385 lines
11 KiB
C
385 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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#include "adc.h"
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#include "dma.h"
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#include "fdcan.h"
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#include "memorymap.h"
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#include "tim.h"
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#include "gpio.h"
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/* Private includes ----------------------------------------------------------*/
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/* USER CODE BEGIN Includes */
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#include "mappings.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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#define TIM_BASE_FREQ 96000000UL
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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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/* USER CODE BEGIN PV */
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/* Declare buffer in D1 domain SRAM */
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static uint16_t adc_values[NUM_ADC_PINS];
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static uint8_t dio_values[NUM_DIO_PINS];
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// See mappings.h pwm_tim_t
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TIM_HandleTypeDef* PWM_TIM_MAP[3] = {&htim1, &htim4, &htim3};
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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_NVIC_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_DMA_Init();
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MX_ADC1_Init();
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MX_FDCAN1_Init();
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MX_FDCAN2_Init();
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MX_TIM1_Init();
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MX_TIM3_Init();
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MX_TIM8_Init();
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MX_TIM6_Init();
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MX_TIM4_Init();
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/* Initialize interrupts */
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MX_NVIC_Init();
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/* USER CODE BEGIN 2 */
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if (HAL_ADCEx_Calibration_Start(&hadc1, ADC_CALIB_OFFSET, ADC_SINGLE_ENDED) != HAL_OK)
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Error_Handler();
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if (HAL_ADC_Start_DMA(&hadc1, (uint32_t*)adc_values, NUM_ADC_PINS) != HAL_OK)
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Error_Handler();
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HAL_TIM_Base_Start(&htim6);
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// CAN TX PREP
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FDCAN_TxHeaderTypeDef txHeader;
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// Prep the tx frame
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txHeader.ErrorStateIndicator = FDCAN_ESI_PASSIVE;
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txHeader.BitRateSwitch = FDCAN_BRS_OFF;
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txHeader.FDFormat = FDCAN_CLASSIC_CAN;
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txHeader.TxEventFifoControl = FDCAN_NO_TX_EVENTS;
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txHeader.IdType = FDCAN_STANDARD_ID;
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txHeader.Identifier = 0x0;
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txHeader.TxFrameType = FDCAN_DATA_FRAME;
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txHeader.DataLength = 8;
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if (HAL_FDCAN_ActivateNotification(&hfdcan1, FDCAN_IT_RX_FIFO0_NEW_MESSAGE, 0) != HAL_OK)
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Error_Handler();
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if (HAL_FDCAN_ConfigGlobalFilter(&hfdcan1, FDCAN_REJECT, FDCAN_REJECT,
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FDCAN_REJECT_REMOTE, FDCAN_REJECT_REMOTE) != HAL_OK)
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Error_Handler();
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FDCAN_FilterTypeDef filter;
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filter.IdType = FDCAN_STANDARD_ID;
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filter.FilterIndex = 0;
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filter.FilterType = FDCAN_FILTER_MASK;
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filter.FilterConfig = FDCAN_FILTER_TO_RXFIFO0;
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filter.FilterID1 = 0x0DD;
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filter.FilterID2 = 0x7FE; // Match 0x0DC and 0x0DD
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if (HAL_FDCAN_ConfigFilter(&hfdcan1, &filter) != HAL_OK)
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Error_Handler();
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if (HAL_FDCAN_Start(&hfdcan1) != HAL_OK)
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Error_Handler();
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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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for (unsigned int mscounter = 0; 1; mscounter++)
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{
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/* USER CODE END WHILE */
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/* USER CODE BEGIN 3 */
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for (int di = 0; di < NUM_DIO_PINS; di++) {
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dio_values[di] = HAL_GPIO_ReadPin(
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DIO_PIN_MAP[di].port,
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DIO_PIN_MAP[di].pin
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);
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}
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for (int pi = 0; pi < NUM_TX_PKT; pi++) {
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can_pkt_t* pktinfo = &(CAN_SIGNAL_MAP[pi]);
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if (mscounter % pktinfo->period == 0) {
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txHeader.Identifier = pktinfo->can_id;
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txHeader.DataLength = pktinfo->dlc;
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uint64_t txData = 0;
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for (int si = 0; si < pktinfo->num_signals; si++) {
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can_signal_t* signal = &(pktinfo->signals[si]);
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uint16_t value = 0;
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switch (signal->type) {
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case DIN:
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value = dio_values[signal->channel];
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break;
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case AIN:
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value = signal->factor * adc_values[signal->channel];
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break;
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case FIN:
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/* NYI */
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break;
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default:
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break;
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}
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uint16_t mask = 0xFFFF >> (16 - signal->length);
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txData |= ((uint64_t) (value & mask)) << (signal->start);
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}
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if (HAL_FDCAN_AddMessageToTxFifoQ(&hfdcan1, &txHeader, (uint8_t*) &txData) != HAL_OK)
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Error_Handler();
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}
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if (mscounter >= 500) {
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mscounter = 0;
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HAL_GPIO_TogglePin(STATUS_G_GPIO_Port, STATUS_G_Pin);
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}
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}
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// TODO: Move all this into a 1kHz timer callback!
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HAL_Delay(1);
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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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/*AXI clock gating */
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RCC->CKGAENR = 0xFFFFFFFF;
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/** Supply configuration update enable
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*/
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HAL_PWREx_ConfigSupply(PWR_LDO_SUPPLY);
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/** Configure the main internal regulator output voltage
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*/
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__HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
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while(!__HAL_PWR_GET_FLAG(PWR_FLAG_VOSRDY)) {}
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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.PLL.PLLState = RCC_PLL_ON;
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RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
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RCC_OscInitStruct.PLL.PLLM = 2;
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RCC_OscInitStruct.PLL.PLLN = 32;
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RCC_OscInitStruct.PLL.PLLP = 2;
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RCC_OscInitStruct.PLL.PLLQ = 32;
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RCC_OscInitStruct.PLL.PLLR = 32;
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RCC_OscInitStruct.PLL.PLLRGE = RCC_PLL1VCIRANGE_3;
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RCC_OscInitStruct.PLL.PLLVCOSEL = RCC_PLL1VCOWIDE;
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RCC_OscInitStruct.PLL.PLLFRACN = 0;
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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_CLOCKTYPE_D3PCLK1|RCC_CLOCKTYPE_D1PCLK1;
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RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
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RCC_ClkInitStruct.SYSCLKDivider = RCC_SYSCLK_DIV1;
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RCC_ClkInitStruct.AHBCLKDivider = RCC_HCLK_DIV2;
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RCC_ClkInitStruct.APB3CLKDivider = RCC_APB3_DIV1;
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RCC_ClkInitStruct.APB1CLKDivider = RCC_APB1_DIV1;
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RCC_ClkInitStruct.APB2CLKDivider = RCC_APB2_DIV1;
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RCC_ClkInitStruct.APB4CLKDivider = RCC_APB4_DIV1;
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if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != 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 NVIC Configuration.
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* @retval None
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*/
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static void MX_NVIC_Init(void)
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{
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/* DMA1_Stream0_IRQn interrupt configuration */
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HAL_NVIC_SetPriority(DMA1_Stream0_IRQn, 0, 0);
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HAL_NVIC_EnableIRQ(DMA1_Stream0_IRQn);
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}
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/* USER CODE BEGIN 4 */
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void HAL_ADC_ConvCpltCallback(ADC_HandleTypeDef* hadc)
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{
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if (hadc->Instance == ADC1)
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{
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__asm volatile ("NOP");
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}
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}
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void SetCCR(TIM_TypeDef* Instance, unsigned int ch, uint8_t dc) {
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(&(Instance->CCR1))[ch] = dc;
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}
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void HAL_FDCAN_RxFifo0Callback(FDCAN_HandleTypeDef *handle, uint32_t RxFifo0ITs)
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{
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if (handle != &hfdcan1 || (RxFifo0ITs & FDCAN_IT_RX_FIFO0_NEW_MESSAGE) == RESET)
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return;
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static FDCAN_RxHeaderTypeDef header;
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static uint8_t data[8];
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if (HAL_FDCAN_GetRxMessage(&hfdcan1, FDCAN_RX_FIFO0, &header, data) != HAL_OK)
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return;
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if (header.FDFormat != FDCAN_CLASSIC_CAN ||
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header.RxFrameType != FDCAN_DATA_FRAME ||
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header.IdType != FDCAN_STANDARD_ID)
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return;
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switch (header.Identifier) {
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case CAN_PWM_DC_ID:
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uint8_t* dcs = data;
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for (int i = 0; i < header.DataLength; i++) {
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TIM_HandleTypeDef* htim = PWM_TIM_MAP[PWM_CH_MAP[i].tim];
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SetCCR(htim->Instance, PWM_CH_MAP[i].ch, dcs[i]);
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if (htim->ChannelState[PWM_CH_MAP[i].ch] == HAL_TIM_CHANNEL_STATE_RESET)
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HAL_TIM_PWM_Start(htim, PWM_CH_MAP[i].ch << 2);
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// MAYBE: Stop Timer when DC == 0 on all channels?
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// HAL_TIM_PWM_Stop(htim, channel);
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}
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break;
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case CAN_PWM_CONF_ID:
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uint16_t* freqs = (uint16_t*) data;
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for (int i = 0; i < (header.DataLength/2); i++) {
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uint32_t prescaler = (TIM_BASE_FREQ / (255UL * freqs[i])); // cast?
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PWM_TIM_MAP[i]->Instance->PSC = prescaler;
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}
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break;
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default:
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break;
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}
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}
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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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HAL_GPIO_WritePin(STATUS_R_GPIO_Port, STATUS_R_Pin, GPIO_PIN_SET);
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__disable_irq();
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while (1);
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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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