Add software
This commit is contained in:
477
Software/Core/Src/main.c
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477
Software/Core/Src/main.c
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@ -0,0 +1,477 @@
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/* 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) 2025 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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/* USER CODE END Includes */
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/* Private typedef -----------------------------------------------------------*/
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/* USER CODE BEGIN PTD */
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typedef struct {
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int r2d : 1;
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int tson : 1;
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int racemode : 1;
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int sdc_in : 1;
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int sdc_out : 1;
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} dash_tx_t;
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typedef enum {
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TS_INACTIVE = 0,
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TS_ACTIVE = 1,
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TS_PRECHARGE = 2,
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TS_DISCHARGE = 3,
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TS_ERROR = 4,
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} ams_state_t;
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typedef enum {
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R2D_NONE = 0,
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R2D_TSMS = 1,
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R2D_TSActive = 2,
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R2D_Resetting_Nodes = 3,
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R2D_Resetting_Comms = 4,
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R2D_Waiting_Init = 5,
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R2D_Init_Stage1 = 6,
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R2D_Init_Stage2 = 7,
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R2D_Success = 0xF,
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} r2d_progress_t;
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typedef struct {
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ams_state_t ams_state;
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int imd_ok;
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int sdc_closed;
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r2d_progress_t r2d_progress;
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} dash_rx_t;
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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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#define CAN_ID_TX 0x420
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#define CAN_ID_RX_R2D 0x410
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#define CAN_ID_RX_AMS 0x00A
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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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CAN_HandleTypeDef hcan;
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/* USER CODE BEGIN PV */
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dash_tx_t dash_tx;
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CAN_TxHeaderTypeDef txHeader;
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uint32_t txMailbox;
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dash_rx_t dash_rx;
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uint32_t ams_last_tick = 0;
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uint32_t last_send_can_tick = 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_CAN_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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/* 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_CAN_Init();
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/* USER CODE BEGIN 2 */
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txHeader.IDE = CAN_ID_STD;
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txHeader.StdId = CAN_ID_TX;
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txHeader.RTR = CAN_RTR_DATA;
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txHeader.DLC = 1;
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if (HAL_CAN_Start(&hcan) != HAL_OK)
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Error_Handler();
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CAN_FilterTypeDef canfilterconfig;
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canfilterconfig.FilterActivation = CAN_FILTER_ENABLE;
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canfilterconfig.FilterBank = 0;
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canfilterconfig.FilterFIFOAssignment = CAN_FILTER_FIFO0;
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canfilterconfig.FilterIdHigh = CAN_ID_RX_AMS << (16 - 11);
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canfilterconfig.FilterIdLow = CAN_ID_RX_R2D << (16 - 11);
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canfilterconfig.FilterMaskIdHigh = 0x7FF << (16 - 11);
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canfilterconfig.FilterMaskIdLow = 0x7FF << (16 - 11);
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canfilterconfig.FilterMode = CAN_FILTERMODE_IDMASK;
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canfilterconfig.FilterScale = CAN_FILTERSCALE_32BIT;
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canfilterconfig.SlaveStartFilterBank = 14;
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if (HAL_CAN_ConfigFilter(&hcan, &canfilterconfig) != HAL_OK) {
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Error_Handler();
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}
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if (HAL_CAN_ActivateNotification(&hcan, CAN_IT_RX_FIFO0_MSG_PENDING) != HAL_OK)
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Error_Handler();
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// blink flags
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int blink_state = 0;
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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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{
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/* USER CODE END WHILE */
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/* USER CODE BEGIN 3 */
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dash_tx.tson = HAL_GPIO_ReadPin(TSON_BTN_GPIO_Port, TSON_BTN_Pin);
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dash_tx.r2d = HAL_GPIO_ReadPin(R2D_BTN_GPIO_Port, R2D_BTN_Pin);
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dash_tx.sdc_in = HAL_GPIO_ReadPin(SDC_In_3V3_GPIO_Port, SDC_In_3V3_Pin);
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dash_tx.sdc_out = HAL_GPIO_ReadPin(SDC_Out_3V3_GPIO_Port, SDC_Out_3V3_Pin);
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dash_tx.racemode = HAL_GPIO_ReadPin(RMode_Out_3V3_GPIO_Port, RMode_Out_3V3_Pin);
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if ((HAL_GetTick() - last_send_can_tick ) > 200) {
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if (HAL_CAN_AddTxMessage(&hcan, &txHeader, (uint8_t*) &dash_tx, &txMailbox) != HAL_OK) {
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Error_Handler();
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}
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last_send_can_tick = HAL_GetTick();
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}
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// Inverted in hardware
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if ((HAL_GetTick() - ams_last_tick) < 80) {
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HAL_GPIO_WritePin(IMD_LED_GPIO_Port, IMD_LED_Pin, dash_rx.imd_ok);
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HAL_GPIO_WritePin(AMS_LED_GPIO_Port, AMS_LED_Pin, dash_rx.ams_state != TS_ERROR);
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HAL_GPIO_WritePin(TSOFF_LED_GPIO_Port, TSOFF_LED_Pin, dash_rx.ams_state == TS_INACTIVE);
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} else {
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// Safe state: Error LEDs on, TSOFF off
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HAL_GPIO_WritePin(IMD_LED_GPIO_Port, IMD_LED_Pin, 0);
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HAL_GPIO_WritePin(AMS_LED_GPIO_Port, AMS_LED_Pin, 0);
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HAL_GPIO_WritePin(TSOFF_LED_GPIO_Port, TSOFF_LED_Pin, 0);
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}
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int r = 0, g = 0, b = 0;
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int br = 0, bg = 0, bb = 0;
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if (dash_rx.sdc_closed) {
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switch (dash_rx.ams_state) {
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case TS_INACTIVE:
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r = g = 1;
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break;
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case TS_PRECHARGE:
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// Gelb blink
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br = bg = 1;
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break;
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case TS_ACTIVE:
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g = 1;
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break;
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case TS_DISCHARGE:
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// Blau blink
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bb = 1;
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break;
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default:
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r = 1;
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break;
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}
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} else {
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b = 1;
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}
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HAL_GPIO_WritePin(TSON_R_GPIO_Port, TSON_R_Pin, r);
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HAL_GPIO_WritePin(TSON_G_GPIO_Port, TSON_G_Pin, g);
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HAL_GPIO_WritePin(TSON_B_GPIO_Port, TSON_B_Pin, b);
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if (br || bg || bb) {
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HAL_GPIO_WritePin(TSON_R_GPIO_Port, TSON_R_Pin, br && blink_state);
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HAL_GPIO_WritePin(TSON_G_GPIO_Port, TSON_G_Pin, bg && blink_state);
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HAL_GPIO_WritePin(TSON_B_GPIO_Port, TSON_B_Pin, bb && blink_state);
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}
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r = g = b = 0;
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br = bg = bb = 0;
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if (dash_rx.ams_state == TS_ACTIVE) {
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switch (dash_rx.r2d_progress) {
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case R2D_NONE:
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case R2D_TSMS:
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case R2D_TSActive:
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r = g = 1;
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break;
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case R2D_Success:
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g = 1;
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break;
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default:
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// Gelb blink
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bg = br = 1;
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break;
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}
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} else {
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b = 1;
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}
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HAL_GPIO_WritePin(R2D_R_GPIO_Port, R2D_R_Pin, r);
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HAL_GPIO_WritePin(R2D_G_GPIO_Port, R2D_G_Pin, g);
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HAL_GPIO_WritePin(R2D_B_GPIO_Port, R2D_B_Pin, b);
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if (br || bg || bb) {
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HAL_GPIO_WritePin(R2D_R_GPIO_Port, R2D_R_Pin, br && blink_state);
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HAL_GPIO_WritePin(R2D_G_GPIO_Port, R2D_G_Pin, bg && blink_state);
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HAL_GPIO_WritePin(R2D_B_GPIO_Port, R2D_B_Pin, bb && blink_state);
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}
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blink_state = !blink_state;
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HAL_Delay(50);
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/*
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* TODO:
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* Farbveläufe
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**/
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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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/** 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_HSI;
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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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{
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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_PLLCLK;
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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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{
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Error_Handler();
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}
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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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{
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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 = DISABLE;
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hcan.Init.AutoWakeUp = DISABLE;
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hcan.Init.AutoRetransmission = DISABLE;
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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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{
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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 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 */
|
||||
|
||||
/* GPIO Ports Clock Enable */
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||||
__HAL_RCC_GPIOA_CLK_ENABLE();
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__HAL_RCC_GPIOB_CLK_ENABLE();
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||||
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||||
/*Configure GPIO pin Output Level */
|
||||
HAL_GPIO_WritePin(GPIOA, TSON_R_Pin|TSON_G_Pin|TSON_B_Pin|IMD_LED_Pin
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||||
|AMS_LED_Pin|TSOFF_LED_Pin|R2D_R_Pin, GPIO_PIN_RESET);
|
||||
|
||||
/*Configure GPIO pin Output Level */
|
||||
HAL_GPIO_WritePin(GPIOB, R2D_G_Pin|R2D_B_Pin, GPIO_PIN_RESET);
|
||||
|
||||
/*Configure GPIO pins : TSON_R_Pin TSON_G_Pin TSON_B_Pin IMD_LED_Pin
|
||||
AMS_LED_Pin TSOFF_LED_Pin R2D_R_Pin */
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GPIO_InitStruct.Pin = TSON_R_Pin|TSON_G_Pin|TSON_B_Pin|IMD_LED_Pin
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||||
|AMS_LED_Pin|TSOFF_LED_Pin|R2D_R_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(GPIOA, &GPIO_InitStruct);
|
||||
|
||||
/*Configure GPIO pins : R2D_G_Pin R2D_B_Pin */
|
||||
GPIO_InitStruct.Pin = R2D_G_Pin|R2D_B_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 pins : TSON_BTN_Pin SDC_Out_3V3_Pin SDC_In_3V3_Pin R2D_BTN_Pin
|
||||
RMode_Out_3V3_Pin */
|
||||
GPIO_InitStruct.Pin = TSON_BTN_Pin|SDC_Out_3V3_Pin|SDC_In_3V3_Pin|R2D_BTN_Pin
|
||||
|RMode_Out_3V3_Pin;
|
||||
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
|
||||
GPIO_InitStruct.Pull = GPIO_NOPULL;
|
||||
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
|
||||
|
||||
/* USER CODE BEGIN MX_GPIO_Init_2 */
|
||||
/* USER CODE END MX_GPIO_Init_2 */
|
||||
}
|
||||
|
||||
/* USER CODE BEGIN 4 */
|
||||
// CAN RX interrupt handler
|
||||
void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan) {
|
||||
|
||||
CAN_RxHeaderTypeDef rxHeader;
|
||||
uint8_t rxData[8];
|
||||
|
||||
// Read frame from HW into buffer
|
||||
if (HAL_CAN_GetRxMessage(hcan, CAN_RX_FIFO0, &rxHeader, rxData) != HAL_OK)
|
||||
Error_Handler();
|
||||
|
||||
// Discard if it's not for us (shouldn't happen thanks to filter, but just to be sure)
|
||||
if (rxHeader.StdId == CAN_ID_RX_AMS) {
|
||||
uint8_t ams_info = rxData[0];
|
||||
uint8_t imd_info = rxData[6];
|
||||
|
||||
dash_rx.ams_state = ams_info & 0b01111111;
|
||||
dash_rx.sdc_closed = ams_info >> 7;
|
||||
dash_rx.imd_ok = imd_info >> 7;
|
||||
ams_last_tick = HAL_GetTick();
|
||||
}
|
||||
|
||||
|
||||
if (rxHeader.StdId == CAN_ID_RX_R2D) {
|
||||
uint8_t r2d_info = rxData[1];
|
||||
|
||||
dash_rx.r2d_progress = r2d_info & 0b00001111;
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
/* 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)
|
||||
{
|
||||
}
|
||||
/* 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 */
|
||||
Reference in New Issue
Block a user