tire zone definitions and CAN communication
This commit is contained in:
Tim-Erik Düntzsch
@ -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)
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return HTPA_calcPowerTwo(power / 2) * HTPA_calcPowerTwo(power / 2);
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else
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return 2 * HTPA_calcPowerTwo(power / 2) * HTPA_calcPowerTwo(power / 2);
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}
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void HTPA_ReadSensor(uint32_t dataArray[32]) {
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uint8_t config = 0;
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/*
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* Read top array half of block3 with PTAT
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@ -137,29 +256,75 @@ void HTPA_ReadSensor(void) {
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* Sort sensor data and assign to pixels
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*/
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for(int i=0; i<32; i++) {
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/*
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pixel_topBlock[0][i] = (data_topBlock[2*i + 2] << 8) | data_topBlock[2*i + 3];
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pixel_topBlock[1][i] = (data_topBlock[2*(i+32) + 2] << 8) | data_topBlock[2*(i+32) + 3];
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pixel_topBlock[2][i] = (data_topBlock[2*(i+64) + 2] << 8) | data_topBlock[2*(i+64) + 3];
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pixel_topBlock[3][i] = (data_topBlock[2*(i+96) + 2] << 8) | data_topBlock[2*(i+96) + 3];
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*/
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pixel_topBlock[i] = (data_topBlock[2*(i+32*HTPA_ROWSELECTION) + 2] << 8) | data_topBlock[2*(i+32*HTPA_ROWSELECTION) + 3];
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/*
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elOffset[0][i] = (elOffset_topBlock[2*i + 2] << 8) | elOffset_topBlock[2*i + 3];
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elOffset[1][i] = (elOffset_topBlock[2*(i+32) + 2] << 8) | elOffset_topBlock[2*(i+32) + 3];
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elOffset[2][i] = (elOffset_topBlock[2*(i+64) + 2] << 8) | elOffset_topBlock[2*(i+64) + 3];
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elOffset[3][i] = (elOffset_topBlock[2*(i+96) + 2] << 8) | elOffset_topBlock[2*(i+96) + 3];
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*/
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elOffset[i] = (elOffset_topBlock[2*(i+32*HTPA_ROWSELECTION) + 2] << 8) | elOffset_topBlock[2*(i+32*HTPA_ROWSELECTION) + 3];
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}
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/*
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* calculate temperature
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*
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*/
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int64_t vij_pixc_and_pcscaleval;
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int64_t vdd_calc_steps;
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uint16_t table_row, table_col;
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int32_t vx, vy, ydist, dta;
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// 11.1 ambient temperature:
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float t_ambient = ptat_topBlock*ptat_gradient + ptat_offset;
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for(int i=0; i<4; i++) {
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for(int j=0; j<32; j++) {
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// 11.2 thermal offset:
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vij_comp[i][j] = vij[i][j] - (thGrad[i][j]*ptat_topBlock/pow(2, gradScale)) - thOffset[i][j];
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// 11.3 electrical offset:
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vij_compElec[i][j] = vij[i][j] - elOffset[(i+j*32)%128];
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// 11.4 Vdd compensation:
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vij_compVdd[i][j] = vij_compElec[i][j] * ...
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// 11.5 calculate object temperature
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ambient_temperature = ptat_topBlock * ptatgr + ptatoff; // value in dK
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// find column of lookup table (ambient temperature)
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for(uint8_t i = 0; i < NROFTAELEMENTS; i++) {
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if(ambient_temperature > XTATemps[i]) {
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table_col = i;
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}
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}
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*/
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dta = ambient_temperature - XTATemps[table_col];
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ydist = (int32_t)ADEQUIDISTANCE;
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for(int i=0; i<32; i++) {
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// 11.2 thermal offset:
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vij_comp[i] = pixel_topBlock[i] - (thgrad[i] * ptat_topBlock / gradscale_div) - thoffset[i];
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// 11.3 electrical offset:
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vij_comp_s[i] = vij_comp[i] - elOffset[i];
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// 11.4 Vdd compensation:
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vdd_calc_steps = vddcompgrad[i] * ptat_topBlock;
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vdd_calc_steps = vdd_calc_steps / vddscgrad_div;
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vdd_calc_steps = vdd_calc_steps + vddcompoff[i];
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vdd_calc_steps = vdd_calc_steps * (vdd_topBlock - vddth1 - ((vddth2 - vddth1) / (ptatth2 - ptatth1)) * (ptat_topBlock - ptatth1));
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vdd_calc_steps = vdd_calc_steps / vddscoff_div;
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vij_vddcomp[i] = vij_comp_s[i] - vdd_calc_steps;
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// 11.5 calculate object temperature
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vij_pixc_and_pcscaleval = (int64_t)vij_vddcomp[i] * (int64_t)PCSCALEVAL;
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vij_pixc[i] = (int32_t)(vij_pixc_and_pcscaleval / (int64_t)pixcij[i]);
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// find temperature in lookup table and do bilinear interpolation
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table_row = vij_pixc[i] + TABLEOFFSET;
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table_row = table_row >> ADEXPBITS;
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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];
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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];
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temp_pix[i] = (uint32_t)((vy - vx) * ((int32_t)(vij_pixc[i] + TABLEOFFSET) - (int32_t)YADValues[table_row]) / ydist + (int32_t)vx);
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// --- GLOBAL OFFSET ---
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temp_pix[i] = temp_pix[i] + globaloff;
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dataArray[i] = temp_pix[i] - 2731;
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}
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}
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/**
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@ -182,7 +347,6 @@ void HTPA_WriteRegister(uint8_t address, uint8_t byte){
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* @param address: register address
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* @param pData: pointer to output data array
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* @param length: length of data to be read
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* @return
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*/
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void HTPA_ReadRegister(uint8_t address, uint8_t *pData, uint16_t length){
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HAL_I2C_Mem_Read(htpa_hi2c, (HTPA_SENSOR_ADDRESS << 1), address, I2C_MEMADD_SIZE_8BIT, pData, length, HTPA_I2C_MAX_DELAY);
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@ -205,3 +369,16 @@ void HTPA_GetStatus(void){
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htpa_statusReg.blind = (i2c_readData >> 1) & 0x01;
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htpa_statusReg.eoc = i2c_readData & 0x01;
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}
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/**
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* @brief Get status of sensor
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*
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* Reads the sensors status register and stores the information in
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* the htpa_statusReg variable
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*
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*/
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uint8_t HTPA_ReadEEPROM_byte(uint16_t address){
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uint8_t data = 0;
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HAL_I2C_Mem_Read(htpa_hi2c, (HTPA_EEPROM_ADDRESS << 1), address, I2C_MEMADD_SIZE_16BIT, &data, 1, HTPA_I2C_MAX_DELAY);
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return data;
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}
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106
Core/Src/main.c
106
Core/Src/main.c
@ -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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@ -21,8 +21,8 @@
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/* Private includes ----------------------------------------------------------*/
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/* 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;
|
||||
}
|
||||
Reference in New Issue
Block a user