/* 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"
#include "adc.h"
#include "dma.h"
#include "fdcan.h"
#include "memorymap.h"
#include "tim.h"
#include "gpio.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include <string.h>
#include "mappings.h"
/* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */
/* USER CODE END PTD */
/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
#define TIM_BASE_FREQ 96000000UL
/* USER CODE END PD */
/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */
/* USER CODE END PM */
/* Private variables ---------------------------------------------------------*/
/* USER CODE BEGIN PV */
unsigned int mscounter;
unsigned int setup_complete;
FDCAN_HandleTypeDef *hMainCAN, *hPeriCAN;
FDCAN_TxHeaderTypeDef txHeader;
/* Declare buffer in D1 domain SRAM */
static uint16_t adc_values[NUM_ADC_PINS];
static uint8_t dio_values[NUM_DIO_PINS];
// See mappings.h pwm_tim_t
TIM_HandleTypeDef* PWM_TIM_MAP[3] = {&htim1, &htim4, &htim3};
static uint8_t pwm_ch_active[8];
static uint16_t wss_flanks[2];
/* USER CODE END PV */
/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
static void MX_NVIC_Init(void);
/* USER CODE BEGIN PFP */
/* USER CODE END PFP */
/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
void loop_1kHz() {
if (!setup_complete)
return;
mscounter++;
for (int di = 0; di < NUM_DIO_PINS; di++) {
dio_values[di] = HAL_GPIO_ReadPin(
DIO_PIN_MAP[di].port,
DIO_PIN_MAP[di].pin
);
}
for (int pi = 0; pi < NUM_TX_PKT; pi++) {
can_pkt_t* pktinfo = &(CAN_SIGNAL_MAP[pi]);
if (pktinfo->num_signals < 0)
continue;
if (mscounter % pktinfo->period == 0) {
txHeader.Identifier = pktinfo->can_id;
txHeader.DataLength = pktinfo->dlc;
uint64_t txData = 0;
for (int si = 0; si < pktinfo->num_signals; si++) {
can_signal_t* signal = &(pktinfo->signals[si]);
uint16_t value = 0;
switch (signal->type) {
case DIN:
value = dio_values[signal->channel];
break;
case AIN:
value = signal->factor * adc_values[signal->channel];
break;
case FIN:
value = wss_flanks[signal->channel];
wss_flanks[signal->channel] = 0;
break;
default:
break;
}
uint16_t mask = 0xFFFF >> (16 - signal->length);
txData |= ((uint64_t) (value & mask)) << (signal->start);
}
if (HAL_FDCAN_AddMessageToTxFifoQ(hMainCAN, &txHeader, (uint8_t*) &txData) != HAL_OK)
Error_Handler();
}
if (mscounter >= 500) {
mscounter = 0;
HAL_GPIO_TogglePin(STATUS_G_GPIO_Port, STATUS_G_Pin);
}
}
}
/* 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_DMA_Init();
MX_ADC1_Init();
MX_FDCAN1_Init();
MX_FDCAN2_Init();
MX_TIM1_Init();
MX_TIM3_Init();
MX_TIM8_Init();
MX_TIM6_Init();
MX_TIM4_Init();
/* Initialize interrupts */
MX_NVIC_Init();
/* USER CODE BEGIN 2 */
hMainCAN = &hfdcan1;
hPeriCAN = &hfdcan2;
if (HAL_ADCEx_Calibration_Start(&hadc1, ADC_CALIB_OFFSET, ADC_SINGLE_ENDED) != HAL_OK)
Error_Handler();
if (HAL_ADC_Start_DMA(&hadc1, (uint32_t*)adc_values, NUM_ADC_PINS) != HAL_OK)
Error_Handler();
HAL_TIM_Base_Start_IT(&htim6);
// CAN TX PREP
// Prep the tx frame
txHeader.ErrorStateIndicator = FDCAN_ESI_PASSIVE;
txHeader.BitRateSwitch = FDCAN_BRS_OFF;
txHeader.FDFormat = FDCAN_CLASSIC_CAN;
txHeader.TxEventFifoControl = FDCAN_NO_TX_EVENTS;
txHeader.IdType = FDCAN_STANDARD_ID;
txHeader.Identifier = 0x0;
txHeader.TxFrameType = FDCAN_DATA_FRAME;
txHeader.DataLength = 8;
if (HAL_FDCAN_ActivateNotification(hMainCAN, FDCAN_IT_RX_FIFO0_NEW_MESSAGE, 0) != HAL_OK)
Error_Handler();
if (HAL_FDCAN_ConfigGlobalFilter(hMainCAN, FDCAN_REJECT, FDCAN_REJECT,
FDCAN_REJECT_REMOTE, FDCAN_REJECT_REMOTE) != HAL_OK)
Error_Handler();
FDCAN_FilterTypeDef filter;
filter.IdType = FDCAN_STANDARD_ID;
filter.FilterIndex = 0;
filter.FilterType = FDCAN_FILTER_MASK;
filter.FilterConfig = FDCAN_FILTER_TO_RXFIFO0;
filter.FilterID1 = CAN_PWM_BASE_ID;
filter.FilterID2 = CAN_PWM_FILTER_MASK;
if (HAL_FDCAN_ConfigFilter(hMainCAN, &filter) != HAL_OK)
Error_Handler();
if (HAL_FDCAN_Start(hMainCAN) != HAL_OK)
Error_Handler();
// Init all channels as stopped
memset(pwm_ch_active, 0, 8);
// Start input capture for WSS
HAL_TIM_IC_Start_IT(&htim8, TIM_CHANNEL_1);
HAL_TIM_IC_Start_IT(&htim8, TIM_CHANNEL_2);
mscounter = 0;
setup_complete = 1;
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while(1)
{
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
//HAL_SuspendTick();
//HAL_PWR_EnterSLEEPMode(PWR_MAINREGULATOR_ON, PWR_SLEEPENTRY_WFI);
}
/* USER CODE END 3 */
}
/**
* @brief System Clock Configuration
* @retval None
*/
void SystemClock_Config(void)
{
RCC_OscInitTypeDef RCC_OscInitStruct = {0};
RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
/*AXI clock gating */
RCC->CKGAENR = 0xFFFFFFFF;
/** Supply configuration update enable
*/
HAL_PWREx_ConfigSupply(PWR_LDO_SUPPLY);
/** Configure the main internal regulator output voltage
*/
__HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
while(!__HAL_PWR_GET_FLAG(PWR_FLAG_VOSRDY)) {}
/** Initializes the RCC Oscillators according to the specified parameters
* in the RCC_OscInitTypeDef structure.
*/
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
RCC_OscInitStruct.HSEState = RCC_HSE_ON;
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
RCC_OscInitStruct.PLL.PLLM = 2;
RCC_OscInitStruct.PLL.PLLN = 32;
RCC_OscInitStruct.PLL.PLLP = 2;
RCC_OscInitStruct.PLL.PLLQ = 32;
RCC_OscInitStruct.PLL.PLLR = 32;
RCC_OscInitStruct.PLL.PLLRGE = RCC_PLL1VCIRANGE_3;
RCC_OscInitStruct.PLL.PLLVCOSEL = RCC_PLL1VCOWIDE;
RCC_OscInitStruct.PLL.PLLFRACN = 0;
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_CLOCKTYPE_D3PCLK1|RCC_CLOCKTYPE_D1PCLK1;
RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
RCC_ClkInitStruct.SYSCLKDivider = RCC_SYSCLK_DIV1;
RCC_ClkInitStruct.AHBCLKDivider = RCC_HCLK_DIV2;
RCC_ClkInitStruct.APB3CLKDivider = RCC_APB3_DIV1;
RCC_ClkInitStruct.APB1CLKDivider = RCC_APB1_DIV1;
RCC_ClkInitStruct.APB2CLKDivider = RCC_APB2_DIV1;
RCC_ClkInitStruct.APB4CLKDivider = RCC_APB4_DIV1;
if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
{
Error_Handler();
}
}
/**
* @brief NVIC Configuration.
* @retval None
*/
static void MX_NVIC_Init(void)
{
/* DMA1_Stream0_IRQn interrupt configuration */
HAL_NVIC_SetPriority(DMA1_Stream0_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(DMA1_Stream0_IRQn);
}
/* USER CODE BEGIN 4 */
/*void HAL_ADC_ConvCpltCallback(ADC_HandleTypeDef* hadc)
{
if (hadc->Instance == ADC1)
{
__asm volatile ("NOP");
}
}*/
void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) {
//HAL_GPIO_TogglePin(STATUS_B_GPIO_Port, STATUS_B_Pin);
if (htim != &htim6)
return;
loop_1kHz();
};
/*
* Input capture timing calculations:
* wheel speed = 8000 rpm * (11/48) = 30.55 rot/s
* if both flanks then 64 flanks per rot = 1956 flanks/s
* That's ~500µs per flank or ~1ms per notch
*
* TIM8 trigger prescaled = 96MHz/64 = 3MHz
* Max Filter is 15 samples, at 666.666ns per sample
* that's 10µs of filtering (flanks that are unstable
* for this long will not trigger a capture interrupt)
*
* If we want to do further filtering, we can either
* increase the prescaler and decrease the counter
* period or do it in software using
* HAL_TIM_ReadCapturedValue(&htim8, TIM_CHANNEL_X);
* to measure the time between events.
*/
void HAL_TIM_IC_CaptureCallback(TIM_HandleTypeDef *htim) {
if (htim != &htim8 || htim->Channel < 1 || htim->Channel > 2)
return;
/*
* Channels go 1,2,4,8... so we count the trailing zeros to get the index.
* For this, we could use the nifty CTZ instruction, which gives us exactly that.
* BUT according to godbolt we save 2 instructions by using subtraction,
* which we can only do because we only use the first two channels.
* Why 2 instructions? well, one because -1 can be done in the immediate when
* writing to memory. Another one because ARMv7 32bit doesn't have CTZ but only
* CLZ, so it must do RBIT before to reverse the result.
*
* CAREFUL: When using more than 2 channels, you MUST use CTZ instead.
*/
wss_flanks[htim->Channel-1]++;
//wss_flanks[__builtin_ctz(htim->Channel)]++;
}
void SetCCR(TIM_TypeDef* Instance, unsigned int ch, uint8_t dc) {
(&(Instance->CCR1))[ch] = dc;
}
void HAL_FDCAN_RxFifo0Callback(FDCAN_HandleTypeDef *handle, uint32_t RxFifo0ITs)
{
if (handle != hMainCAN || (RxFifo0ITs & FDCAN_IT_RX_FIFO0_NEW_MESSAGE) == RESET)
return; // TODO: handle Peripheral CAN
static FDCAN_RxHeaderTypeDef header;
static uint8_t data[8];
if (HAL_FDCAN_GetRxMessage(hMainCAN, FDCAN_RX_FIFO0, &header, data) != HAL_OK)
return;
if (header.FDFormat != FDCAN_CLASSIC_CAN ||
header.RxFrameType != FDCAN_DATA_FRAME ||
header.IdType != FDCAN_STANDARD_ID)
return;
switch (header.Identifier) {
case CAN_PWM_DC_ID:
uint8_t* dcs = data;
for (int i = 0; i < header.DataLength; i++) {
TIM_HandleTypeDef* htim = PWM_TIM_MAP[PWM_CH_MAP[i].tim];
if ((pwm_ch_active[i] == 0) && (dcs[i] == 0)) {
HAL_TIM_PWM_Stop(htim, PWM_CH_MAP[i].ch << 2);
pwm_ch_active[i] = 0;
continue;
}
SetCCR(htim->Instance, PWM_CH_MAP[i].ch, dcs[i]);
if (pwm_ch_active[i] == 0) {
HAL_TIM_PWM_Start(htim, PWM_CH_MAP[i].ch << 2);
pwm_ch_active[i] = 1;
}
}
break;
case CAN_PWM_CONF_ID:
uint16_t* freqs = (uint16_t*) data;
for (int i = 0; i < (header.DataLength/2); i++) {
uint32_t prescaler = (TIM_BASE_FREQ / (255UL * freqs[i])); // cast?
PWM_TIM_MAP[i]->Instance->PSC = prescaler;
}
break;
default:
break;
}
}
void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)
{
HAL_ResumeTick();
}
/* 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 */
HAL_GPIO_WritePin(STATUS_R_GPIO_Port, STATUS_R_Pin, GPIO_PIN_SET);
__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 */