/* USER CODE BEGIN Header */ /** ****************************************************************************** * @file : main.c * @brief : Main program body ****************************************************************************** * @attention * * Copyright (c) 2025 STMicroelectronics. * All rights reserved. * * This software is licensed under terms that can be found in the LICENSE file * in the root directory of this software component. * If no LICENSE file comes with this software, it is provided AS-IS. * ****************************************************************************** */ /* USER CODE END Header */ /* Includes ------------------------------------------------------------------*/ #include "main.h" /* Private includes ----------------------------------------------------------*/ /* USER CODE BEGIN Includes */ /* USER CODE END Includes */ /* Private typedef -----------------------------------------------------------*/ /* USER CODE BEGIN PTD */ typedef struct { int r2d : 1; int tson : 1; int racemode : 1; int sdc_in : 1; int sdc_out : 1; } dash_tx_t; typedef enum { TS_INACTIVE = 0, TS_ACTIVE = 1, TS_PRECHARGE = 2, TS_DISCHARGE = 3, TS_ERROR = 4, } ams_state_t; typedef enum { R2D_NONE = 0, R2D_TSMS = 1, R2D_TSActive = 2, R2D_Resetting_Nodes = 3, R2D_Resetting_Comms = 4, R2D_Waiting_Init = 5, R2D_Init_Stage1 = 6, R2D_Init_Stage2 = 7, R2D_Success = 0xF, } r2d_progress_t; typedef struct { ams_state_t ams_state; int imd_ok; int sdc_closed; r2d_progress_t r2d_progress; } dash_rx_t; /* USER CODE END PTD */ /* Private define ------------------------------------------------------------*/ /* USER CODE BEGIN PD */ #define CAN_ID_TX 0x420 #define CAN_ID_RX_R2D 0x410 #define CAN_ID_RX_AMS 0x00A /* USER CODE END PD */ /* Private macro -------------------------------------------------------------*/ /* USER CODE BEGIN PM */ /* USER CODE END PM */ /* Private variables ---------------------------------------------------------*/ CAN_HandleTypeDef hcan; /* USER CODE BEGIN PV */ dash_tx_t dash_tx; CAN_TxHeaderTypeDef txHeader; uint32_t txMailbox; dash_rx_t dash_rx; uint32_t ams_last_tick = 0; uint32_t last_send_can_tick = 0; /* USER CODE END PV */ /* Private function prototypes -----------------------------------------------*/ void SystemClock_Config(void); static void MX_GPIO_Init(void); static void MX_CAN_Init(void); /* USER CODE BEGIN PFP */ /* USER CODE END PFP */ /* Private user code ---------------------------------------------------------*/ /* USER CODE BEGIN 0 */ /* USER CODE END 0 */ /** * @brief The application entry point. * @retval int */ int main(void) { /* USER CODE BEGIN 1 */ /* USER CODE END 1 */ /* MCU Configuration--------------------------------------------------------*/ /* Reset of all peripherals, Initializes the Flash interface and the Systick. */ HAL_Init(); /* USER CODE BEGIN Init */ /* USER CODE END Init */ /* Configure the system clock */ SystemClock_Config(); /* USER CODE BEGIN SysInit */ /* USER CODE END SysInit */ /* Initialize all configured peripherals */ MX_GPIO_Init(); MX_CAN_Init(); /* USER CODE BEGIN 2 */ txHeader.IDE = CAN_ID_STD; txHeader.StdId = CAN_ID_TX; txHeader.RTR = CAN_RTR_DATA; txHeader.DLC = 1; if (HAL_CAN_Start(&hcan) != HAL_OK) Error_Handler(); CAN_FilterTypeDef canfilterconfig; canfilterconfig.FilterActivation = CAN_FILTER_ENABLE; canfilterconfig.FilterBank = 0; canfilterconfig.FilterFIFOAssignment = CAN_FILTER_FIFO0; canfilterconfig.FilterIdHigh = CAN_ID_RX_AMS << (16 - 11); canfilterconfig.FilterIdLow = CAN_ID_RX_R2D << (16 - 11); canfilterconfig.FilterMaskIdHigh = 0x7FF << (16 - 11); canfilterconfig.FilterMaskIdLow = 0x7FF << (16 - 11); canfilterconfig.FilterMode = CAN_FILTERMODE_IDMASK; canfilterconfig.FilterScale = CAN_FILTERSCALE_32BIT; canfilterconfig.SlaveStartFilterBank = 14; if (HAL_CAN_ConfigFilter(&hcan, &canfilterconfig) != HAL_OK) { Error_Handler(); } if (HAL_CAN_ActivateNotification(&hcan, CAN_IT_RX_FIFO0_MSG_PENDING) != HAL_OK) Error_Handler(); // blink flags int blink_state = 0; /* USER CODE END 2 */ /* Infinite loop */ /* USER CODE BEGIN WHILE */ while (1) { /* USER CODE END WHILE */ /* USER CODE BEGIN 3 */ dash_tx.tson = HAL_GPIO_ReadPin(TSON_BTN_GPIO_Port, TSON_BTN_Pin); dash_tx.r2d = HAL_GPIO_ReadPin(R2D_BTN_GPIO_Port, R2D_BTN_Pin); dash_tx.sdc_in = HAL_GPIO_ReadPin(SDC_In_3V3_GPIO_Port, SDC_In_3V3_Pin); dash_tx.sdc_out = HAL_GPIO_ReadPin(SDC_Out_3V3_GPIO_Port, SDC_Out_3V3_Pin); dash_tx.racemode = HAL_GPIO_ReadPin(RMode_Out_3V3_GPIO_Port, RMode_Out_3V3_Pin); if ((HAL_GetTick() - last_send_can_tick ) > 200) { if (HAL_CAN_AddTxMessage(&hcan, &txHeader, (uint8_t*) &dash_tx, &txMailbox) != HAL_OK) { Error_Handler(); } last_send_can_tick = HAL_GetTick(); } // Inverted in hardware if ((HAL_GetTick() - ams_last_tick) < 150) { //master sendet aller 100ms, fürs testen erstmal auf 150ms gesetzt -> kann später wieder runter HAL_GPIO_WritePin(IMD_LED_GPIO_Port, IMD_LED_Pin, dash_rx.imd_ok); HAL_GPIO_WritePin(AMS_LED_GPIO_Port, AMS_LED_Pin, dash_rx.ams_state != TS_ERROR); HAL_GPIO_WritePin(TSOFF_LED_GPIO_Port, TSOFF_LED_Pin, dash_rx.ams_state == TS_INACTIVE); } else { // Safe state: Error LEDs on, TSOFF off HAL_GPIO_WritePin(IMD_LED_GPIO_Port, IMD_LED_Pin, 0); HAL_GPIO_WritePin(AMS_LED_GPIO_Port, AMS_LED_Pin, 0); HAL_GPIO_WritePin(TSOFF_LED_GPIO_Port, TSOFF_LED_Pin, 0); } int r = 0, g = 0, b = 0; int br = 0, bg = 0, bb = 0; if (dash_rx.sdc_closed) { switch (dash_rx.ams_state) { case TS_INACTIVE: r = g = 1; break; case TS_PRECHARGE: // Gelb blink br = bg = 1; break; case TS_ACTIVE: g = 1; break; case TS_DISCHARGE: // Blau blink bb = 1; break; default: r = 1; break; } } else { b = 1; } HAL_GPIO_WritePin(TSON_R_GPIO_Port, TSON_R_Pin, r); HAL_GPIO_WritePin(TSON_G_GPIO_Port, TSON_G_Pin, g); HAL_GPIO_WritePin(TSON_B_GPIO_Port, TSON_B_Pin, b); if (br || bg || bb) { HAL_GPIO_WritePin(TSON_R_GPIO_Port, TSON_R_Pin, br && blink_state); HAL_GPIO_WritePin(TSON_G_GPIO_Port, TSON_G_Pin, bg && blink_state); HAL_GPIO_WritePin(TSON_B_GPIO_Port, TSON_B_Pin, bb && blink_state); } r = g = b = 0; br = bg = bb = 0; if (dash_rx.ams_state == TS_ACTIVE) { switch (dash_rx.r2d_progress) { case R2D_NONE: case R2D_TSMS: case R2D_TSActive: r = g = 1; break; case R2D_Success: g = 1; break; default: // Gelb blink bg = br = 1; break; } } else { b = 1; } HAL_GPIO_WritePin(R2D_R_GPIO_Port, R2D_R_Pin, r); HAL_GPIO_WritePin(R2D_G_GPIO_Port, R2D_G_Pin, g); HAL_GPIO_WritePin(R2D_B_GPIO_Port, R2D_B_Pin, b); if (br || bg || bb) { HAL_GPIO_WritePin(R2D_R_GPIO_Port, R2D_R_Pin, br && blink_state); HAL_GPIO_WritePin(R2D_G_GPIO_Port, R2D_G_Pin, bg && blink_state); HAL_GPIO_WritePin(R2D_B_GPIO_Port, R2D_B_Pin, bb && blink_state); } blink_state = !blink_state; HAL_Delay(50); /* * TODO: * Farbveläufe **/ } /* USER CODE END 3 */ } /** * @brief System Clock Configuration * @retval None */ void SystemClock_Config(void) { RCC_OscInitTypeDef RCC_OscInitStruct = {0}; RCC_ClkInitTypeDef RCC_ClkInitStruct = {0}; /** Initializes the RCC Oscillators according to the specified parameters * in the RCC_OscInitTypeDef structure. */ RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI; RCC_OscInitStruct.HSIState = RCC_HSI_ON; RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT; RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON; RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI; RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL4; if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK) { Error_Handler(); } /** Initializes the CPU, AHB and APB buses clocks */ RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2; RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK; RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1; RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1; RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1; if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_0) != HAL_OK) { Error_Handler(); } } /** * @brief CAN Initialization Function * @param None * @retval None */ static void MX_CAN_Init(void) { /* USER CODE BEGIN CAN_Init 0 */ /* USER CODE END CAN_Init 0 */ /* USER CODE BEGIN CAN_Init 1 */ /* USER CODE END CAN_Init 1 */ hcan.Instance = CAN; hcan.Init.Prescaler = 2; hcan.Init.Mode = CAN_MODE_NORMAL; hcan.Init.SyncJumpWidth = CAN_SJW_1TQ; hcan.Init.TimeSeg1 = CAN_BS1_13TQ; hcan.Init.TimeSeg2 = CAN_BS2_2TQ; hcan.Init.TimeTriggeredMode = DISABLE; hcan.Init.AutoBusOff = DISABLE; hcan.Init.AutoWakeUp = DISABLE; hcan.Init.AutoRetransmission = DISABLE; hcan.Init.ReceiveFifoLocked = DISABLE; hcan.Init.TransmitFifoPriority = DISABLE; if (HAL_CAN_Init(&hcan) != HAL_OK) { Error_Handler(); } /* USER CODE BEGIN CAN_Init 2 */ /* USER CODE END CAN_Init 2 */ } /** * @brief GPIO Initialization Function * @param None * @retval None */ static void MX_GPIO_Init(void) { GPIO_InitTypeDef GPIO_InitStruct = {0}; /* USER CODE BEGIN MX_GPIO_Init_1 */ /* USER CODE END MX_GPIO_Init_1 */ /* GPIO Ports Clock Enable */ __HAL_RCC_GPIOA_CLK_ENABLE(); __HAL_RCC_GPIOB_CLK_ENABLE(); /*Configure GPIO pin Output Level */ HAL_GPIO_WritePin(GPIOA, TSON_R_Pin|TSON_G_Pin|TSON_B_Pin|IMD_LED_Pin |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 */ GPIO_InitStruct.Pin = TSON_R_Pin|TSON_G_Pin|TSON_B_Pin|IMD_LED_Pin |AMS_LED_Pin|TSOFF_LED_Pin|R2D_R_Pin; 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 */