534 lines
16 KiB
C
534 lines
16 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) 2023 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 "can.h"
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#include "imd_monitoring.h"
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#include "shunt_monitoring.h"
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#include "slave_monitoring.h"
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#include "soc_estimation.h"
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#include "ts_state_machine.h"
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#include "status_led.h"
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#include "stm32f3xx_hal.h"
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#include "stm32f3xx_hal_gpio.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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ADC_HandleTypeDef hadc2;
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CAN_HandleTypeDef hcan;
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I2C_HandleTypeDef hi2c1;
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TIM_HandleTypeDef htim15;
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UART_HandleTypeDef huart1;
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/* USER CODE BEGIN PV */
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int sdc_closed = 0;
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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_ADC2_Init(void);
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static void MX_CAN_Init(void);
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static void MX_USART1_UART_Init(void);
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static void MX_I2C1_Init(void);
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static void MX_TIM15_Init(void);
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/* USER CODE BEGIN PFP */
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/* USER CODE END PFP */
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/* Private user code ---------------------------------------------------------*/
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/* USER CODE BEGIN 0 */
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#define MAIN_LOOP_PERIOD 50
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static void loop_delay() {
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static uint32_t last_loop = 0;
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uint32_t dt = HAL_GetTick() - last_loop;
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if (dt < MAIN_LOOP_PERIOD) {
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HAL_Delay(MAIN_LOOP_PERIOD - dt);
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HAL_GPIO_WritePin(STATUS2_GPIO_Port, STATUS2_Pin, GPIO_PIN_RESET);
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} else {
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HAL_GPIO_WritePin(STATUS2_GPIO_Port, STATUS2_Pin, GPIO_PIN_SET);
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}
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last_loop = HAL_GetTick();
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}
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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_ADC2_Init();
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MX_CAN_Init();
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MX_USART1_UART_Init();
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MX_I2C1_Init();
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MX_TIM15_Init();
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/* USER CODE BEGIN 2 */
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can_init(&hcan);
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slaves_init();
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shunt_init();
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ts_sm_init();
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soc_init();
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imd_init(&htim15);
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HAL_GPIO_WritePin(AMS_NERROR_GPIO_Port, AMS_NERROR_Pin, GPIO_PIN_SET);
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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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HAL_GPIO_TogglePin(STATUS1_GPIO_Port, STATUS1_Pin);
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sdc_closed = HAL_GPIO_ReadPin(SDC_VOLTAGE_GPIO_Port, SDC_VOLTAGE_Pin) ==
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GPIO_PIN_SET;
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slaves_check();
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shunt_check();
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ts_sm_update();
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soc_update();
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imd_update();
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can_send_status();
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loop_delay();
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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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RCC_PeriphCLKInitTypeDef PeriphClkInit = {0};
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/** Initializes the RCC Oscillators according to the specified parameters
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* in the RCC_OscInitTypeDef structure.
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*/
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RCC_OscInitStruct.OscillatorType =
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RCC_OSCILLATORTYPE_HSI | RCC_OSCILLATORTYPE_HSE;
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RCC_OscInitStruct.HSEState = RCC_HSE_ON;
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RCC_OscInitStruct.HSIState = RCC_HSI_ON;
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RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
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RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
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RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
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RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL4;
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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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PeriphClkInit.PeriphClockSelection =
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RCC_PERIPHCLK_USART1 | RCC_PERIPHCLK_I2C1 | RCC_PERIPHCLK_ADC12;
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PeriphClkInit.Usart1ClockSelection = RCC_USART1CLKSOURCE_PCLK2;
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PeriphClkInit.Adc12ClockSelection = RCC_ADC12PLLCLK_DIV1;
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PeriphClkInit.I2c1ClockSelection = RCC_I2C1CLKSOURCE_HSI;
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if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != 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 ADC2 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_ADC2_Init(void) {
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/* USER CODE BEGIN ADC2_Init 0 */
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/* USER CODE END ADC2_Init 0 */
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ADC_ChannelConfTypeDef sConfig = {0};
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/* USER CODE BEGIN ADC2_Init 1 */
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/* USER CODE END ADC2_Init 1 */
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/** Common config
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*/
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hadc2.Instance = ADC2;
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hadc2.Init.ClockPrescaler = ADC_CLOCK_ASYNC_DIV1;
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hadc2.Init.Resolution = ADC_RESOLUTION_12B;
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hadc2.Init.ScanConvMode = ADC_SCAN_DISABLE;
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hadc2.Init.ContinuousConvMode = DISABLE;
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hadc2.Init.DiscontinuousConvMode = DISABLE;
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hadc2.Init.ExternalTrigConvEdge = ADC_EXTERNALTRIGCONVEDGE_NONE;
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hadc2.Init.ExternalTrigConv = ADC_SOFTWARE_START;
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hadc2.Init.DataAlign = ADC_DATAALIGN_RIGHT;
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hadc2.Init.NbrOfConversion = 1;
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hadc2.Init.DMAContinuousRequests = DISABLE;
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hadc2.Init.EOCSelection = ADC_EOC_SINGLE_CONV;
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hadc2.Init.LowPowerAutoWait = DISABLE;
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hadc2.Init.Overrun = ADC_OVR_DATA_OVERWRITTEN;
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if (HAL_ADC_Init(&hadc2) != HAL_OK) {
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Error_Handler();
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}
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/** Configure Regular Channel
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*/
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sConfig.Channel = ADC_CHANNEL_12;
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sConfig.Rank = ADC_REGULAR_RANK_1;
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sConfig.SingleDiff = ADC_SINGLE_ENDED;
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sConfig.SamplingTime = ADC_SAMPLETIME_1CYCLE_5;
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sConfig.OffsetNumber = ADC_OFFSET_NONE;
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sConfig.Offset = 0;
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if (HAL_ADC_ConfigChannel(&hadc2, &sConfig) != HAL_OK) {
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Error_Handler();
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}
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/* USER CODE BEGIN ADC2_Init 2 */
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/* USER CODE END ADC2_Init 2 */
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}
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/**
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* @brief CAN Initialization Function
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* @param None
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* @retval None
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*/
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static void MX_CAN_Init(void) {
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/* USER CODE BEGIN CAN_Init 0 */
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/* USER CODE END CAN_Init 0 */
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/* USER CODE BEGIN CAN_Init 1 */
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/* USER CODE END CAN_Init 1 */
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hcan.Instance = CAN;
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hcan.Init.Prescaler = 2;
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hcan.Init.Mode = CAN_MODE_NORMAL;
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hcan.Init.SyncJumpWidth = CAN_SJW_1TQ;
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hcan.Init.TimeSeg1 = CAN_BS1_13TQ;
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hcan.Init.TimeSeg2 = CAN_BS2_2TQ;
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hcan.Init.TimeTriggeredMode = DISABLE;
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hcan.Init.AutoBusOff = ENABLE;
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hcan.Init.AutoWakeUp = DISABLE;
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hcan.Init.AutoRetransmission = ENABLE;
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hcan.Init.ReceiveFifoLocked = DISABLE;
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hcan.Init.TransmitFifoPriority = DISABLE;
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if (HAL_CAN_Init(&hcan) != HAL_OK) {
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Error_Handler();
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}
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/* USER CODE BEGIN CAN_Init 2 */
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/* USER CODE END CAN_Init 2 */
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}
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/**
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* @brief I2C1 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_I2C1_Init(void) {
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/* USER CODE BEGIN I2C1_Init 0 */
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/* USER CODE END I2C1_Init 0 */
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/* USER CODE BEGIN I2C1_Init 1 */
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/* USER CODE END I2C1_Init 1 */
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hi2c1.Instance = I2C1;
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hi2c1.Init.Timing = 0x2000090E;
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hi2c1.Init.OwnAddress1 = 0;
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hi2c1.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT;
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hi2c1.Init.DualAddressMode = I2C_DUALADDRESS_DISABLE;
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hi2c1.Init.OwnAddress2 = 0;
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hi2c1.Init.OwnAddress2Masks = I2C_OA2_NOMASK;
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hi2c1.Init.GeneralCallMode = I2C_GENERALCALL_DISABLE;
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hi2c1.Init.NoStretchMode = I2C_NOSTRETCH_DISABLE;
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if (HAL_I2C_Init(&hi2c1) != HAL_OK) {
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Error_Handler();
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}
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/** Configure Analogue filter
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*/
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if (HAL_I2CEx_ConfigAnalogFilter(&hi2c1, I2C_ANALOGFILTER_ENABLE) != HAL_OK) {
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Error_Handler();
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}
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/** Configure Digital filter
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*/
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if (HAL_I2CEx_ConfigDigitalFilter(&hi2c1, 0) != HAL_OK) {
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Error_Handler();
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}
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/* USER CODE BEGIN I2C1_Init 2 */
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/* USER CODE END I2C1_Init 2 */
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}
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/**
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* @brief TIM15 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_TIM15_Init(void) {
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/* USER CODE BEGIN TIM15_Init 0 */
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/* USER CODE END TIM15_Init 0 */
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TIM_SlaveConfigTypeDef sSlaveConfig = {0};
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TIM_IC_InitTypeDef sConfigIC = {0};
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TIM_MasterConfigTypeDef sMasterConfig = {0};
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/* USER CODE BEGIN TIM15_Init 1 */
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/* USER CODE END TIM15_Init 1 */
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htim15.Instance = TIM15;
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htim15.Init.Prescaler = 16000 - 1;
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htim15.Init.CounterMode = TIM_COUNTERMODE_UP;
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htim15.Init.Period = 65535;
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htim15.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
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htim15.Init.RepetitionCounter = 0;
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htim15.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
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if (HAL_TIM_IC_Init(&htim15) != HAL_OK) {
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Error_Handler();
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}
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sSlaveConfig.SlaveMode = TIM_SLAVEMODE_RESET;
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sSlaveConfig.InputTrigger = TIM_TS_TI1FP1;
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sSlaveConfig.TriggerPolarity = TIM_INPUTCHANNELPOLARITY_RISING;
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sSlaveConfig.TriggerPrescaler = TIM_ICPSC_DIV1;
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sSlaveConfig.TriggerFilter = 0;
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if (HAL_TIM_SlaveConfigSynchro(&htim15, &sSlaveConfig) != HAL_OK) {
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Error_Handler();
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}
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sConfigIC.ICPolarity = TIM_INPUTCHANNELPOLARITY_RISING;
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sConfigIC.ICSelection = TIM_ICSELECTION_DIRECTTI;
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sConfigIC.ICPrescaler = TIM_ICPSC_DIV1;
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sConfigIC.ICFilter = 0;
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if (HAL_TIM_IC_ConfigChannel(&htim15, &sConfigIC, TIM_CHANNEL_1) != HAL_OK) {
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Error_Handler();
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}
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sConfigIC.ICPolarity = TIM_INPUTCHANNELPOLARITY_FALLING;
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sConfigIC.ICSelection = TIM_ICSELECTION_INDIRECTTI;
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if (HAL_TIM_IC_ConfigChannel(&htim15, &sConfigIC, TIM_CHANNEL_2) != 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(&htim15, &sMasterConfig) !=
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HAL_OK) {
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Error_Handler();
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}
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/* USER CODE BEGIN TIM15_Init 2 */
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/* USER CODE END TIM15_Init 2 */
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}
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/**
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* @brief USART1 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_USART1_UART_Init(void) {
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/* USER CODE BEGIN USART1_Init 0 */
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/* USER CODE END USART1_Init 0 */
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/* USER CODE BEGIN USART1_Init 1 */
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/* USER CODE END USART1_Init 1 */
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huart1.Instance = USART1;
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huart1.Init.BaudRate = 38400;
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huart1.Init.WordLength = UART_WORDLENGTH_8B;
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huart1.Init.StopBits = UART_STOPBITS_1;
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huart1.Init.Parity = UART_PARITY_NONE;
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huart1.Init.Mode = UART_MODE_TX_RX;
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huart1.Init.HwFlowCtl = UART_HWCONTROL_NONE;
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huart1.Init.OverSampling = UART_OVERSAMPLING_16;
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huart1.Init.OneBitSampling = UART_ONE_BIT_SAMPLE_DISABLE;
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huart1.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT;
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if (HAL_UART_Init(&huart1) != HAL_OK) {
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Error_Handler();
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}
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/* USER CODE BEGIN USART1_Init 2 */
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/* USER CODE END USART1_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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/* USER CODE BEGIN MX_GPIO_Init_1 */
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/* USER CODE END MX_GPIO_Init_1 */
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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(GPIOB,
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SLAVE_POWER_1_Pin | SLAVE_POWER_DSEL_Pin |
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SLAVE_POWER_DEN_Pin | SLAVE_POWER_0_Pin |
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POS_AIR_CTRL_Pin | NEG_AIR_CTRL_Pin | STATUS1_Pin |
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STATUS2_Pin | STATUS3_Pin | STATUS4_Pin |
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AMS_NERROR_Pin,
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GPIO_PIN_RESET);
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/*Configure GPIO pin Output Level */
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HAL_GPIO_WritePin(PRECHARGE_CTRL_GPIO_Port, PRECHARGE_CTRL_Pin,
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GPIO_PIN_RESET);
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/*Configure GPIO pins : HV_MISMATCH_ERR_Pin RELAY_MISMATCH_ERR_Pin IMD_OK_Pin
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RELAY_CONNECTION_ERR_Pin HV_ACTIVE_Pin NEG_AIR_CLOSED_Pin
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POS_AIR_CLOSED_Pin */
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GPIO_InitStruct.Pin = HV_MISMATCH_ERR_Pin | RELAY_MISMATCH_ERR_Pin |
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IMD_OK_Pin | RELAY_CONNECTION_ERR_Pin | HV_ACTIVE_Pin |
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NEG_AIR_CLOSED_Pin | POS_AIR_CLOSED_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 : PRECHARGE_CLOSED_Pin SDC_VOLTAGE_Pin */
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GPIO_InitStruct.Pin = PRECHARGE_CLOSED_Pin | SDC_VOLTAGE_Pin;
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GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
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GPIO_InitStruct.Pull = GPIO_NOPULL;
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HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
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/*Configure GPIO pins : SLAVE_POWER_1_Pin SLAVE_POWER_DSEL_Pin
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SLAVE_POWER_DEN_Pin SLAVE_POWER_0_Pin POS_AIR_CTRL_Pin NEG_AIR_CTRL_Pin
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STATUS1_Pin STATUS2_Pin STATUS3_Pin STATUS4_Pin AMS_NERROR_Pin */
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GPIO_InitStruct.Pin =
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SLAVE_POWER_1_Pin | SLAVE_POWER_DSEL_Pin | SLAVE_POWER_DEN_Pin |
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SLAVE_POWER_0_Pin | POS_AIR_CTRL_Pin | NEG_AIR_CTRL_Pin | STATUS1_Pin |
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STATUS2_Pin | STATUS3_Pin | STATUS4_Pin | AMS_NERROR_Pin;
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GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
|
|
GPIO_InitStruct.Pull = GPIO_NOPULL;
|
|
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
|
|
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
|
|
|
|
/*Configure GPIO pin : PRECHARGE_CTRL_Pin */
|
|
GPIO_InitStruct.Pin = PRECHARGE_CTRL_Pin;
|
|
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
|
|
GPIO_InitStruct.Pull = GPIO_NOPULL;
|
|
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
|
|
HAL_GPIO_Init(PRECHARGE_CTRL_GPIO_Port, &GPIO_InitStruct);
|
|
|
|
/*Configure GPIO pins for Status LEDs */
|
|
status_led_init();
|
|
|
|
/* USER CODE BEGIN MX_GPIO_Init_2 */
|
|
/* USER CODE END MX_GPIO_Init_2 */
|
|
}
|
|
|
|
/* USER CODE BEGIN 4 */
|
|
|
|
/* USER CODE END 4 */
|
|
|
|
/**
|
|
* @brief This function is executed in case of error occurrence.
|
|
* @retval None
|
|
*/
|
|
void Error_Handler(void) {
|
|
/* USER CODE BEGIN Error_Handler_Debug */
|
|
/* User can add his own implementation to report the HAL error return state */
|
|
__disable_irq();
|
|
while (1) {
|
|
ts_sm_set_relay_position(RELAY_NEG, 0);
|
|
ts_sm_set_relay_position(RELAY_POS, 0);
|
|
ts_sm_set_relay_position(RELAY_PRECHARGE, 0);
|
|
}
|
|
/* USER CODE END Error_Handler_Debug */
|
|
}
|
|
|
|
#ifdef USE_FULL_ASSERT
|
|
/**
|
|
* @brief Reports the name of the source file and the source line number
|
|
* where the assert_param error has occurred.
|
|
* @param file: pointer to the source file name
|
|
* @param line: assert_param error line source number
|
|
* @retval None
|
|
*/
|
|
void assert_failed(uint8_t *file, uint32_t line) {
|
|
/* USER CODE BEGIN 6 */
|
|
/* User can add his own implementation to report the file name and line
|
|
number, ex: printf("Wrong parameters value: file %s on line %d\r\n", file,
|
|
line) */
|
|
/* USER CODE END 6 */
|
|
}
|
|
#endif /* USE_FULL_ASSERT */
|