546 lines
16 KiB
C
546 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 "stm32h7xx_hal.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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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_FDCAN1_Init(void);
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static void MX_I2C1_Init(void);
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static void MX_USART1_UART_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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{
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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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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_FDCAN1_Init();
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MX_I2C1_Init();
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MX_USART1_UART_Init();
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MX_TIM15_Init();
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/* USER CODE BEGIN 2 */
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can_init(&hfdcan1);
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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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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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{
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RCC_OscInitTypeDef RCC_OscInitStruct = {0};
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RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
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/*AXI clock gating */
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RCC->CKGAENR = 0xFFFFFFFF;
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/** Supply configuration update enable
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*/
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HAL_PWREx_ConfigSupply(PWR_LDO_SUPPLY);
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/** Configure the main internal regulator output voltage
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*/
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__HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE3);
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while(!__HAL_PWR_GET_FLAG(PWR_FLAG_VOSRDY)) {}
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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_CSI|RCC_OSCILLATORTYPE_HSE;
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RCC_OscInitStruct.HSEState = RCC_HSE_ON;
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RCC_OscInitStruct.CSIState = RCC_CSI_ON;
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RCC_OscInitStruct.CSICalibrationValue = 16;
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RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
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RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
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RCC_OscInitStruct.PLL.PLLM = 1;
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RCC_OscInitStruct.PLL.PLLN = 8;
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RCC_OscInitStruct.PLL.PLLP = 2;
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RCC_OscInitStruct.PLL.PLLQ = 3;
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RCC_OscInitStruct.PLL.PLLR = 2;
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RCC_OscInitStruct.PLL.PLLRGE = RCC_PLL1VCIRANGE_3;
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RCC_OscInitStruct.PLL.PLLVCOSEL = RCC_PLL1VCOWIDE;
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RCC_OscInitStruct.PLL.PLLFRACN = 0;
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if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
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{
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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_CLOCKTYPE_D3PCLK1|RCC_CLOCKTYPE_D1PCLK1;
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RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
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RCC_ClkInitStruct.SYSCLKDivider = RCC_SYSCLK_DIV1;
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RCC_ClkInitStruct.AHBCLKDivider = RCC_HCLK_DIV1;
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RCC_ClkInitStruct.APB3CLKDivider = RCC_APB3_DIV1;
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RCC_ClkInitStruct.APB1CLKDivider = RCC_APB1_DIV1;
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RCC_ClkInitStruct.APB2CLKDivider = RCC_APB2_DIV1;
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RCC_ClkInitStruct.APB4CLKDivider = RCC_APB4_DIV1;
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if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
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{
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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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{
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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.FrameFormat = FDCAN_FRAME_CLASSIC;
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hfdcan1.Init.Mode = FDCAN_MODE_NORMAL;
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hfdcan1.Init.AutoRetransmission = DISABLE;
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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 = 1;
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hfdcan1.Init.NominalTimeSeg1 = 31;
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hfdcan1.Init.NominalTimeSeg2 = 8;
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hfdcan1.Init.DataPrescaler = 1;
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hfdcan1.Init.DataSyncJumpWidth = 1;
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hfdcan1.Init.DataTimeSeg1 = 1;
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hfdcan1.Init.DataTimeSeg2 = 1;
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hfdcan1.Init.MessageRAMOffset = 0;
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hfdcan1.Init.StdFiltersNbr = 32;
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hfdcan1.Init.ExtFiltersNbr = 0;
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hfdcan1.Init.RxFifo0ElmtsNbr = 16;
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hfdcan1.Init.RxFifo0ElmtSize = FDCAN_DATA_BYTES_8;
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hfdcan1.Init.RxFifo1ElmtsNbr = 0;
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hfdcan1.Init.RxFifo1ElmtSize = FDCAN_DATA_BYTES_8;
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hfdcan1.Init.RxBuffersNbr = 0;
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hfdcan1.Init.RxBufferSize = FDCAN_DATA_BYTES_8;
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hfdcan1.Init.TxEventsNbr = 0;
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hfdcan1.Init.TxBuffersNbr = 0;
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hfdcan1.Init.TxFifoQueueElmtsNbr = 1;
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hfdcan1.Init.TxFifoQueueMode = FDCAN_TX_FIFO_OPERATION;
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hfdcan1.Init.TxElmtSize = FDCAN_DATA_BYTES_8;
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if (HAL_FDCAN_Init(&hfdcan1) != HAL_OK)
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{
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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 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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{
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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 = 0x00000E14;
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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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{
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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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{
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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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{
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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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{
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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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{
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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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{
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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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{
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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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{
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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) != HAL_OK)
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{
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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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{
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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 = 115200;
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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.Init.ClockPrescaler = UART_PRESCALER_DIV1;
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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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{
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Error_Handler();
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}
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if (HAL_UARTEx_SetTxFifoThreshold(&huart1, UART_TXFIFO_THRESHOLD_1_8) != HAL_OK)
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{
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Error_Handler();
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}
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if (HAL_UARTEx_SetRxFifoThreshold(&huart1, UART_RXFIFO_THRESHOLD_1_8) != HAL_OK)
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{
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Error_Handler();
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}
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if (HAL_UARTEx_DisableFifoMode(&huart1) != HAL_OK)
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{
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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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{
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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_GPIOH_CLK_ENABLE();
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__HAL_RCC_GPIOC_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(GPIOC, STATUS_LED_R_Pin|STATUS_LED_G_Pin|STATUS_LED_B_Pin|POS_AIR_CTRL_Pin
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|NEG_AIR_CTRL_Pin, GPIO_PIN_RESET);
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/*Configure GPIO pin Output Level */
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HAL_GPIO_WritePin(GPIOB, SLAVE_POWER_1_Pin|SLAVE_POWER_DSEL_Pin|SLAVE_POWER_DEN_Pin|SLAVE_POWER_0_Pin, 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, GPIO_PIN_RESET);
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/*Configure GPIO pin Output Level */
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HAL_GPIO_WritePin(AMS_NERROR_GPIO_Port, AMS_NERROR_Pin, GPIO_PIN_SET);
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/*Configure GPIO pins : STATUS_LED_R_Pin STATUS_LED_G_Pin STATUS_LED_B_Pin POS_AIR_CTRL_Pin
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NEG_AIR_CTRL_Pin */
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GPIO_InitStruct.Pin = STATUS_LED_R_Pin|STATUS_LED_G_Pin|STATUS_LED_B_Pin|POS_AIR_CTRL_Pin
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|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(GPIOC, &GPIO_InitStruct);
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/*Configure GPIO pins : TS_ERROR_Pin HV_ACTIVE_Pin IMD_OK_Pin NEG_AIR_CLOSED_Pin
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POS_AIR_CLOSED_Pin */
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GPIO_InitStruct.Pin = TS_ERROR_Pin|HV_ACTIVE_Pin|IMD_OK_Pin|NEG_AIR_CLOSED_Pin
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|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;
|
|
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
|
|
GPIO_InitStruct.Pull = GPIO_NOPULL;
|
|
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
|
|
|
|
/*Configure GPIO pins : SLAVE_POWER_1_Pin SLAVE_POWER_DSEL_Pin SLAVE_POWER_DEN_Pin SLAVE_POWER_0_Pin
|
|
AMS_NERROR_Pin */
|
|
GPIO_InitStruct.Pin = SLAVE_POWER_1_Pin|SLAVE_POWER_DSEL_Pin|SLAVE_POWER_DEN_Pin|SLAVE_POWER_0_Pin
|
|
|AMS_NERROR_Pin;
|
|
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);
|
|
|
|
/* 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);
|
|
|
|
set_led_internal_error();
|
|
}
|
|
/* 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 */
|