441 lines
13 KiB
C
441 lines
13 KiB
C
/* USER CODE BEGIN Header */
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/**
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******************************************************************************
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* @file : main.c
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* @brief : Main program body
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******************************************************************************
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* @attention
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*
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* Copyright (c) 2022 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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* in the root directory of this software component.
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* If no LICENSE file comes with this software, it is provided AS-IS.
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*
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******************************************************************************
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*/
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/* USER CODE END Header */
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/* Includes ------------------------------------------------------------------*/
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#include "main.h"
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/* Private includes ----------------------------------------------------------*/
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/* USER CODE BEGIN Includes */
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#include "AIR_State_Maschine.h"
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#include "CAN_Communication.h"
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#include "Clock_Sync.h"
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#include "Error_Check.h"
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#include "Slave_Monitoring.h"
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/* USER CODE END Includes */
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/* Private typedef -----------------------------------------------------------*/
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/* USER CODE BEGIN PTD */
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/* USER CODE END PTD */
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/* Private define ------------------------------------------------------------*/
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/* USER CODE BEGIN PD */
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/* USER CODE END PD */
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/* Private macro -------------------------------------------------------------*/
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/* USER CODE BEGIN PM */
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/* USER CODE END PM */
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/* Private variables ---------------------------------------------------------*/
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FDCAN_HandleTypeDef hfdcan1;
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TIM_HandleTypeDef htim1;
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TIM_HandleTypeDef htim3;
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TIM_HandleTypeDef htim8;
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/* USER CODE BEGIN PV */
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/* USER CODE END PV */
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/* Private function prototypes -----------------------------------------------*/
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void SystemClock_Config(void);
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static void MX_GPIO_Init(void);
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static void MX_TIM3_Init(void);
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static void MX_FDCAN1_Init(void);
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static void MX_TIM1_Init(void);
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static void MX_TIM8_Init(void);
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/* USER CODE BEGIN PFP */
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void setAMSError(void);
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/* USER CODE END PFP */
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/* Private user code ---------------------------------------------------------*/
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/* USER CODE BEGIN 0 */
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AIRStateHandler airstates;
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ErrorFlags errorflags;
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AMSErrorHandle defaulterrorhandle = {0};
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/* USER CODE END 0 */
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/**
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* @brief The application entry point.
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* @retval int
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*/
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int main(void) {
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/* USER CODE BEGIN 1 */
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/* USER CODE END 1 */
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/* MCU Configuration--------------------------------------------------------*/
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/* Reset of all peripherals, Initializes the Flash interface and the Systick.
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*/
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HAL_Init();
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/* USER CODE BEGIN Init */
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/* USER CODE END Init */
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/* Configure the system clock */
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SystemClock_Config();
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/* USER CODE BEGIN SysInit */
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/* USER CODE END SysInit */
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/* Initialize all configured peripherals */
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MX_GPIO_Init();
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MX_TIM3_Init();
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MX_FDCAN1_Init();
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MX_TIM1_Init();
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MX_TIM8_Init();
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/* USER CODE BEGIN 2 */
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airstates = init_AIR_State_Maschine();
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CAN_Init(&hfdcan1);
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clock_sync_init(&hfdcan1, &htim1, &htim8);
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initSlaves();
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/* USER CODE END 2 */
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/* Infinite loop */
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/* USER CODE BEGIN WHILE */
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while (1) {
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/* USER CODE END WHILE */
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/* USER CODE BEGIN 3 */
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CAN_Receive(&hfdcan1); // Run CAN Event Loop
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errorflags = CheckErrorFlags(); // Check for Errors
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Update_AIR_Info(&airstates);
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checkSlaveTimeout(); // check for Slave Timeout
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Update_AIR_State(&airstates); // Update AIR State Maschine
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}
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/* USER CODE END 3 */
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}
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/**
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* @brief System Clock Configuration
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* @retval None
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*/
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void SystemClock_Config(void) {
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RCC_OscInitTypeDef RCC_OscInitStruct = {0};
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RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
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/** Configure the main internal regulator output voltage
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*/
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HAL_PWREx_ControlVoltageScaling(PWR_REGULATOR_VOLTAGE_SCALE1);
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/** Initializes the RCC Oscillators according to the specified parameters
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* in the RCC_OscInitTypeDef structure.
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*/
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RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
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RCC_OscInitStruct.HSEState = RCC_HSE_ON;
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RCC_OscInitStruct.PLL.PLLState = RCC_PLL_NONE;
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if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK) {
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Error_Handler();
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}
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/** Initializes the CPU, AHB and APB buses clocks
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*/
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RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK | RCC_CLOCKTYPE_SYSCLK |
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RCC_CLOCKTYPE_PCLK1 | RCC_CLOCKTYPE_PCLK2;
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RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_HSE;
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RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
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RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1;
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RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
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if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_0) != HAL_OK) {
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Error_Handler();
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}
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}
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/**
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* @brief FDCAN1 Initialization Function
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* @param None
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* @retval None
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*/
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static void MX_FDCAN1_Init(void) {
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/* USER CODE BEGIN FDCAN1_Init 0 */
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/* USER CODE END FDCAN1_Init 0 */
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/* USER CODE BEGIN FDCAN1_Init 1 */
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/* USER CODE END FDCAN1_Init 1 */
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hfdcan1.Instance = FDCAN1;
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hfdcan1.Init.ClockDivider = FDCAN_CLOCK_DIV1;
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hfdcan1.Init.FrameFormat = FDCAN_FRAME_CLASSIC;
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hfdcan1.Init.Mode = FDCAN_MODE_NORMAL;
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hfdcan1.Init.AutoRetransmission = ENABLE;
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hfdcan1.Init.TransmitPause = DISABLE;
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hfdcan1.Init.ProtocolException = DISABLE;
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hfdcan1.Init.NominalPrescaler = 2;
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hfdcan1.Init.NominalSyncJumpWidth = 4;
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hfdcan1.Init.NominalTimeSeg1 = 13;
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hfdcan1.Init.NominalTimeSeg2 = 2;
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hfdcan1.Init.DataPrescaler = 2;
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hfdcan1.Init.DataSyncJumpWidth = 4;
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hfdcan1.Init.DataTimeSeg1 = 13;
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hfdcan1.Init.DataTimeSeg2 = 2;
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hfdcan1.Init.StdFiltersNbr = 0;
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hfdcan1.Init.ExtFiltersNbr = 0;
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hfdcan1.Init.TxFifoQueueMode = FDCAN_TX_FIFO_OPERATION;
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if (HAL_FDCAN_Init(&hfdcan1) != HAL_OK) {
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Error_Handler();
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}
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/* USER CODE BEGIN FDCAN1_Init 2 */
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/* USER CODE END FDCAN1_Init 2 */
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}
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/**
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* @brief TIM1 Initialization Function
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* @param None
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* @retval None
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*/
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static void MX_TIM1_Init(void) {
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/* USER CODE BEGIN TIM1_Init 0 */
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/* USER CODE END TIM1_Init 0 */
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TIM_ClockConfigTypeDef sClockSourceConfig = {0};
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TIM_MasterConfigTypeDef sMasterConfig = {0};
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/* USER CODE BEGIN TIM1_Init 1 */
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/* USER CODE END TIM1_Init 1 */
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htim1.Instance = TIM1;
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htim1.Init.Prescaler = 1599;
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htim1.Init.CounterMode = TIM_COUNTERMODE_UP;
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htim1.Init.Period = 9999;
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htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
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htim1.Init.RepetitionCounter = 0;
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htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
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if (HAL_TIM_Base_Init(&htim1) != HAL_OK) {
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Error_Handler();
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}
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sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
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if (HAL_TIM_ConfigClockSource(&htim1, &sClockSourceConfig) != HAL_OK) {
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Error_Handler();
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}
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sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
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sMasterConfig.MasterOutputTrigger2 = TIM_TRGO2_RESET;
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sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
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if (HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig) != HAL_OK) {
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Error_Handler();
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}
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/* USER CODE BEGIN TIM1_Init 2 */
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/* USER CODE END TIM1_Init 2 */
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}
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/**
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* @brief TIM3 Initialization Function
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* @param None
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* @retval None
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*/
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static void MX_TIM3_Init(void) {
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/* USER CODE BEGIN TIM3_Init 0 */
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/* USER CODE END TIM3_Init 0 */
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TIM_MasterConfigTypeDef sMasterConfig = {0};
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TIM_OC_InitTypeDef sConfigOC = {0};
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/* USER CODE BEGIN TIM3_Init 1 */
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/* USER CODE END TIM3_Init 1 */
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htim3.Instance = TIM3;
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htim3.Init.Prescaler = 0;
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htim3.Init.CounterMode = TIM_COUNTERMODE_UP;
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htim3.Init.Period = 65535;
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htim3.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
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htim3.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
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if (HAL_TIM_PWM_Init(&htim3) != HAL_OK) {
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Error_Handler();
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}
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sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
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sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
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if (HAL_TIMEx_MasterConfigSynchronization(&htim3, &sMasterConfig) != HAL_OK) {
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Error_Handler();
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}
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sConfigOC.OCMode = TIM_OCMODE_PWM1;
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sConfigOC.Pulse = 0;
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sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
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sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
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if (HAL_TIM_PWM_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_4) != HAL_OK) {
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Error_Handler();
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}
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/* USER CODE BEGIN TIM3_Init 2 */
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/* USER CODE END TIM3_Init 2 */
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HAL_TIM_MspPostInit(&htim3);
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}
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/**
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* @brief TIM8 Initialization Function
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* @param None
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* @retval None
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*/
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static void MX_TIM8_Init(void) {
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/* USER CODE BEGIN TIM8_Init 0 */
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/* USER CODE END TIM8_Init 0 */
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TIM_ClockConfigTypeDef sClockSourceConfig = {0};
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TIM_MasterConfigTypeDef sMasterConfig = {0};
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/* USER CODE BEGIN TIM8_Init 1 */
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/* USER CODE END TIM8_Init 1 */
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htim8.Instance = TIM8;
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htim8.Init.Prescaler = 1599;
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htim8.Init.CounterMode = TIM_COUNTERMODE_UP;
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htim8.Init.Period = 999;
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htim8.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
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htim8.Init.RepetitionCounter = 0;
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htim8.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
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if (HAL_TIM_Base_Init(&htim8) != HAL_OK) {
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Error_Handler();
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}
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sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
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if (HAL_TIM_ConfigClockSource(&htim8, &sClockSourceConfig) != HAL_OK) {
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Error_Handler();
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}
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sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
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sMasterConfig.MasterOutputTrigger2 = TIM_TRGO2_RESET;
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sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
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if (HAL_TIMEx_MasterConfigSynchronization(&htim8, &sMasterConfig) != HAL_OK) {
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Error_Handler();
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}
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/* USER CODE BEGIN TIM8_Init 2 */
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/* USER CODE END TIM8_Init 2 */
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}
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/**
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* @brief GPIO Initialization Function
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* @param None
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* @retval None
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*/
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static void MX_GPIO_Init(void) {
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GPIO_InitTypeDef GPIO_InitStruct = {0};
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/* GPIO Ports Clock Enable */
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__HAL_RCC_GPIOF_CLK_ENABLE();
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__HAL_RCC_GPIOA_CLK_ENABLE();
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__HAL_RCC_GPIOB_CLK_ENABLE();
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/*Configure GPIO pin Output Level */
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HAL_GPIO_WritePin(GPIOA, NEG_AIR_OPEN_Pin | STATUS_LED_Pin | NEG_AIR_CTRL_Pin,
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GPIO_PIN_RESET);
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/*Configure GPIO pin Output Level */
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HAL_GPIO_WritePin(GPIOB,
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AMS_ERR_Pin | BOOT0_FF_CLK_Pin | BOOT0_FF_DATA_Pin |
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SLAVES_ENABLE_Pin | PRECHARGE_CTRL_Pin |
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POS_AIR_CTRL_Pin,
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GPIO_PIN_RESET);
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/*Configure GPIO pins : HIGH_SIDE_OPEN_Pin HV_INACTIVE_Pin NEG_SIDE_ERR_Pin
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* POS_SIDE_ERR_Pin */
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GPIO_InitStruct.Pin = HIGH_SIDE_OPEN_Pin | HV_INACTIVE_Pin |
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NEG_SIDE_ERR_Pin | POS_SIDE_ERR_Pin;
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GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
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GPIO_InitStruct.Pull = GPIO_NOPULL;
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HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
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/*Configure GPIO pins : NEG_AIR_OPEN_Pin STATUS_LED_Pin NEG_AIR_CTRL_Pin */
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GPIO_InitStruct.Pin = NEG_AIR_OPEN_Pin | STATUS_LED_Pin | NEG_AIR_CTRL_Pin;
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GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
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GPIO_InitStruct.Pull = GPIO_NOPULL;
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GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
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HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
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/*Configure GPIO pin : VOLTAGE_ERR_Pin */
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GPIO_InitStruct.Pin = VOLTAGE_ERR_Pin;
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GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
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GPIO_InitStruct.Pull = GPIO_NOPULL;
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HAL_GPIO_Init(VOLTAGE_ERR_GPIO_Port, &GPIO_InitStruct);
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/*Configure GPIO pins : AMS_ERR_Pin BOOT0_FF_CLK_Pin BOOT0_FF_DATA_Pin
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SLAVES_ENABLE_Pin PRECHARGE_CTRL_Pin POS_AIR_CTRL_Pin */
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GPIO_InitStruct.Pin = AMS_ERR_Pin | BOOT0_FF_CLK_Pin | BOOT0_FF_DATA_Pin |
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SLAVES_ENABLE_Pin | PRECHARGE_CTRL_Pin |
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POS_AIR_CTRL_Pin;
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GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
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GPIO_InitStruct.Pull = GPIO_NOPULL;
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GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
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HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
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}
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/* USER CODE BEGIN 4 */
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void AMS_Error_Handler(AMSErrorHandle* errorinfo) {
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while (1) {
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setAMSError();
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airstates.targetTSState = TS_ERROR;
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Update_AIR_State(&airstates);
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CAN_Receive(&hfdcan1);
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errorflags = CheckErrorFlags();
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}
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}
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void setAMSError() {
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static int errors = 0;
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errors++;
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GPIO_InitTypeDef GPIO_InitStruct = {0};
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GPIO_InitStruct.Pin = AMS_ERR_Pin;
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GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
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GPIO_InitStruct.Pull = GPIO_NOPULL;
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GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
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HAL_GPIO_Init(AMS_ERR_GPIO_Port, &GPIO_InitStruct);
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HAL_GPIO_WritePin(AMS_ERR_GPIO_Port, AMS_ERR_Pin, GPIO_PIN_RESET);
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}
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/* USER CODE END 4 */
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/**
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* @brief This function is executed in case of error occurrence.
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* @retval None
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*/
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void Error_Handler(void) {
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/* USER CODE BEGIN Error_Handler_Debug */
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/* User can add his own implementation to report the HAL error return state */
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__disable_irq();
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while (1) {
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}
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/* USER CODE END Error_Handler_Debug */
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}
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#ifdef USE_FULL_ASSERT
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/**
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* @brief Reports the name of the source file and the source line number
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* where the assert_param error has occurred.
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* @param file: pointer to the source file name
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* @param line: assert_param error line source number
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* @retval None
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*/
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void assert_failed(uint8_t* file, uint32_t line) {
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/* USER CODE BEGIN 6 */
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/* User can add his own implementation to report the file name and line
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number, ex: printf("Wrong parameters value: file %s on line %d\r\n", file,
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line) */
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/* USER CODE END 6 */
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}
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#endif /* USE_FULL_ASSERT */
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