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dashboard/Software/Core/Src/main.c

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/* 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 */
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