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436 lines
12 KiB
436 lines
12 KiB
/* 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) 2023 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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/* 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 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 hcan1; |
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CAN_HandleTypeDef hcan2; |
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TIM_HandleTypeDef htim3; |
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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_CAN1_Init(void); |
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static void MX_CAN2_Init(void); |
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static void MX_TIM3_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_CAN1_Init(); |
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MX_CAN2_Init(); |
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MX_TIM3_Init(); |
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/* USER CODE BEGIN 2 */ |
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HAL_GPIO_WritePin(AMS_Indicator_GPIO_Port, AMS_Indicator_Pin, 1); |
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HAL_GPIO_WritePin(IMD_Indicator_GPIO_Port, IMD_Indicator_Pin, 1); |
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HAL_Delay(2500); |
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HAL_CAN_Start(&hcan1); |
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//HAL_CAN_Start(&hcan2); |
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HAL_CAN_ActivateNotification(&hcan1, CAN_IT_RX_FIFO0_MSG_PENDING); |
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// HAL_CAN_ActivateNotification(&hcan2, CAN_IT_RX_FIFO0_MSG_PENDING); |
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{CAN_FilterTypeDef cftd; |
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cftd.SlaveStartFilterBank = 20; |
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cftd.FilterMode = CAN_FILTERMODE_IDMASK; |
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cftd.FilterScale = CAN_FILTERSCALE_32BIT; |
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cftd.FilterIdHigh = 0x0000; |
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cftd.FilterIdLow = 0x0000; |
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cftd.FilterMaskIdHigh = 0x0000; |
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cftd.FilterMaskIdLow = 0x0000; |
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cftd.FilterFIFOAssignment = 0; |
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cftd.FilterActivation = ENABLE; |
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cftd.FilterBank = 14; |
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HAL_CAN_ConfigFilter(&hcan1, &cftd);} |
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{CAN_FilterTypeDef cftd; |
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cftd.SlaveStartFilterBank = 20; |
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cftd.FilterMode = CAN_FILTERMODE_IDMASK; |
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cftd.FilterScale = CAN_FILTERSCALE_32BIT; |
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cftd.FilterIdHigh = 0x0000; |
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cftd.FilterIdLow = 0x0000; |
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cftd.FilterMaskIdHigh = 0x0000; |
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cftd.FilterMaskIdLow = 0x0000; |
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cftd.FilterFIFOAssignment = 0; |
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cftd.FilterActivation = ENABLE; |
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cftd.FilterBank = 14; |
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HAL_CAN_ConfigFilter(&hcan2, &cftd);} |
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HAL_TIM_Base_Start_IT(&htim3); |
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HAL_GPIO_WritePin(IMD_Indicator_GPIO_Port, IMD_Indicator_Pin, 0); |
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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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} |
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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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/** Configure the main internal regulator output voltage |
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*/ |
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if (HAL_PWREx_ControlVoltageScaling(PWR_REGULATOR_VOLTAGE_SCALE1) != HAL_OK) |
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{ |
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Error_Handler(); |
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} |
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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_MSI; |
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RCC_OscInitStruct.MSIState = RCC_MSI_ON; |
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RCC_OscInitStruct.MSICalibrationValue = 0; |
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RCC_OscInitStruct.MSIClockRange = RCC_MSIRANGE_10; |
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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_MSI; |
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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_1) != 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 CAN1 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_CAN1_Init(void) |
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{ |
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/* USER CODE BEGIN CAN1_Init 0 */ |
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/* USER CODE END CAN1_Init 0 */ |
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/* USER CODE BEGIN CAN1_Init 1 */ |
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//CAN_FilterTypeDef sFilterConfig = {0}; |
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/* USER CODE END CAN1_Init 1 */ |
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hcan1.Instance = CAN1; |
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hcan1.Init.Prescaler = 2; |
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hcan1.Init.Mode = CAN_MODE_NORMAL; |
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hcan1.Init.SyncJumpWidth = CAN_SJW_1TQ; |
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hcan1.Init.TimeSeg1 = CAN_BS1_11TQ; |
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hcan1.Init.TimeSeg2 = CAN_BS2_4TQ; |
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hcan1.Init.TimeTriggeredMode = DISABLE; |
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hcan1.Init.AutoBusOff = ENABLE; |
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hcan1.Init.AutoWakeUp = DISABLE; |
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hcan1.Init.AutoRetransmission = DISABLE; |
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hcan1.Init.ReceiveFifoLocked = DISABLE; |
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hcan1.Init.TransmitFifoPriority = DISABLE; |
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if (HAL_CAN_Init(&hcan1) != HAL_OK) |
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{ |
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Error_Handler(); |
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} |
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/* USER CODE BEGIN CAN1_Init 2 */ |
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/*sFilterConfig.FilterIdHigh = 0; |
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sFilterConfig.FilterIdLow = 0; |
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sFilterConfig.FilterMaskIdHigh = 0; |
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sFilterConfig.FilterMaskIdLow = 0; |
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sFilterConfig.FilterFIFOAssignment = CAN_FILTER_FIFO0; |
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sFilterConfig.FilterScale = CAN_FILTERSCALE_32BIT; |
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sFilterConfig.FilterActivation = ENABLE; |
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HAL_CAN_ConfigFilter(&hcan1, &sFilterConfig);*/ |
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/* USER CODE END CAN1_Init 2 */ |
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} |
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/** |
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* @brief CAN2 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_CAN2_Init(void) |
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{ |
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/* USER CODE BEGIN CAN2_Init 0 */ |
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/* USER CODE END CAN2_Init 0 */ |
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/* USER CODE BEGIN CAN2_Init 1 */ |
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//CAN_FilterTypeDef sFilterConfig = {0}; |
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/* USER CODE END CAN2_Init 1 */ |
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hcan2.Instance = CAN2; |
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hcan2.Init.Prescaler = 2; |
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hcan2.Init.Mode = CAN_MODE_NORMAL; |
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hcan2.Init.SyncJumpWidth = CAN_SJW_1TQ; |
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hcan2.Init.TimeSeg1 = CAN_BS1_11TQ; |
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hcan2.Init.TimeSeg2 = CAN_BS2_4TQ; |
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hcan2.Init.TimeTriggeredMode = DISABLE; |
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hcan2.Init.AutoBusOff = ENABLE; |
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hcan2.Init.AutoWakeUp = DISABLE; |
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hcan2.Init.AutoRetransmission = ENABLE; |
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hcan2.Init.ReceiveFifoLocked = DISABLE; |
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hcan2.Init.TransmitFifoPriority = DISABLE; |
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if (HAL_CAN_Init(&hcan2) != HAL_OK) |
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{ |
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Error_Handler(); |
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} |
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/* USER CODE BEGIN CAN2_Init 2 */ |
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/* sFilterConfig.FilterIdHigh = 0; |
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sFilterConfig.FilterIdLow = 0; |
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sFilterConfig.FilterMaskIdHigh = 0; |
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sFilterConfig.FilterMaskIdLow = 0; |
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sFilterConfig.FilterFIFOAssignment = CAN_FILTER_FIFO0; |
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sFilterConfig.FilterScale = CAN_FILTERSCALE_32BIT; |
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sFilterConfig.FilterActivation = ENABLE; |
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HAL_CAN_ConfigFilter(&hcan2, &sFilterConfig);*/ |
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/* USER CODE END CAN2_Init 2 */ |
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} |
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/** |
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* @brief TIM3 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_TIM3_Init(void) |
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{ |
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/* USER CODE BEGIN TIM3_Init 0 */ |
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/* USER CODE END TIM3_Init 0 */ |
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TIM_ClockConfigTypeDef sClockSourceConfig = {0}; |
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TIM_MasterConfigTypeDef sMasterConfig = {0}; |
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/* USER CODE BEGIN TIM3_Init 1 */ |
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/* USER CODE END TIM3_Init 1 */ |
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htim3.Instance = TIM3; |
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htim3.Init.Prescaler = 31999; |
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htim3.Init.CounterMode = TIM_COUNTERMODE_UP; |
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htim3.Init.Period = 1000; |
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htim3.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1; |
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htim3.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE; |
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if (HAL_TIM_Base_Init(&htim3) != HAL_OK) |
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{ |
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Error_Handler(); |
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} |
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sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL; |
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if (HAL_TIM_ConfigClockSource(&htim3, &sClockSourceConfig) != HAL_OK) |
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{ |
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Error_Handler(); |
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} |
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sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET; |
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sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; |
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if (HAL_TIMEx_MasterConfigSynchronization(&htim3, &sMasterConfig) != HAL_OK) |
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{ |
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Error_Handler(); |
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} |
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/* USER CODE BEGIN TIM3_Init 2 */ |
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/* USER CODE END TIM3_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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/* GPIO Ports Clock Enable */ |
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__HAL_RCC_GPIOH_CLK_ENABLE(); |
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__HAL_RCC_GPIOA_CLK_ENABLE(); |
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__HAL_RCC_GPIOB_CLK_ENABLE(); |
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__HAL_RCC_GPIOC_CLK_ENABLE(); |
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/*Configure GPIO pin Output Level */ |
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HAL_GPIO_WritePin(GPIOA, AMS_Indicator_Pin|IMD_Indicator_Pin, GPIO_PIN_RESET); |
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/*Configure GPIO pins : AMS_Indicator_Pin IMD_Indicator_Pin */ |
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GPIO_InitStruct.Pin = AMS_Indicator_Pin|IMD_Indicator_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 pin : TS_Activation_Pin */ |
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GPIO_InitStruct.Pin = TS_Activation_Pin; |
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GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING; |
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GPIO_InitStruct.Pull = GPIO_NOPULL; |
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HAL_GPIO_Init(TS_Activation_GPIO_Port, &GPIO_InitStruct); |
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/* EXTI interrupt init*/ |
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HAL_NVIC_SetPriority(EXTI9_5_IRQn, 0, 0); |
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HAL_NVIC_EnableIRQ(EXTI9_5_IRQn); |
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} |
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/* USER CODE BEGIN 4 */ |
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void sys_sendCan1Msg(uint32_t stdId, uint32_t dlc, uint8_t *data) |
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{ |
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CAN_TxHeaderTypeDef pHeaderTx = {0}; |
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uint32_t mailBox; |
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pHeaderTx.StdId = stdId; |
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pHeaderTx.ExtId = 0x01; |
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pHeaderTx.IDE = CAN_ID_STD; |
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pHeaderTx.RTR = CAN_RTR_DATA; |
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pHeaderTx.DLC = dlc; |
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pHeaderTx.TransmitGlobalTime = DISABLE; |
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HAL_CAN_AddTxMessage(&hcan1, &pHeaderTx, data, &mailBox); |
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} |
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void sys_sendCan2Msg(uint32_t stdId, uint32_t dlc, uint8_t *data) |
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{ |
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CAN_TxHeaderTypeDef pHeaderTx = {0}; |
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uint32_t mailBox; |
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pHeaderTx.StdId = stdId; |
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pHeaderTx.ExtId = 0x01; |
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pHeaderTx.IDE = CAN_ID_STD; |
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pHeaderTx.RTR = CAN_RTR_DATA; |
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pHeaderTx.DLC = dlc; |
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pHeaderTx.TransmitGlobalTime = DISABLE; |
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HAL_CAN_AddTxMessage(&hcan2, &pHeaderTx, data, &mailBox); |
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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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__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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