370 lines
11 KiB
C
370 lines
11 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) 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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#include "can.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 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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CAN_HandleTypeDef hcan;
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/* USER CODE BEGIN PV */
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/* USER CODE END PV */
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/* Private function prototypes -----------------------------------------------*/
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void SystemClock_Config(void);
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static void MX_GPIO_Init(void);
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static void MX_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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extern dash_tx_t dash_tx;
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extern rx_acc acc_status;
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uint8_t sdc_closed;
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uint8_t r2d_progress;
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uint32_t blink_tick_tson;
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uint32_t blink_tick_r2d;
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uint32_t ams_last_tick;
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uint32_t can_send_tick;
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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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can_init(&hcan);
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sdc_closed = 0;
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blink_tick_tson = HAL_GetTick();
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blink_tick_r2d = HAL_GetTick();
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can_send_tick = HAL_GetTick();
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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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// Inverted in hardware
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if ((HAL_GetTick() - ams_last_tick) < 350) { //master sendet aller 100ms, fürs testen erstmal auf 150ms gesetzt -> kann später wieder runter
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HAL_GPIO_WritePin(IMD_LED_GPIO_Port, IMD_LED_Pin, !acc_status.led_status.imd_error);
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HAL_GPIO_WritePin(AMS_LED_GPIO_Port, AMS_LED_Pin, !acc_status.led_status.ams_error);
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HAL_GPIO_WritePin(TSOFF_LED_GPIO_Port, TSOFF_LED_Pin,acc_status.led_status.ts_green);
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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(acc_status.ams_status.sdc_closed == 1){
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if(acc_status.ams_status.ts_state == TS_INACTIVE){
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r = g = 1;
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}
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if(acc_status.ams_status.ts_state == TS_PRECHARGE){
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br = bg = 1;
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}
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if(acc_status.ams_status.ts_state == TS_ACTIVE){
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g = 1;
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}
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if(acc_status.ams_status.ts_state == TS_DISCHARGE){
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br = bb = 1;
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}
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if(acc_status.ams_status.ts_state == TS_ERROR){
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br = 1;
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}
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}
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else{
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b = r = 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) && ((HAL_GetTick() - blink_tick_tson) > 1000u)) {
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if (br) { HAL_GPIO_TogglePin(TSON_R_GPIO_Port, TSON_R_Pin); }
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if (bg) { HAL_GPIO_TogglePin(TSON_G_GPIO_Port, TSON_G_Pin); }
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if (bb) { HAL_GPIO_TogglePin(TSON_B_GPIO_Port, TSON_B_Pin); }
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blink_tick_tson = HAL_GetTick();
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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 (acc_status.ams_status.ts_state == TS_ACTIVE) {
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if((r2d_progress == R2D_TS_ACTIVE) || (r2d_progress == R2D_TSMS) || (r2d_progress == R2D_NONE)){
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r = g = 1;
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}
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if((r2d_progress == R2D_RESETTING_NODES) || (r2d_progress == R2D_RESETTING_COMMS) || (r2d_progress == R2D_WAITING_INIT) || (r2d_progress == R2D_INIT_STAGE1) || (r2d_progress == R2D_INIT_STAGE2)){
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br = bg = 1;
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}
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if(r2d_progress == R2D_INIT_SUCCESS){
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g = 1;
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}
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} else {
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b = r = 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) && ((HAL_GetTick() - blink_tick_r2d) > 1000u)) {
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if (br) { HAL_GPIO_TogglePin(R2D_R_GPIO_Port, R2D_R_Pin); }
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if (bg) { HAL_GPIO_TogglePin(R2D_G_GPIO_Port, R2D_G_Pin); }
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if (bb) { HAL_GPIO_TogglePin(R2D_B_GPIO_Port, R2D_B_Pin); }
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blink_tick_r2d = HAL_GetTick();
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}
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if ((HAL_GetTick() - can_send_tick) > 50u){
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can_send();
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can_send_tick = HAL_GetTick();
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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_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.PLL.PLLState = RCC_PLL_NONE;
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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_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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{
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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 */
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/* GPIO Ports Clock Enable */
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__HAL_RCC_GPIOF_CLK_ENABLE();
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__HAL_RCC_GPIOA_CLK_ENABLE();
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__HAL_RCC_GPIOB_CLK_ENABLE();
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/*Configure GPIO pin Output Level */
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HAL_GPIO_WritePin(GPIOA, 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);
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/*Configure GPIO pin Output Level */
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HAL_GPIO_WritePin(GPIOB, R2D_G_Pin|R2D_B_Pin, GPIO_PIN_RESET);
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/*Configure GPIO pins : 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.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;
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GPIO_InitStruct.Pull = GPIO_NOPULL;
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GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
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HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
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/*Configure GPIO pins : R2D_G_Pin R2D_B_Pin */
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GPIO_InitStruct.Pin = R2D_G_Pin|R2D_B_Pin;
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GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
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GPIO_InitStruct.Pull = GPIO_NOPULL;
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GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
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HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
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/*Configure GPIO pins : TSON_BTN_Pin SDC_Out_3V3_Pin SDC_In_3V3_Pin R2D_BTN_Pin
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RMode_Out_3V3_Pin */
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GPIO_InitStruct.Pin = TSON_BTN_Pin|SDC_Out_3V3_Pin|SDC_In_3V3_Pin|R2D_BTN_Pin
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|RMode_Out_3V3_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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/* USER CODE BEGIN MX_GPIO_Init_2 */
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/* USER CODE END MX_GPIO_Init_2 */
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}
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/* USER CODE BEGIN 4 */
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/* USER CODE END 4 */
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/**
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* @brief This function is executed in case of error occurrence.
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* @retval None
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*/
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void Error_Handler(void)
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{
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/* USER CODE BEGIN Error_Handler_Debug */
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/* User can add his own implementation to report the HAL error return state */
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__disable_irq();
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while (1)
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{
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}
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/* USER CODE END Error_Handler_Debug */
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}
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#ifdef USE_FULL_ASSERT
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/**
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* @brief Reports the name of the source file and the source line number
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* where the assert_param error has occurred.
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* @param file: pointer to the source file name
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* @param line: assert_param error line source number
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* @retval None
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*/
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void assert_failed(uint8_t *file, uint32_t line)
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{
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/* USER CODE BEGIN 6 */
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/* User can add his own implementation to report the file name and line number,
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ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
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/* USER CODE END 6 */
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}
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#endif /* USE_FULL_ASSERT */
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