = HTPA_ReadEEPROM_byte(0x003F) << 8 | HTPA_ReadEEPROM_byte(0x003E);
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vddscgrad = HTPA_ReadEEPROM_byte(0x004E);
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vddscoff = HTPA_ReadEEPROM_byte(0x004F);
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globaloff = HTPA_ReadEEPROM_byte(0x0054);
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globalgain = HTPA_ReadEEPROM_byte(0x0056) << 8 | HTPA_ReadEEPROM_byte(0x0055);
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nrofdefpix = HTPA_ReadEEPROM_byte(0x007F);
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for(uint8_t i = 0; i < 32; i++) {
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// start at top half, row 4
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vddcompgrad[i] = HTPA_ReadEEPROM_byte(HTPA_EEPROM_VDDCOMPGRAD + HTPA_ROWSELECTION * 64 + 2 * i + 1) << 8 | HTPA_ReadEEPROM_byte(HTPA_EEPROM_VDDCOMPGRAD + HTPA_ROWSELECTION * 64 + 2 * i);
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// ignore bottom half
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}
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for(uint8_t i = 0; i < 32; i++) {
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// start at top half, row 4
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vddcompoff[i] = HTPA_ReadEEPROM_byte(HTPA_EEPROM_VDDCOMPOFF + HTPA_ROWSELECTION * 64 + 2 * i + 1) << 8 | HTPA_ReadEEPROM_byte(HTPA_EEPROM_VDDCOMPOFF + HTPA_ROWSELECTION * 64 + 2 * i);
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// ignore bottom half
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}
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for(uint8_t i = 0; i < 32; i++) {
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// start at block 3, row 4 (pixel 480)
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thgrad[i] = HTPA_ReadEEPROM_byte(HTPA_EEPROM_THGRAD + HTPA_ROWSELECTION * 64 + 2 * i + 1) << 8 | HTPA_ReadEEPROM_byte(HTPA_EEPROM_THGRAD + HTPA_ROWSELECTION * 64 + 2 * i);
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// ignore bottom half
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}
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for(uint8_t i = 0; i < 32; i++) {
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// start at block 3, row 4 (pixel 480)
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thoffset[i] = HTPA_ReadEEPROM_byte(HTPA_EEPROM_THOFFSET + HTPA_ROWSELECTION * 64 + 2 * i + 1) << 8 | HTPA_ReadEEPROM_byte(HTPA_EEPROM_THOFFSET + HTPA_ROWSELECTION * 64 + 2 * i);
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// ignore bottom half
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}
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for(uint8_t i = 0; i < 32; i++) {
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// start at block 3, row 4 (pixel 480)
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pij[i] = HTPA_ReadEEPROM_byte(HTPA_EEPROM_PI + HTPA_ROWSELECTION * 64 + 2 * i + 1) << 8 | HTPA_ReadEEPROM_byte(HTPA_EEPROM_PI + HTPA_ROWSELECTION * 64 + 2 * i);
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// ignore bottom half
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}
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/* Set I2C to Fast Mode Plus (1Mbit) for sensor readout: */
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if (HAL_I2C_DeInit(htpa_hi2c) != HAL_OK)
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{
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Error_Handler();
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}
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htpa_hi2c->Init.Timing = 0x00000107;
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if (HAL_I2C_Init(htpa_hi2c) != HAL_OK)
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{
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Error_Handler();
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}
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__HAL_SYSCFG_FASTMODEPLUS_ENABLE(I2C_FASTMODEPLUS_I2C1);
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HAL_Delay(100);
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/*
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* Write sensor calibration registers
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*
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HAL_I2C_DeInit(htpa_hi2c);
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htpa_hi2c->Init->Timing = 0; // set I2C frequency to 1MHz
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HAL_I2C_Init(htpa_hi2c);
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*/
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// Berechnung für clk / sample aus I2C parametern?
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HTPA_WriteRegister(HTPA_SENSOR_CONFIG, 0x01); // wakeup
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HAL_Delay(10);
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HTPA_WriteRegister(HTPA_SENSOR_TRIM_1, 0x0C); // bit 5,4 = 00 -> amplification = 0, bit 3-0 = 1100 -> 16bit ADC-Resolution (4 + m=12)
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@ -97,9 +190,35 @@ void HTPA_Init(I2C_HandleTypeDef *hi2c){
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HAL_Delay(10);
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//HTPA_WriteRegister(HTPA_SENSOR_CONFIG, 0x09); // start sensor
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//HAL_Delay(10);
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/*
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* Calculations
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*/
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//gradscale_div = HTPA_calcPowerTwo(gradscale);
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gradscale_div = HTPA_calcPowerTwo(gradscale);
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vddscgrad_div = HTPA_calcPowerTwo(vddscgrad);
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vddscoff_div = HTPA_calcPowerTwo(vddscoff);
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// calculate sensitivity coefficients: (datasheet 11.5)
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for(uint8_t i = 0; i < 32; i++) {
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pixcij[i] = (int32_t)pixcmax - (int32_t)pixcmin;
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pixcij[i] = pixcij[i] / 65535;
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pixcij[i] = pixcij[i] * pij[i];
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pixcij[i] = pixcij[i] + pixcmin;
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pixcij[i] = pixcij[i] * 1.0 * HTPA_CUSTOM_EPSILON / 100;
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pixcij[i] = pixcij[i] * 1.0 * globalgain / 10000;
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}
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}
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void HTPA_ReadSensor(void) {
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uint32_t HTPA_calcPowerTwo(uint8_t power) {
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if (power == 0)
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return 1;
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else if ((power % 2) == 0)
|
||||
return HTPA_calcPowerTwo(power / 2) * HTPA_calcPowerTwo(power / 2);
|
||||
else
|
||||
return 2 * HTPA_calcPowerTwo(power / 2) * HTPA_calcPowerTwo(power / 2);
|
||||
}
|
||||
|
||||
void HTPA_ReadSensor(uint32_t dataArray[32]) {
|
||||
uint8_t config = 0;
|
||||
/*
|
||||
* Read top array half of block3 with PTAT
|
||||
@ -137,29 +256,75 @@ void HTPA_ReadSensor(void) {
|
||||
* Sort sensor data and assign to pixels
|
||||
*/
|
||||
for(int i=0; i<32; i++) {
|
||||
/*
|
||||
pixel_topBlock[0][i] = (data_topBlock[2*i + 2] << 8) | data_topBlock[2*i + 3];
|
||||
pixel_topBlock[1][i] = (data_topBlock[2*(i+32) + 2] << 8) | data_topBlock[2*(i+32) + 3];
|
||||
pixel_topBlock[2][i] = (data_topBlock[2*(i+64) + 2] << 8) | data_topBlock[2*(i+64) + 3];
|
||||
pixel_topBlock[3][i] = (data_topBlock[2*(i+96) + 2] << 8) | data_topBlock[2*(i+96) + 3];
|
||||
*/
|
||||
pixel_topBlock[i] = (data_topBlock[2*(i+32*HTPA_ROWSELECTION) + 2] << 8) | data_topBlock[2*(i+32*HTPA_ROWSELECTION) + 3];
|
||||
|
||||
/*
|
||||
elOffset[0][i] = (elOffset_topBlock[2*i + 2] << 8) | elOffset_topBlock[2*i + 3];
|
||||
elOffset[1][i] = (elOffset_topBlock[2*(i+32) + 2] << 8) | elOffset_topBlock[2*(i+32) + 3];
|
||||
elOffset[2][i] = (elOffset_topBlock[2*(i+64) + 2] << 8) | elOffset_topBlock[2*(i+64) + 3];
|
||||
elOffset[3][i] = (elOffset_topBlock[2*(i+96) + 2] << 8) | elOffset_topBlock[2*(i+96) + 3];
|
||||
*/
|
||||
elOffset[i] = (elOffset_topBlock[2*(i+32*HTPA_ROWSELECTION) + 2] << 8) | elOffset_topBlock[2*(i+32*HTPA_ROWSELECTION) + 3];
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* calculate temperature
|
||||
*
|
||||
*/
|
||||
int64_t vij_pixc_and_pcscaleval;
|
||||
int64_t vdd_calc_steps;
|
||||
uint16_t table_row, table_col;
|
||||
int32_t vx, vy, ydist, dta;
|
||||
|
||||
// 11.1 ambient temperature:
|
||||
float t_ambient = ptat_topBlock*ptat_gradient + ptat_offset;
|
||||
for(int i=0; i<4; i++) {
|
||||
for(int j=0; j<32; j++) {
|
||||
// 11.2 thermal offset:
|
||||
vij_comp[i][j] = vij[i][j] - (thGrad[i][j]*ptat_topBlock/pow(2, gradScale)) - thOffset[i][j];
|
||||
// 11.3 electrical offset:
|
||||
vij_compElec[i][j] = vij[i][j] - elOffset[(i+j*32)%128];
|
||||
// 11.4 Vdd compensation:
|
||||
vij_compVdd[i][j] = vij_compElec[i][j] * ...
|
||||
// 11.5 calculate object temperature
|
||||
ambient_temperature = ptat_topBlock * ptatgr + ptatoff; // value in dK
|
||||
|
||||
// find column of lookup table (ambient temperature)
|
||||
for(uint8_t i = 0; i < NROFTAELEMENTS; i++) {
|
||||
if(ambient_temperature > XTATemps[i]) {
|
||||
table_col = i;
|
||||
}
|
||||
}
|
||||
*/
|
||||
dta = ambient_temperature - XTATemps[table_col];
|
||||
ydist = (int32_t)ADEQUIDISTANCE;
|
||||
|
||||
for(int i=0; i<32; i++) {
|
||||
// 11.2 thermal offset:
|
||||
vij_comp[i] = pixel_topBlock[i] - (thgrad[i] * ptat_topBlock / gradscale_div) - thoffset[i];
|
||||
|
||||
// 11.3 electrical offset:
|
||||
vij_comp_s[i] = vij_comp[i] - elOffset[i];
|
||||
|
||||
// 11.4 Vdd compensation:
|
||||
vdd_calc_steps = vddcompgrad[i] * ptat_topBlock;
|
||||
vdd_calc_steps = vdd_calc_steps / vddscgrad_div;
|
||||
vdd_calc_steps = vdd_calc_steps + vddcompoff[i];
|
||||
vdd_calc_steps = vdd_calc_steps * (vdd_topBlock - vddth1 - ((vddth2 - vddth1) / (ptatth2 - ptatth1)) * (ptat_topBlock - ptatth1));
|
||||
vdd_calc_steps = vdd_calc_steps / vddscoff_div;
|
||||
vij_vddcomp[i] = vij_comp_s[i] - vdd_calc_steps;
|
||||
|
||||
// 11.5 calculate object temperature
|
||||
vij_pixc_and_pcscaleval = (int64_t)vij_vddcomp[i] * (int64_t)PCSCALEVAL;
|
||||
vij_pixc[i] = (int32_t)(vij_pixc_and_pcscaleval / (int64_t)pixcij[i]);
|
||||
// find temperature in lookup table and do bilinear interpolation
|
||||
table_row = vij_pixc[i] + TABLEOFFSET;
|
||||
table_row = table_row >> ADEXPBITS;
|
||||
vx = ((((int32_t)TempTable[table_row][table_col + 1] - (int32_t)TempTable[table_row][table_col]) * (int32_t)dta) / (int32_t)TAEQUIDISTANCE) + (int32_t)TempTable[table_row][table_col];
|
||||
vy = ((((int32_t)TempTable[table_row + 1][table_col + 1] - (int32_t)TempTable[table_row + 1][table_col]) * (int32_t)dta) / (int32_t)TAEQUIDISTANCE) + (int32_t)TempTable[table_row + 1][table_col];
|
||||
temp_pix[i] = (uint32_t)((vy - vx) * ((int32_t)(vij_pixc[i] + TABLEOFFSET) - (int32_t)YADValues[table_row]) / ydist + (int32_t)vx);
|
||||
|
||||
// --- GLOBAL OFFSET ---
|
||||
temp_pix[i] = temp_pix[i] + globaloff;
|
||||
|
||||
dataArray[i] = temp_pix[i] - 2731;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
/**
|
||||
@ -182,7 +347,6 @@ void HTPA_WriteRegister(uint8_t address, uint8_t byte){
|
||||
* @param address: register address
|
||||
* @param pData: pointer to output data array
|
||||
* @param length: length of data to be read
|
||||
* @return
|
||||
*/
|
||||
void HTPA_ReadRegister(uint8_t address, uint8_t *pData, uint16_t length){
|
||||
HAL_I2C_Mem_Read(htpa_hi2c, (HTPA_SENSOR_ADDRESS << 1), address, I2C_MEMADD_SIZE_8BIT, pData, length, HTPA_I2C_MAX_DELAY);
|
||||
@ -205,3 +369,16 @@ void HTPA_GetStatus(void){
|
||||
htpa_statusReg.blind = (i2c_readData >> 1) & 0x01;
|
||||
htpa_statusReg.eoc = i2c_readData & 0x01;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get status of sensor
|
||||
*
|
||||
* Reads the sensors status register and stores the information in
|
||||
* the htpa_statusReg variable
|
||||
*
|
||||
*/
|
||||
uint8_t HTPA_ReadEEPROM_byte(uint16_t address){
|
||||
uint8_t data = 0;
|
||||
HAL_I2C_Mem_Read(htpa_hi2c, (HTPA_EEPROM_ADDRESS << 1), address, I2C_MEMADD_SIZE_16BIT, &data, 1, HTPA_I2C_MAX_DELAY);
|
||||
return data;
|
||||
}
|
||||
|
||||
106
Core/Src/main.c
106
Core/Src/main.c
@ -6,7 +6,7 @@
|
||||
******************************************************************************
|
||||
* @attention
|
||||
*
|
||||
* Copyright (c) 2023 STMicroelectronics.
|
||||
* Copyright (c) 2024 STMicroelectronics.
|
||||
* All rights reserved.
|
||||
*
|
||||
* This software is licensed under terms that can be found in the LICENSE file
|
||||
@ -21,8 +21,8 @@
|
||||
|
||||
/* Private includes ----------------------------------------------------------*/
|
||||
/* USER CODE BEGIN Includes */
|
||||
#include <stdbool.h>
|
||||
#include "HTPA_32x32d.h"
|
||||
#include "tts.h"
|
||||
|
||||
/* USER CODE END Includes */
|
||||
|
||||
@ -33,6 +33,7 @@
|
||||
|
||||
/* Private define ------------------------------------------------------------*/
|
||||
/* USER CODE BEGIN PD */
|
||||
|
||||
/* USER CODE END PD */
|
||||
|
||||
/* Private macro -------------------------------------------------------------*/
|
||||
@ -41,16 +42,22 @@
|
||||
/* USER CODE END PM */
|
||||
|
||||
/* Private variables ---------------------------------------------------------*/
|
||||
CAN_HandleTypeDef hcan;
|
||||
|
||||
I2C_HandleTypeDef hi2c1;
|
||||
|
||||
/* USER CODE BEGIN PV */
|
||||
uint8_t htpa_blockData[258];
|
||||
uint32_t pixelTemps[32];
|
||||
uint32_t tireTemps[5];
|
||||
uint32_t systicks = 0;
|
||||
uint8_t blinkCount = 0;
|
||||
|
||||
/* USER CODE END PV */
|
||||
|
||||
/* Private function prototypes -----------------------------------------------*/
|
||||
void SystemClock_Config(void);
|
||||
static void MX_GPIO_Init(void);
|
||||
static void MX_CAN_Init(void);
|
||||
static void MX_I2C1_Init(void);
|
||||
/* USER CODE BEGIN PFP */
|
||||
|
||||
@ -67,6 +74,7 @@ static void MX_I2C1_Init(void);
|
||||
*/
|
||||
int main(void)
|
||||
{
|
||||
|
||||
/* USER CODE BEGIN 1 */
|
||||
|
||||
/* USER CODE END 1 */
|
||||
@ -89,9 +97,15 @@ int main(void)
|
||||
|
||||
/* Initialize all configured peripherals */
|
||||
MX_GPIO_Init();
|
||||
MX_CAN_Init();
|
||||
MX_I2C1_Init();
|
||||
/* USER CODE BEGIN 2 */
|
||||
|
||||
HAL_GPIO_WritePin(LED_GPIO_Port, LED_Pin, GPIO_PIN_SET);
|
||||
HTPA_Init(&hi2c1);
|
||||
TTS_Init(&hcan);
|
||||
HAL_GPIO_WritePin(LED_GPIO_Port, LED_Pin, GPIO_PIN_RESET);
|
||||
HAL_CAN_Start(&hcan);
|
||||
|
||||
/* USER CODE END 2 */
|
||||
|
||||
@ -99,9 +113,21 @@ int main(void)
|
||||
/* USER CODE BEGIN WHILE */
|
||||
while (1)
|
||||
{
|
||||
//HTPA_ReadBlock(0x0A, 3, (uint8_t *)&htpa_blockData);
|
||||
HTPA_ReadSensor();
|
||||
HAL_Delay(1000);
|
||||
systicks = HAL_GetTick();
|
||||
if((systicks % 100) <= 1){
|
||||
if(blinkCount >= 9) {
|
||||
HAL_GPIO_WritePin(LED_GPIO_Port, LED_Pin, GPIO_PIN_SET);
|
||||
blinkCount = 0;
|
||||
}
|
||||
else {
|
||||
HAL_GPIO_WritePin(LED_GPIO_Port, LED_Pin, GPIO_PIN_RESET);
|
||||
blinkCount++;
|
||||
}
|
||||
HTPA_ReadSensor(pixelTemps);
|
||||
TTS_TireZones(pixelTemps,tireTemps);
|
||||
TTS_SendCAN(tireTemps);
|
||||
}
|
||||
|
||||
/* USER CODE END WHILE */
|
||||
|
||||
/* USER CODE BEGIN 3 */
|
||||
@ -122,13 +148,9 @@ void SystemClock_Config(void)
|
||||
/** 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.PLLMUL = RCC_PLL_MUL2;
|
||||
RCC_OscInitStruct.PLL.PREDIV = RCC_PREDIV_DIV1;
|
||||
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
|
||||
RCC_OscInitStruct.HSEState = RCC_HSE_ON;
|
||||
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_NONE;
|
||||
if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
|
||||
{
|
||||
Error_Handler();
|
||||
@ -138,7 +160,7 @@ void SystemClock_Config(void)
|
||||
*/
|
||||
RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
|
||||
|RCC_CLOCKTYPE_PCLK1;
|
||||
RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
|
||||
RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_HSE;
|
||||
RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
|
||||
RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1;
|
||||
|
||||
@ -154,6 +176,43 @@ void SystemClock_Config(void)
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* @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 = 2;
|
||||
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 = DISABLE;
|
||||
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 I2C1 Initialization Function
|
||||
* @param None
|
||||
@ -170,7 +229,7 @@ static void MX_I2C1_Init(void)
|
||||
|
||||
/* USER CODE END I2C1_Init 1 */
|
||||
hi2c1.Instance = I2C1;
|
||||
hi2c1.Init.Timing = 0x00000107;
|
||||
hi2c1.Init.Timing = 0x0010061A;
|
||||
hi2c1.Init.OwnAddress1 = 0;
|
||||
hi2c1.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT;
|
||||
hi2c1.Init.DualAddressMode = I2C_DUALADDRESS_DISABLE;
|
||||
@ -196,10 +255,6 @@ static void MX_I2C1_Init(void)
|
||||
{
|
||||
Error_Handler();
|
||||
}
|
||||
|
||||
/** I2C Fast mode Plus enable
|
||||
*/
|
||||
__HAL_SYSCFG_FASTMODEPLUS_ENABLE(I2C_FASTMODEPLUS_I2C1);
|
||||
/* USER CODE BEGIN I2C1_Init 2 */
|
||||
|
||||
/* USER CODE END I2C1_Init 2 */
|
||||
@ -213,12 +268,24 @@ static void MX_I2C1_Init(void)
|
||||
*/
|
||||
static void MX_GPIO_Init(void)
|
||||
{
|
||||
GPIO_InitTypeDef GPIO_InitStruct = {0};
|
||||
/* USER CODE BEGIN MX_GPIO_Init_1 */
|
||||
/* USER CODE END MX_GPIO_Init_1 */
|
||||
|
||||
/* GPIO Ports Clock Enable */
|
||||
__HAL_RCC_GPIOF_CLK_ENABLE();
|
||||
__HAL_RCC_GPIOA_CLK_ENABLE();
|
||||
__HAL_RCC_GPIOB_CLK_ENABLE();
|
||||
|
||||
/*Configure GPIO pin Output Level */
|
||||
HAL_GPIO_WritePin(LED_GPIO_Port, LED_Pin, GPIO_PIN_RESET);
|
||||
|
||||
/*Configure GPIO pin : LED_Pin */
|
||||
GPIO_InitStruct.Pin = LED_Pin;
|
||||
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
|
||||
GPIO_InitStruct.Pull = GPIO_NOPULL;
|
||||
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
|
||||
HAL_GPIO_Init(LED_GPIO_Port, &GPIO_InitStruct);
|
||||
|
||||
/* USER CODE BEGIN MX_GPIO_Init_2 */
|
||||
/* USER CODE END MX_GPIO_Init_2 */
|
||||
@ -236,6 +303,7 @@ void Error_Handler(void)
|
||||
{
|
||||
/* USER CODE BEGIN Error_Handler_Debug */
|
||||
/* User can add his own implementation to report the HAL error return state */
|
||||
HAL_GPIO_WritePin(LED_GPIO_Port, LED_Pin, GPIO_PIN_SET);
|
||||
__disable_irq();
|
||||
while (1)
|
||||
{
|
||||
|
||||
@ -1,3 +1,4 @@
|
||||
|
||||
/* USER CODE BEGIN Header */
|
||||
/**
|
||||
******************************************************************************
|
||||
@ -7,7 +8,7 @@
|
||||
******************************************************************************
|
||||
* @attention
|
||||
*
|
||||
* Copyright (c) 2023 STMicroelectronics.
|
||||
* Copyright (c) 2024 STMicroelectronics.
|
||||
* All rights reserved.
|
||||
*
|
||||
* This software is licensed under terms that can be found in the LICENSE file
|
||||
@ -20,7 +21,6 @@
|
||||
|
||||
/* Includes ------------------------------------------------------------------*/
|
||||
#include "main.h"
|
||||
|
||||
/* USER CODE BEGIN Includes */
|
||||
|
||||
/* USER CODE END Includes */
|
||||
@ -63,6 +63,7 @@
|
||||
*/
|
||||
void HAL_MspInit(void)
|
||||
{
|
||||
|
||||
/* USER CODE BEGIN MspInit 0 */
|
||||
|
||||
/* USER CODE END MspInit 0 */
|
||||
@ -77,6 +78,72 @@ void HAL_MspInit(void)
|
||||
/* USER CODE END MspInit 1 */
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief CAN MSP Initialization
|
||||
* This function configures the hardware resources used in this example
|
||||
* @param hcan: CAN handle pointer
|
||||
* @retval None
|
||||
*/
|
||||
void HAL_CAN_MspInit(CAN_HandleTypeDef* hcan)
|
||||
{
|
||||
GPIO_InitTypeDef GPIO_InitStruct = {0};
|
||||
if(hcan->Instance==CAN)
|
||||
{
|
||||
/* USER CODE BEGIN CAN_MspInit 0 */
|
||||
|
||||
/* USER CODE END CAN_MspInit 0 */
|
||||
/* Peripheral clock enable */
|
||||
__HAL_RCC_CAN1_CLK_ENABLE();
|
||||
|
||||
__HAL_RCC_GPIOA_CLK_ENABLE();
|
||||
/**CAN GPIO Configuration
|
||||
PA11 ------> CAN_RX
|
||||
PA12 ------> CAN_TX
|
||||
*/
|
||||
GPIO_InitStruct.Pin = GPIO_PIN_11|GPIO_PIN_12;
|
||||
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
|
||||
GPIO_InitStruct.Pull = GPIO_NOPULL;
|
||||
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
|
||||
GPIO_InitStruct.Alternate = GPIO_AF4_CAN;
|
||||
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
|
||||
|
||||
/* USER CODE BEGIN CAN_MspInit 1 */
|
||||
|
||||
/* USER CODE END CAN_MspInit 1 */
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief CAN MSP De-Initialization
|
||||
* This function freeze the hardware resources used in this example
|
||||
* @param hcan: CAN handle pointer
|
||||
* @retval None
|
||||
*/
|
||||
void HAL_CAN_MspDeInit(CAN_HandleTypeDef* hcan)
|
||||
{
|
||||
if(hcan->Instance==CAN)
|
||||
{
|
||||
/* USER CODE BEGIN CAN_MspDeInit 0 */
|
||||
|
||||
/* USER CODE END CAN_MspDeInit 0 */
|
||||
/* Peripheral clock disable */
|
||||
__HAL_RCC_CAN1_CLK_DISABLE();
|
||||
|
||||
/**CAN GPIO Configuration
|
||||
PA11 ------> CAN_RX
|
||||
PA12 ------> CAN_TX
|
||||
*/
|
||||
HAL_GPIO_DeInit(GPIOA, GPIO_PIN_11|GPIO_PIN_12);
|
||||
|
||||
/* USER CODE BEGIN CAN_MspDeInit 1 */
|
||||
|
||||
/* USER CODE END CAN_MspDeInit 1 */
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief I2C MSP Initialization
|
||||
* This function configures the hardware resources used in this example
|
||||
@ -92,23 +159,24 @@ void HAL_I2C_MspInit(I2C_HandleTypeDef* hi2c)
|
||||
|
||||
/* USER CODE END I2C1_MspInit 0 */
|
||||
|
||||
__HAL_RCC_GPIOF_CLK_ENABLE();
|
||||
__HAL_RCC_GPIOB_CLK_ENABLE();
|
||||
/**I2C1 GPIO Configuration
|
||||
PF0-OSC_IN ------> I2C1_SDA
|
||||
PF1-OSC_OUT ------> I2C1_SCL
|
||||
PB6 ------> I2C1_SCL
|
||||
PB7 ------> I2C1_SDA
|
||||
*/
|
||||
GPIO_InitStruct.Pin = GPIO_PIN_0|GPIO_PIN_1;
|
||||
GPIO_InitStruct.Pin = GPIO_PIN_6|GPIO_PIN_7;
|
||||
GPIO_InitStruct.Mode = GPIO_MODE_AF_OD;
|
||||
GPIO_InitStruct.Pull = GPIO_NOPULL;
|
||||
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
|
||||
GPIO_InitStruct.Alternate = GPIO_AF1_I2C1;
|
||||
HAL_GPIO_Init(GPIOF, &GPIO_InitStruct);
|
||||
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
|
||||
|
||||
/* Peripheral clock enable */
|
||||
__HAL_RCC_I2C1_CLK_ENABLE();
|
||||
/* USER CODE BEGIN I2C1_MspInit 1 */
|
||||
|
||||
/* USER CODE END I2C1_MspInit 1 */
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
@ -130,12 +198,12 @@ void HAL_I2C_MspDeInit(I2C_HandleTypeDef* hi2c)
|
||||
__HAL_RCC_I2C1_CLK_DISABLE();
|
||||
|
||||
/**I2C1 GPIO Configuration
|
||||
PF0-OSC_IN ------> I2C1_SDA
|
||||
PF1-OSC_OUT ------> I2C1_SCL
|
||||
PB6 ------> I2C1_SCL
|
||||
PB7 ------> I2C1_SDA
|
||||
*/
|
||||
HAL_GPIO_DeInit(GPIOF, GPIO_PIN_0);
|
||||
HAL_GPIO_DeInit(GPIOB, GPIO_PIN_6);
|
||||
|
||||
HAL_GPIO_DeInit(GPIOF, GPIO_PIN_1);
|
||||
HAL_GPIO_DeInit(GPIOB, GPIO_PIN_7);
|
||||
|
||||
/* USER CODE BEGIN I2C1_MspDeInit 1 */
|
||||
|
||||
|
||||
@ -6,7 +6,7 @@
|
||||
******************************************************************************
|
||||
* @attention
|
||||
*
|
||||
* Copyright (c) 2023 STMicroelectronics.
|
||||
* Copyright (c) 2024 STMicroelectronics.
|
||||
* All rights reserved.
|
||||
*
|
||||
* This software is licensed under terms that can be found in the LICENSE file
|
||||
@ -72,7 +72,7 @@ void NMI_Handler(void)
|
||||
|
||||
/* USER CODE END NonMaskableInt_IRQn 0 */
|
||||
/* USER CODE BEGIN NonMaskableInt_IRQn 1 */
|
||||
while (1)
|
||||
while (1)
|
||||
{
|
||||
}
|
||||
/* USER CODE END NonMaskableInt_IRQn 1 */
|
||||
|
||||
@ -10,7 +10,7 @@
|
||||
******************************************************************************
|
||||
* @attention
|
||||
*
|
||||
* Copyright (c) 2020-2022 STMicroelectronics.
|
||||
* Copyright (c) 2020-2023 STMicroelectronics.
|
||||
* All rights reserved.
|
||||
*
|
||||
* This software is licensed under terms that can be found in the LICENSE file
|
||||
|
||||
@ -10,7 +10,7 @@
|
||||
******************************************************************************
|
||||
* @attention
|
||||
*
|
||||
* Copyright (c) 2022 STMicroelectronics.
|
||||
* Copyright (c) 2023 STMicroelectronics.
|
||||
* All rights reserved.
|
||||
*
|
||||
* This software is licensed under terms that can be found in the LICENSE file
|
||||
|
||||
184
Core/Src/tts.c
Normal file
184
Core/Src/tts.c
Normal file
@ -0,0 +1,184 @@
|
||||
/*
|
||||
* tts.c
|
||||
*
|
||||
* Created on: Jun 28, 2024
|
||||
* Author: ted
|
||||
*/
|
||||
|
||||
|
||||
#include "tts.h"
|
||||
#include "HTPA_32x32d.h"
|
||||
|
||||
// CAN Frame:
|
||||
#define TTS_CANIDSTART 0x701; //
|
||||
CAN_HandleTypeDef* tts_hcan;
|
||||
CAN_TxHeaderTypeDef tts_canHeader;
|
||||
uint8_t tts_canData[8];
|
||||
uint32_t tts_canMailbox;
|
||||
|
||||
// Car / Tire info:
|
||||
TTS_SensorID tts_sensorid;
|
||||
TTS_CarID tts_carid;
|
||||
TTS_TireID tts_tireid;
|
||||
TTS_TireData tts_tiredb[4];
|
||||
|
||||
void TTS_Init(CAN_HandleTypeDef *hcan) {
|
||||
// initialize values
|
||||
TTS_LoadTireData();
|
||||
tts_sensorid = TTS_FL;
|
||||
tts_carid = FT24;
|
||||
tts_tireid = OZ7_SLICKS;
|
||||
|
||||
// init CAN
|
||||
tts_hcan = hcan;
|
||||
|
||||
// set CAN filter
|
||||
/*
|
||||
CAN_FilterTypeDef canfilterconfig;
|
||||
canfilterconfig.FilterActivation = CAN_FILTER_ENABLE;
|
||||
canfilterconfig.FilterBank = 0;
|
||||
canfilterconfig.FilterFIFOAssignment = CAN_FILTER_FIFO0;
|
||||
canfilterconfig.FilterIdHigh = 0x704<<5;
|
||||
canfilterconfig.FilterIdLow = 0x700<<5;
|
||||
canfilterconfig.FilterMaskIdHigh = 0x704<<5;
|
||||
canfilterconfig.FilterMaskIdLow = 0x700<<5;
|
||||
canfilterconfig.FilterMode = CAN_FILTERMODE_IDMASK;
|
||||
canfilterconfig.FilterScale = CAN_FILTERSCALE_32BIT;
|
||||
HAL_CAN_ConfigFilter(tts_hcan, &canfilterconfig);
|
||||
*/
|
||||
|
||||
|
||||
|
||||
// init CAN_Tx Frame
|
||||
//uint8_t canID = tts_sensorid + TTS_CANIDSTART;
|
||||
tts_canHeader.IDE = CAN_ID_STD;
|
||||
tts_canHeader.StdId = 0x701;
|
||||
tts_canHeader.DLC = 8;
|
||||
tts_canHeader.RTR = CAN_RTR_DATA;
|
||||
for(uint8_t i=0; i<8; i++) {
|
||||
tts_canData[i] = 0xFF;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
void TTS_SendCAN(uint32_t tireZones[5]) {
|
||||
// Outer left:
|
||||
tts_canData[0] = tireZones[0] & 0xFF;
|
||||
tts_canData[1] = (tireZones[0] >> 8) & 0xF;
|
||||
// Center left:
|
||||
tts_canData[1] = tts_canData[1] | ((tireZones[1] & 0xF) << 4);
|
||||
tts_canData[2] = (tireZones[1] >> 4) & 0xFF;
|
||||
// Center:
|
||||
tts_canData[3] = tireZones[2] & 0xFF;
|
||||
tts_canData[4] = (tireZones[2] >> 8) & 0xF;
|
||||
// Center right:
|
||||
tts_canData[4] = tts_canData[4] | ((tireZones[3] & 0xF) << 4);
|
||||
tts_canData[5] = (tireZones[3] >> 4) & 0xFF;
|
||||
// Center right:
|
||||
tts_canData[6] = tireZones[4] & 0xFF;
|
||||
tts_canData[7] = (tireZones[4] >> 8) & 0xF;
|
||||
// current tire selected:
|
||||
//tts_canData[7] = tts_canData[7] | ((tts_tireid & 0xF) << 4);
|
||||
|
||||
if(HAL_CAN_AddTxMessage(tts_hcan, &tts_canHeader, tts_canData, &tts_canMailbox) != HAL_OK) {
|
||||
Error_Handler();
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
void TTS_TireZones(uint32_t tempArray[32], uint32_t tireTempArray[5]) {
|
||||
for(uint8_t i = 0; i < 5; i++) {
|
||||
tireTempArray[i] = 0;
|
||||
}
|
||||
uint8_t zoneWidth[5] = {0};
|
||||
uint8_t tireid = tts_tireid;
|
||||
|
||||
for(uint8_t i = 0; i < 32; i++) {
|
||||
// outer right:
|
||||
if((i <= tts_tiredb[tts_tireid].outerRightStart) && (i >= tts_tiredb[tts_tireid].outerRightStop)) {
|
||||
tireTempArray[4] = tireTempArray[4] + tempArray[i];
|
||||
zoneWidth[4]++;
|
||||
}
|
||||
// center right:
|
||||
if((i <= tts_tiredb[tts_tireid].centerRightStart) && (i >= tts_tiredb[tts_tireid].centerRightStop)) {
|
||||
tireTempArray[3] = tireTempArray[3] + tempArray[i];
|
||||
zoneWidth[3]++;
|
||||
}
|
||||
// center:
|
||||
if((i <= tts_tiredb[tts_tireid].centerStart) && (i >= tts_tiredb[tts_tireid].centerStop)) {
|
||||
tireTempArray[2] = tireTempArray[2] + tempArray[i];
|
||||
zoneWidth[2]++;
|
||||
}
|
||||
// center left:
|
||||
if((i <= tts_tiredb[tts_tireid].centerLeftStart) && (i >= tts_tiredb[tts_tireid].centerLeftStop)) {
|
||||
tireTempArray[1] = tireTempArray[1] + tempArray[i];
|
||||
zoneWidth[1]++;
|
||||
}
|
||||
// outer left:
|
||||
if((i <= tts_tiredb[tts_tireid].outerLeftStart) && (i >= tts_tiredb[tts_tireid].outerLeftStop)) {
|
||||
tireTempArray[0] = tireTempArray[0] + tempArray[i];
|
||||
zoneWidth[0]++;
|
||||
}
|
||||
}
|
||||
|
||||
tireTempArray[4] = tireTempArray[4] / zoneWidth[4];
|
||||
tireTempArray[3] = tireTempArray[3] / zoneWidth[3];
|
||||
tireTempArray[2] = tireTempArray[2] / zoneWidth[2];
|
||||
tireTempArray[1] = tireTempArray[1] / zoneWidth[1];
|
||||
tireTempArray[0] = tireTempArray[0] / zoneWidth[0];
|
||||
|
||||
}
|
||||
|
||||
void TTS_LoadTireData(void) {
|
||||
tts_tiredb[UNKNOWN].id = UNKNOWN;
|
||||
tts_tiredb[UNKNOWN].epsilon = 84;
|
||||
tts_tiredb[UNKNOWN].outerLeftStart = 31;
|
||||
tts_tiredb[UNKNOWN].outerLeftStop = 26;
|
||||
tts_tiredb[UNKNOWN].centerLeftStart = 25;
|
||||
tts_tiredb[UNKNOWN].centerLeftStop = 20;
|
||||
tts_tiredb[UNKNOWN].centerStart = 19;
|
||||
tts_tiredb[UNKNOWN].centerStop = 12;
|
||||
tts_tiredb[UNKNOWN].centerRightStart = 11;
|
||||
tts_tiredb[UNKNOWN].centerRightStop = 6;
|
||||
tts_tiredb[UNKNOWN].outerRightStart = 5;
|
||||
tts_tiredb[UNKNOWN].outerRightStop = 0;
|
||||
|
||||
tts_tiredb[OZ7_SLICKS].id = OZ7_SLICKS;
|
||||
tts_tiredb[OZ7_SLICKS].epsilon = 84;
|
||||
tts_tiredb[OZ7_SLICKS].outerLeftStart = 27;
|
||||
tts_tiredb[OZ7_SLICKS].outerLeftStop = 25;
|
||||
tts_tiredb[OZ7_SLICKS].centerLeftStart = 24;
|
||||
tts_tiredb[OZ7_SLICKS].centerLeftStop = 19;
|
||||
tts_tiredb[OZ7_SLICKS].centerStart = 18;
|
||||
tts_tiredb[OZ7_SLICKS].centerStop = 13;
|
||||
tts_tiredb[OZ7_SLICKS].centerRightStart = 12;
|
||||
tts_tiredb[OZ7_SLICKS].centerRightStop = 7;
|
||||
tts_tiredb[OZ7_SLICKS].outerRightStart = 6;
|
||||
tts_tiredb[OZ7_SLICKS].outerRightStop = 4;
|
||||
|
||||
tts_tiredb[OZ7_RAIN].id = OZ7_RAIN;
|
||||
tts_tiredb[OZ7_RAIN].epsilon = 84;
|
||||
tts_tiredb[OZ7_RAIN].outerLeftStart = 31;
|
||||
tts_tiredb[OZ7_RAIN].outerLeftStop = 26;
|
||||
tts_tiredb[OZ7_RAIN].centerLeftStart = 25;
|
||||
tts_tiredb[OZ7_RAIN].centerLeftStop = 20;
|
||||
tts_tiredb[OZ7_RAIN].centerStart = 19;
|
||||
tts_tiredb[OZ7_RAIN].centerStop = 12;
|
||||
tts_tiredb[OZ7_RAIN].centerRightStart = 11;
|
||||
tts_tiredb[OZ7_RAIN].centerRightStop = 6;
|
||||
tts_tiredb[OZ7_RAIN].outerRightStart = 5;
|
||||
tts_tiredb[OZ7_RAIN].outerRightStop = 0;
|
||||
|
||||
tts_tiredb[JP8_SLICKS].id = JP8_SLICKS;
|
||||
tts_tiredb[JP8_SLICKS].epsilon = 84;
|
||||
tts_tiredb[JP8_SLICKS].outerLeftStart = 28;
|
||||
tts_tiredb[JP8_SLICKS].outerLeftStop = 24;
|
||||
tts_tiredb[JP8_SLICKS].centerLeftStart = 23;
|
||||
tts_tiredb[JP8_SLICKS].centerLeftStop = 19;
|
||||
tts_tiredb[JP8_SLICKS].centerStart = 18;
|
||||
tts_tiredb[JP8_SLICKS].centerStop = 13;
|
||||
tts_tiredb[JP8_SLICKS].centerRightStart = 12;
|
||||
tts_tiredb[JP8_SLICKS].centerRightStop = 8;
|
||||
tts_tiredb[JP8_SLICKS].outerRightStart = 7;
|
||||
tts_tiredb[JP8_SLICKS].outerRightStop = 3;
|
||||
}
|
||||
309
Core/Startup/startup_stm32f042k6ux.s
Normal file
309
Core/Startup/startup_stm32f042k6ux.s
Normal file
@ -0,0 +1,309 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
* @file startup_stm32f042x6.s
|
||||
* @author MCD Application Team
|
||||
* @brief STM32F042x4/STM32F042x6 devices vector table for GCC toolchain.
|
||||
* This module performs:
|
||||
* - Set the initial SP
|
||||
* - Set the initial PC == Reset_Handler,
|
||||
* - Set the vector table entries with the exceptions ISR address
|
||||
* - Branches to main in the C library (which eventually
|
||||
* calls main()).
|
||||
* After Reset the Cortex-M0 processor is in Thread mode,
|
||||
* priority is Privileged, and the Stack is set to Main.
|
||||
******************************************************************************
|
||||
* @attention
|
||||
*
|
||||
* Copyright (c) 2016 STMicroelectronics.
|
||||
* All rights reserved.
|
||||
*
|
||||
* This software is licensed under terms that can be found in the LICENSE file
|
||||
* in the root directory of this software component.
|
||||
* If no LICENSE file comes with this software, it is provided AS-IS.
|
||||
*
|
||||
******************************************************************************
|
||||
*/
|
||||
|
||||
.syntax unified
|
||||
.cpu cortex-m0
|
||||
.fpu softvfp
|
||||
.thumb
|
||||
|
||||
.global g_pfnVectors
|
||||
.global Default_Handler
|
||||
|
||||
/* start address for the initialization values of the .data section.
|
||||
defined in linker script */
|
||||
.word _sidata
|
||||
/* start address for the .data section. defined in linker script */
|
||||
.word _sdata
|
||||
/* end address for the .data section. defined in linker script */
|
||||
.word _edata
|
||||
/* start address for the .bss section. defined in linker script */
|
||||
.word _sbss
|
||||
/* end address for the .bss section. defined in linker script */
|
||||
.word _ebss
|
||||
|
||||
/**
|
||||
* @brief This is the code that gets called when the processor first
|
||||
* starts execution following a reset event. Only the absolutely
|
||||
* necessary set is performed, after which the application
|
||||
* supplied main() routine is called.
|
||||
* @param None
|
||||
* @retval : None
|
||||
*/
|
||||
|
||||
.section .text.Reset_Handler
|
||||
.weak Reset_Handler
|
||||
.type Reset_Handler, %function
|
||||
Reset_Handler:
|
||||
ldr r0, =_estack
|
||||
mov sp, r0 /* set stack pointer */
|
||||
|
||||
/* Call the clock system initialization function.*/
|
||||
bl SystemInit
|
||||
|
||||
/*Check if boot space corresponds to test memory*/
|
||||
|
||||
LDR R0,=0x00000004
|
||||
LDR R1, [R0]
|
||||
LSRS R1, R1, #24
|
||||
LDR R2,=0x1F
|
||||
CMP R1, R2
|
||||
BNE ApplicationStart
|
||||
|
||||
/*SYSCFG clock enable*/
|
||||
|
||||
LDR R0,=0x40021018
|
||||
LDR R1,=0x00000001
|
||||
STR R1, [R0]
|
||||
|
||||
/*Set CFGR1 register with flash memory remap at address 0*/
|
||||
LDR R0,=0x40010000
|
||||
LDR R1,=0x00000000
|
||||
STR R1, [R0]
|
||||
|
||||
ApplicationStart:
|
||||
/* Copy the data segment initializers from flash to SRAM */
|
||||
ldr r0, =_sdata
|
||||
ldr r1, =_edata
|
||||
ldr r2, =_sidata
|
||||
movs r3, #0
|
||||
b LoopCopyDataInit
|
||||
|
||||
CopyDataInit:
|
||||
ldr r4, [r2, r3]
|
||||
str r4, [r0, r3]
|
||||
adds r3, r3, #4
|
||||
|
||||
LoopCopyDataInit:
|
||||
adds r4, r0, r3
|
||||
cmp r4, r1
|
||||
bcc CopyDataInit
|
||||
|
||||
/* Zero fill the bss segment. */
|
||||
ldr r2, =_sbss
|
||||
ldr r4, =_ebss
|
||||
movs r3, #0
|
||||
b LoopFillZerobss
|
||||
|
||||
FillZerobss:
|
||||
str r3, [r2]
|
||||
adds r2, r2, #4
|
||||
|
||||
LoopFillZerobss:
|
||||
cmp r2, r4
|
||||
bcc FillZerobss
|
||||
|
||||
/* Call static constructors */
|
||||
bl __libc_init_array
|
||||
/* Call the application's entry point.*/
|
||||
bl main
|
||||
|
||||
LoopForever:
|
||||
b LoopForever
|
||||
|
||||
|
||||
.size Reset_Handler, .-Reset_Handler
|
||||
|
||||
/**
|
||||
* @brief This is the code that gets called when the processor receives an
|
||||
* unexpected interrupt. This simply enters an infinite loop, preserving
|
||||
* the system state for examination by a debugger.
|
||||
*
|
||||
* @param None
|
||||
* @retval : None
|
||||
*/
|
||||
.section .text.Default_Handler,"ax",%progbits
|
||||
Default_Handler:
|
||||
Infinite_Loop:
|
||||
b Infinite_Loop
|
||||
.size Default_Handler, .-Default_Handler
|
||||
/******************************************************************************
|
||||
*
|
||||
* The minimal vector table for a Cortex M0. Note that the proper constructs
|
||||
* must be placed on this to ensure that it ends up at physical address
|
||||
* 0x0000.0000.
|
||||
*
|
||||
******************************************************************************/
|
||||
.section .isr_vector,"a",%progbits
|
||||
.type g_pfnVectors, %object
|
||||
.size g_pfnVectors, .-g_pfnVectors
|
||||
|
||||
|
||||
g_pfnVectors:
|
||||
.word _estack
|
||||
.word Reset_Handler
|
||||
.word NMI_Handler
|
||||
.word HardFault_Handler
|
||||
.word 0
|
||||
.word 0
|
||||
.word 0
|
||||
.word 0
|
||||
.word 0
|
||||
.word 0
|
||||
.word 0
|
||||
.word SVC_Handler
|
||||
.word 0
|
||||
.word 0
|
||||
.word PendSV_Handler
|
||||
.word SysTick_Handler
|
||||
.word WWDG_IRQHandler /* Window WatchDog */
|
||||
.word PVD_VDDIO2_IRQHandler /* PVD and VDDIO2 through EXTI Line detect */
|
||||
.word RTC_IRQHandler /* RTC through the EXTI line */
|
||||
.word FLASH_IRQHandler /* FLASH */
|
||||
.word RCC_CRS_IRQHandler /* RCC and CRS */
|
||||
.word EXTI0_1_IRQHandler /* EXTI Line 0 and 1 */
|
||||
.word EXTI2_3_IRQHandler /* EXTI Line 2 and 3 */
|
||||
.word EXTI4_15_IRQHandler /* EXTI Line 4 to 15 */
|
||||
.word TSC_IRQHandler /* TSC */
|
||||
.word DMA1_Channel1_IRQHandler /* DMA1 Channel 1 */
|
||||
.word DMA1_Channel2_3_IRQHandler /* DMA1 Channel 2 and Channel 3 */
|
||||
.word DMA1_Channel4_5_IRQHandler /* DMA1 Channel 4 and Channel 5 */
|
||||
.word ADC1_IRQHandler /* ADC1 */
|
||||
.word TIM1_BRK_UP_TRG_COM_IRQHandler /* TIM1 Break, Update, Trigger and Commutation */
|
||||
.word TIM1_CC_IRQHandler /* TIM1 Capture Compare */
|
||||
.word TIM2_IRQHandler /* TIM2 */
|
||||
.word TIM3_IRQHandler /* TIM3 */
|
||||
.word 0 /* Reserved */
|
||||
.word 0 /* Reserved */
|
||||
.word TIM14_IRQHandler /* TIM14 */
|
||||
.word 0 /* Reserved */
|
||||
.word TIM16_IRQHandler /* TIM16 */
|
||||
.word TIM17_IRQHandler /* TIM17 */
|
||||
.word I2C1_IRQHandler /* I2C1 */
|
||||
.word 0 /* Reserved */
|
||||
.word SPI1_IRQHandler /* SPI1 */
|
||||
.word SPI2_IRQHandler /* SPI2 */
|
||||
.word USART1_IRQHandler /* USART1 */
|
||||
.word USART2_IRQHandler /* USART2 */
|
||||
.word 0 /* Reserved */
|
||||
.word CEC_CAN_IRQHandler /* CEC and CAN */
|
||||
.word USB_IRQHandler /* USB */
|
||||
|
||||
/*******************************************************************************
|
||||
*
|
||||
* Provide weak aliases for each Exception handler to the Default_Handler.
|
||||
* As they are weak aliases, any function with the same name will override
|
||||
* this definition.
|
||||
*
|
||||
*******************************************************************************/
|
||||
|
||||
.weak NMI_Handler
|
||||
.thumb_set NMI_Handler,Default_Handler
|
||||
|
||||
.weak HardFault_Handler
|
||||
.thumb_set HardFault_Handler,Default_Handler
|
||||
|
||||
.weak SVC_Handler
|
||||
.thumb_set SVC_Handler,Default_Handler
|
||||
|
||||
.weak PendSV_Handler
|
||||
.thumb_set PendSV_Handler,Default_Handler
|
||||
|
||||
.weak SysTick_Handler
|
||||
.thumb_set SysTick_Handler,Default_Handler
|
||||
|
||||
.weak WWDG_IRQHandler
|
||||
.thumb_set WWDG_IRQHandler,Default_Handler
|
||||
|
||||
.weak PVD_VDDIO2_IRQHandler
|
||||
.thumb_set PVD_VDDIO2_IRQHandler,Default_Handler
|
||||
|
||||
.weak RTC_IRQHandler
|
||||
.thumb_set RTC_IRQHandler,Default_Handler
|
||||
|
||||
.weak FLASH_IRQHandler
|
||||
.thumb_set FLASH_IRQHandler,Default_Handler
|
||||
|
||||
.weak RCC_CRS_IRQHandler
|
||||
.thumb_set RCC_CRS_IRQHandler,Default_Handler
|
||||
|
||||
.weak EXTI0_1_IRQHandler
|
||||
.thumb_set EXTI0_1_IRQHandler,Default_Handler
|
||||
|
||||
.weak EXTI2_3_IRQHandler
|
||||
.thumb_set EXTI2_3_IRQHandler,Default_Handler
|
||||
|
||||
.weak EXTI4_15_IRQHandler
|
||||
.thumb_set EXTI4_15_IRQHandler,Default_Handler
|
||||
|
||||
.weak TSC_IRQHandler
|
||||
.thumb_set TSC_IRQHandler,Default_Handler
|
||||
|
||||
.weak DMA1_Channel1_IRQHandler
|
||||
.thumb_set DMA1_Channel1_IRQHandler,Default_Handler
|
||||
|
||||
.weak DMA1_Channel2_3_IRQHandler
|
||||
.thumb_set DMA1_Channel2_3_IRQHandler,Default_Handler
|
||||
|
||||
.weak DMA1_Channel4_5_IRQHandler
|
||||
.thumb_set DMA1_Channel4_5_IRQHandler,Default_Handler
|
||||
|
||||
.weak ADC1_IRQHandler
|
||||
.thumb_set ADC1_IRQHandler,Default_Handler
|
||||
|
||||
.weak TIM1_BRK_UP_TRG_COM_IRQHandler
|
||||
.thumb_set TIM1_BRK_UP_TRG_COM_IRQHandler,Default_Handler
|
||||
|
||||
.weak TIM1_CC_IRQHandler
|
||||
.thumb_set TIM1_CC_IRQHandler,Default_Handler
|
||||
|
||||
.weak TIM2_IRQHandler
|
||||
.thumb_set TIM2_IRQHandler,Default_Handler
|
||||
|
||||
.weak TIM3_IRQHandler
|
||||
.thumb_set TIM3_IRQHandler,Default_Handler
|
||||
|
||||
.weak TIM14_IRQHandler
|
||||
.thumb_set TIM14_IRQHandler,Default_Handler
|
||||
|
||||
.weak TIM16_IRQHandler
|
||||
.thumb_set TIM16_IRQHandler,Default_Handler
|
||||
|
||||
.weak TIM17_IRQHandler
|
||||
.thumb_set TIM17_IRQHandler,Default_Handler
|
||||
|
||||
.weak I2C1_IRQHandler
|
||||
.thumb_set I2C1_IRQHandler,Default_Handler
|
||||
|
||||
.weak SPI1_IRQHandler
|
||||
.thumb_set SPI1_IRQHandler,Default_Handler
|
||||
|
||||
.weak SPI2_IRQHandler
|
||||
.thumb_set SPI2_IRQHandler,Default_Handler
|
||||
|
||||
.weak USART1_IRQHandler
|
||||
.thumb_set USART1_IRQHandler,Default_Handler
|
||||
|
||||
.weak USART2_IRQHandler
|
||||
.thumb_set USART2_IRQHandler,Default_Handler
|
||||
|
||||
.weak CEC_CAN_IRQHandler
|
||||
.thumb_set CEC_CAN_IRQHandler,Default_Handler
|
||||
|
||||
.weak USB_IRQHandler
|
||||
.thumb_set USB_IRQHandler,Default_Handler
|
||||
|
||||
|
||||
|
||||
Reference in New Issue
Block a user