/* 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 */ #include "can_port.h" #include #include "timeouts.h" #include "FBKW.h" #include "tein_detection.h" #include "temperature.h" #include "injection.h" #include "ee_manager.h" #include "toothed_wheel.h" #include "can_read_pump_data.h" /*#include "kline.h" #include "IKW1281Connection.h"*/ #include "kl_api.h" #include "kl_protocol.h" #include "kl_session.h" /* USER CODE END Includes */ /* Private typedef -----------------------------------------------------------*/ /* USER CODE BEGIN PTD */ /* USER CODE END PTD */ /* Private define ------------------------------------------------------------*/ /* USER CODE BEGIN PD */ /* USER CODE END PD */ /* Private macro -------------------------------------------------------------*/ /* USER CODE BEGIN PM */ /* USER CODE END PM */ /* Private variables ---------------------------------------------------------*/ ADC_HandleTypeDef hadc1; ADC_HandleTypeDef hadc2; DMA_HandleTypeDef hdma_adc1; DMA_HandleTypeDef hdma_adc2; COMP_HandleTypeDef hcomp4; DAC_HandleTypeDef hdac1; FDCAN_HandleTypeDef hfdcan1; OPAMP_HandleTypeDef hopamp1; OPAMP_HandleTypeDef hopamp2; RTC_HandleTypeDef hrtc; TIM_HandleTypeDef htim1; TIM_HandleTypeDef htim2; TIM_HandleTypeDef htim3; TIM_HandleTypeDef htim4; TIM_HandleTypeDef htim6; TIM_HandleTypeDef htim7; TIM_HandleTypeDef htim8; TIM_HandleTypeDef htim15; TIM_HandleTypeDef htim16; TIM_HandleTypeDef htim17; UART_HandleTypeDef huart1; /* USER CODE BEGIN PV */ FDCAN_FilterTypeDef sFilterConfig; FDCAN_TxHeaderTypeDef TxHeader; FDCAN_RxHeaderTypeDef RxHeader; /* USER CODE END PV */ /* Private function prototypes -----------------------------------------------*/ void SystemClock_Config(void); static void MX_GPIO_Init(void); static void MX_DMA_Init(void); static void MX_ADC1_Init(void); static void MX_ADC2_Init(void); static void MX_COMP4_Init(void); static void MX_DAC1_Init(void); static void MX_FDCAN1_Init(void); static void MX_OPAMP1_Init(void); static void MX_TIM2_Init(void); static void MX_TIM4_Init(void); static void MX_USART1_UART_Init(void); static void MX_TIM1_Init(void); static void MX_TIM3_Init(void); static void MX_TIM6_Init(void); static void MX_TIM7_Init(void); static void MX_TIM15_Init(void); static void MX_TIM16_Init(void); static void MX_RTC_Init(void); static void MX_TIM8_Init(void); static void MX_OPAMP2_Init(void); static void MX_TIM17_Init(void); /* USER CODE BEGIN PFP */ void DAC_Voltaje(uint8_t isPeak); void EvaluateInjection(void); void EvaluateEOI(void); //void init_ME_LUT(void); /* USER CODE END PFP */ /* Private user code ---------------------------------------------------------*/ /* USER CODE BEGIN 0 */ #define TIMCLOCK 160000000 #define PRESCALAR 10 float refClock = TIMCLOCK/(PRESCALAR); float ME = 0; float MEPI = 0; void HAL_ADC_ConvCpltCallback(ADC_HandleTypeDef* hadc){ if (hadc->Instance == ADC2) { TeinProcessedTime = TIM2->CNT; ProcessTein = 1; }else if(hadc == &hadc1){ process_buffer_Temp(&dma_buffer[0]); } } void HAL_ADC_ConvHalfCpltCallback(ADC_HandleTypeDef* hadc){ if(hadc == &hadc1){ process_buffer_Temp(&dma_buffer[DMA_BUFFER_SIZE]); } } volatile uint32_t IC_INJ = 0; volatile uint32_t IC_CKP2 = 0; uint8_t compensatingEOI = 0; void HAL_TIM_IC_CaptureCallback(TIM_HandleTypeDef *htim) { if(htim == &htim2){ if (htim->Channel == HAL_TIM_ACTIVE_CHANNEL_1) { IC_RPM_Val2 = TIM2->CCR1; TW_TEETH_CAPTURE(); }else if(htim->Channel == HAL_TIM_ACTIVE_CHANNEL_3){ IC_CKP2 = TIM2->CCR3; //FBKW_PROCESS_CKP_PULSE(); TW_CKP_CAPTURE(); } } } uint8_t forceDC = 0; uint8_t safetySHUTOFF; void StartSampling(void){ HAL_ADC_Start_DMA(&hadc2, (uint32_t*)dma_buffer_tein, DMA_BUFFER_SIZE_TEIN); } float B_PHIAD = 0; int16_t B_FB_NW = 0; float B_KW_N = 0; float PID_PERIOD = 10.0; //in ms uint32_t lastPID_t = 0; //extern uint8_t forceDC2; void OnEnd(){ safetySHUTOFF = 1; startup = 2; startedEngine = 0; //forceDC2 = 2; HAL_TIM_PWM_Stop(&htim1, TIM_CHANNEL_3); //estos dos los he cambiado de orden, por si se raya.. INJ_END(); TEIN_DET_DeInit(); TW_RESET_SENSOR(); Timeout_ResetByIndex(4, TIM16->CNT); // Reset CKP timeout Timeout_StopByIndex(4); // Reset CKP timeout Timeout_ResetByIndex(13, TIM16->CNT); // Reset CKP timeout Timeout_StopByIndex(13); // Reset CKP timeout Timeout_ResetByIndex(12, TIM16->CNT); // Reset CKP timeout Timeout_StopByIndex(12); // Reset CKP timeout ProcessTein = 0; } void HAL_RTCEx_WakeUpTimerEventCallback(RTC_HandleTypeDef *hrtc) { if(startedEngine){ IncrementQuartHourCounter(); // Store +1 every 30 minutes } // Clear and restart the wakeup timer HAL_RTCEx_DeactivateWakeUpTimer(hrtc); // REQUIRED HAL_RTCEx_SetWakeUpTimer_IT(hrtc, 900, RTC_WAKEUPCLOCK_CK_SPRE_16BITS); } void CAN_AppInit(void) { can_port_init(&hfdcan1); can_manager_set_startup_reply_msg(&MSG_ID_EMPF3); // Boot reply uses EMPF3 can_manager_register_handler_msg(&MSG_ID_SEND3, can_manager_rx_boot_reply_always); //can_manager_register_handler_msg(&MSG_STARTUP_TRIGGER_RX, can_manager_rx_startup_trigger); can_manager_set_request_reply_msg(&MSG_ID_EMPF2); // Answer uses EMPF2 can_manager_register_handler_msg(&MSG_ID_SEND2, can_manager_rx_address_request); if (can_port_apply_rx_filters(&hfdcan1) != HAL_OK) { Error_Handler(); } HAL_FDCAN_Start(&hfdcan1); if (HAL_FDCAN_ActivateNotification(&hfdcan1, FDCAN_IT_RX_FIFO0_NEW_MESSAGE, 0) != HAL_OK) { Error_Handler(); } can_port_boot(); // sends all send_on_boot messages by DEF can_read_pump_data_init(); // or set fields then init can_read_pump_data_register(); // wraps 0x502 and sends EMPF2 for immobiliser pattern } uint32_t canfails = 0; void HAL_UART_TxCpltCallback(UART_HandleTypeDef *huart) { if (huart->Instance == USART1) KL_Phy_TxCpltCB(); } void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart) { if (huart->Instance == USART1) KL_Phy_RxCpltCB(); } void EXTI15_10_IRQHandler(void) { HAL_GPIO_EXTI_IRQHandler(KL_RX_PIN); } void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin) { if (GPIO_Pin == KL_RX_PIN) { KL_Session_OnExtiRxFalling(); } } void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) { if (htim->Instance == TIM17) KL_Session_OnTim17Elapsed(); } /* 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_ADC2_Init(); MX_COMP4_Init(); MX_DAC1_Init(); MX_FDCAN1_Init(); MX_OPAMP1_Init(); MX_TIM2_Init(); MX_TIM4_Init(); MX_USART1_UART_Init(); MX_TIM1_Init(); MX_TIM3_Init(); MX_TIM6_Init(); MX_TIM7_Init(); MX_TIM15_Init(); MX_TIM16_Init(); MX_RTC_Init(); MX_TIM8_Init(); MX_OPAMP2_Init(); MX_TIM17_Init(); /* USER CODE BEGIN 2 */ CAN_AppInit(); //ford might be too fast HAL_ADCEx_Calibration_Start(&hadc1, ADC_SINGLE_ENDED); HAL_ADCEx_Calibration_Start(&hadc2, ADC_SINGLE_ENDED); HAL_DAC_Start(&hdac1, DAC_CHANNEL_1); //HAL_COMP_Start(&hcomp1); HAL_COMP_Start(&hcomp4); HAL_OPAMP_Start(&hopamp1); HAL_OPAMP_Start(&hopamp2); // CAN START // //CAN_AppInit(); init_FuelMap(&PHI_AD); FBKW_init(); //definePID(&myPID, 90, 0, 0, 0.0, 60.0, 40.0*PID_PERIOD/1000, 1.0*PID_PERIOD/1000, 95, 5, 10000, 0.0, 0, 0, 0, 0); //va //initPID(&myPID, 40.0*PID_PERIOD/1000, 1.0*PID_PERIOD/1000); //va TIM1->DIER |= TIM_DIER_CC1IE | TIM_DIER_CC2IE | TIM_DIER_CC4IE; // | TIM_DIER_CC3IE // During TIM1 init (once): TIM1->CCMR2 |= TIM_CCMR2_OC4FE; // Fast enable TIM1->CCMR2 &= ~TIM_CCMR2_OC4PE; // No preload for CH4 while doing mid-cycle edits HAL_TIM_Base_Start_IT(&htim6); //timer PID, 10ms HAL_TIM_PWM_Start(&htim4, TIM_CHANNEL_2); // timer PID pwm HAL_TIM_Base_Start(&htim16); //timer timeouts, 0.1ms HAL_TIM_Base_Start_IT(&htim15); //timer ADCs HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_2); //timer inj, will be gated by TIM1_CH5 HAL_ADC_Start_DMA(&hadc1, (uint32_t*) &dma_buffer, 2 * DMA_BUFFER_SIZE); HAL_TIM_IC_Start_IT(&htim2, TIM_CHANNEL_1); //HAL_TIM_IC_Start_IT(&htim2, TIM_CHANNEL_2); HAL_TIM_IC_Start_IT(&htim2, TIM_CHANNEL_3); MEM_Init(); //MEM_WriteDefault(); MEM_RetrieveValues(); TEIN_DET_Init(); if(FORD_SYNC_PULSE_OUT){ SYNC_Pulse_EnableTIM8(); }/*else{ SYNC_Pulse_EnableGPIO(); }*/ KLine_Init(); /* USER CODE END 2 */ /* Infinite loop */ /* USER CODE BEGIN WHILE */ while (1) { /* USER CODE END WHILE */ /* USER CODE BEGIN 3 */ KLine_Service(); //KLine_ServiceCommands(); // <-- NEW: react to ISR kick, process full packet TW_Service(); CAN_Service(); // drain queued frames whenever HW has room TEIN_DET_Service(); SYNC_Pulse_Poll(); Temp = ((temp_avg * 3.3 / 4095 - 0.76)/0.0025)+30; uint16_t capture = TIM16->CNT; Timeout_CheckAll(capture); if(memWrite && (!T_hold || RPM < 5)){ MEM_WriteAll(); //only write all values on end memWrite=0; } uint32_t can_error = HAL_FDCAN_GetError(&hfdcan1); if (can_error != HAL_FDCAN_ERROR_NONE) { // Optional: Log or blink an LED here HAL_FDCAN_Stop(&hfdcan1); // Stop CAN safely HAL_FDCAN_DeInit(&hfdcan1); // Deinitialize // Reapply initialization based on baudrate hfdcan1.Init.NominalPrescaler = (CAN_BAUDRATE == 250) ? 40 : 20; if (HAL_FDCAN_Init(&hfdcan1) != HAL_OK) { //Error_Handler(); // You might want to retry or soft-fail } CAN_AppInit(); canfails++; // Optional: clear errors, or wait for bus to recover } //Timeout_PollActions(); FIEONA_Poll(); } /* USER CODE END 3 */ } /** * @brief System Clock Configuration * @retval None */ void SystemClock_Config(void) { RCC_OscInitTypeDef RCC_OscInitStruct = {0}; RCC_ClkInitTypeDef RCC_ClkInitStruct = {0}; /** Configure the main internal regulator output voltage */ HAL_PWREx_ControlVoltageScaling(PWR_REGULATOR_VOLTAGE_SCALE1_BOOST); /** Initializes the RCC Oscillators according to the specified parameters * in the RCC_OscInitTypeDef structure. */ RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_LSI|RCC_OSCILLATORTYPE_HSE; RCC_OscInitStruct.HSEState = RCC_HSE_ON; RCC_OscInitStruct.LSIState = RCC_LSI_ON; RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON; RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE; RCC_OscInitStruct.PLL.PLLM = RCC_PLLM_DIV1; RCC_OscInitStruct.PLL.PLLN = 20; RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2; RCC_OscInitStruct.PLL.PLLQ = RCC_PLLQ_DIV2; RCC_OscInitStruct.PLL.PLLR = RCC_PLLR_DIV2; 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_4) != HAL_OK) { Error_Handler(); } } /** * @brief ADC1 Initialization Function * @param None * @retval None */ static void MX_ADC1_Init(void) { /* USER CODE BEGIN ADC1_Init 0 */ /* USER CODE END ADC1_Init 0 */ ADC_MultiModeTypeDef multimode = {0}; ADC_ChannelConfTypeDef sConfig = {0}; /* USER CODE BEGIN ADC1_Init 1 */ /* USER CODE END ADC1_Init 1 */ /** Common config */ hadc1.Instance = ADC1; hadc1.Init.ClockPrescaler = ADC_CLOCK_ASYNC_DIV8; hadc1.Init.Resolution = ADC_RESOLUTION_12B; hadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT; hadc1.Init.GainCompensation = 0; hadc1.Init.ScanConvMode = ADC_SCAN_DISABLE; hadc1.Init.EOCSelection = ADC_EOC_SINGLE_CONV; hadc1.Init.LowPowerAutoWait = DISABLE; hadc1.Init.ContinuousConvMode = ENABLE; hadc1.Init.NbrOfConversion = 1; hadc1.Init.DiscontinuousConvMode = DISABLE; hadc1.Init.ExternalTrigConv = ADC_EXTERNALTRIG_T15_TRGO; hadc1.Init.ExternalTrigConvEdge = ADC_EXTERNALTRIGCONVEDGE_RISING; hadc1.Init.DMAContinuousRequests = ENABLE; hadc1.Init.Overrun = ADC_OVR_DATA_PRESERVED; hadc1.Init.OversamplingMode = DISABLE; if (HAL_ADC_Init(&hadc1) != HAL_OK) { Error_Handler(); } /** Configure the ADC multi-mode */ multimode.Mode = ADC_MODE_INDEPENDENT; if (HAL_ADCEx_MultiModeConfigChannel(&hadc1, &multimode) != HAL_OK) { Error_Handler(); } /** Configure Regular Channel */ sConfig.Channel = ADC_CHANNEL_TEMPSENSOR_ADC1; sConfig.Rank = ADC_REGULAR_RANK_1; sConfig.SamplingTime = ADC_SAMPLETIME_640CYCLES_5; sConfig.SingleDiff = ADC_SINGLE_ENDED; sConfig.OffsetNumber = ADC_OFFSET_NONE; sConfig.Offset = 0; if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) { Error_Handler(); } /* USER CODE BEGIN ADC1_Init 2 */ /* USER CODE END ADC1_Init 2 */ } /** * @brief ADC2 Initialization Function * @param None * @retval None */ static void MX_ADC2_Init(void) { /* USER CODE BEGIN ADC2_Init 0 */ /* USER CODE END ADC2_Init 0 */ ADC_ChannelConfTypeDef sConfig = {0}; /* USER CODE BEGIN ADC2_Init 1 */ /* USER CODE END ADC2_Init 1 */ /** Common config */ hadc2.Instance = ADC2; hadc2.Init.ClockPrescaler = ADC_CLOCK_ASYNC_DIV8; hadc2.Init.Resolution = ADC_RESOLUTION_8B; hadc2.Init.DataAlign = ADC_DATAALIGN_RIGHT; hadc2.Init.GainCompensation = 0; hadc2.Init.ScanConvMode = ADC_SCAN_DISABLE; hadc2.Init.EOCSelection = ADC_EOC_SINGLE_CONV; hadc2.Init.LowPowerAutoWait = DISABLE; hadc2.Init.ContinuousConvMode = DISABLE; hadc2.Init.NbrOfConversion = 1; hadc2.Init.DiscontinuousConvMode = DISABLE; hadc2.Init.ExternalTrigConv = ADC_EXTERNALTRIG_T3_TRGO; hadc2.Init.ExternalTrigConvEdge = ADC_EXTERNALTRIGCONVEDGE_RISING; hadc2.Init.DMAContinuousRequests = DISABLE; hadc2.Init.Overrun = ADC_OVR_DATA_PRESERVED; hadc2.Init.OversamplingMode = DISABLE; if (HAL_ADC_Init(&hadc2) != HAL_OK) { Error_Handler(); } /** Configure Regular Channel */ sConfig.Channel = ADC_CHANNEL_13; sConfig.Rank = ADC_REGULAR_RANK_1; sConfig.SamplingTime = ADC_SAMPLETIME_247CYCLES_5; sConfig.SingleDiff = ADC_SINGLE_ENDED; sConfig.OffsetNumber = ADC_OFFSET_NONE; sConfig.Offset = 0; if (HAL_ADC_ConfigChannel(&hadc2, &sConfig) != HAL_OK) { Error_Handler(); } /* USER CODE BEGIN ADC2_Init 2 */ /* USER CODE END ADC2_Init 2 */ } /** * @brief COMP4 Initialization Function * @param None * @retval None */ static void MX_COMP4_Init(void) { /* USER CODE BEGIN COMP4_Init 0 */ /* USER CODE END COMP4_Init 0 */ /* USER CODE BEGIN COMP4_Init 1 */ /* USER CODE END COMP4_Init 1 */ hcomp4.Instance = COMP4; hcomp4.Init.InputPlus = COMP_INPUT_PLUS_IO1; hcomp4.Init.InputMinus = COMP_INPUT_MINUS_1_4VREFINT; hcomp4.Init.OutputPol = COMP_OUTPUTPOL_NONINVERTED; hcomp4.Init.Hysteresis = COMP_HYSTERESIS_70MV; hcomp4.Init.BlankingSrce = COMP_BLANKINGSRC_NONE; hcomp4.Init.TriggerMode = COMP_TRIGGERMODE_NONE; if (HAL_COMP_Init(&hcomp4) != HAL_OK) { Error_Handler(); } /* USER CODE BEGIN COMP4_Init 2 */ /* USER CODE END COMP4_Init 2 */ } /** * @brief DAC1 Initialization Function * @param None * @retval None */ static void MX_DAC1_Init(void) { /* USER CODE BEGIN DAC1_Init 0 */ /* USER CODE END DAC1_Init 0 */ DAC_ChannelConfTypeDef sConfig = {0}; /* USER CODE BEGIN DAC1_Init 1 */ /* USER CODE END DAC1_Init 1 */ /** DAC Initialization */ hdac1.Instance = DAC1; if (HAL_DAC_Init(&hdac1) != HAL_OK) { Error_Handler(); } /** DAC channel OUT1 config */ sConfig.DAC_HighFrequency = DAC_HIGH_FREQUENCY_INTERFACE_MODE_ABOVE_160MHZ; sConfig.DAC_DMADoubleDataMode = DISABLE; sConfig.DAC_SignedFormat = DISABLE; sConfig.DAC_SampleAndHold = DAC_SAMPLEANDHOLD_DISABLE; sConfig.DAC_Trigger = DAC_TRIGGER_NONE; sConfig.DAC_Trigger2 = DAC_TRIGGER_NONE; sConfig.DAC_OutputBuffer = DAC_OUTPUTBUFFER_ENABLE; sConfig.DAC_ConnectOnChipPeripheral = DAC_CHIPCONNECT_EXTERNAL; sConfig.DAC_UserTrimming = DAC_TRIMMING_FACTORY; if (HAL_DAC_ConfigChannel(&hdac1, &sConfig, DAC_CHANNEL_1) != HAL_OK) { Error_Handler(); } /* USER CODE BEGIN DAC1_Init 2 */ /* USER CODE END DAC1_Init 2 */ } /** * @brief FDCAN1 Initialization Function * @param None * @retval None */ static void MX_FDCAN1_Init(void) { /* USER CODE BEGIN FDCAN1_Init 0 */ /* USER CODE END FDCAN1_Init 0 */ /* USER CODE BEGIN FDCAN1_Init 1 */ /* USER CODE END FDCAN1_Init 1 */ hfdcan1.Instance = FDCAN1; hfdcan1.Init.ClockDivider = FDCAN_CLOCK_DIV1; hfdcan1.Init.FrameFormat = FDCAN_FRAME_CLASSIC; hfdcan1.Init.Mode = FDCAN_MODE_NORMAL; hfdcan1.Init.AutoRetransmission = ENABLE; hfdcan1.Init.TransmitPause = ENABLE; hfdcan1.Init.ProtocolException = DISABLE; hfdcan1.Init.NominalPrescaler = 20; hfdcan1.Init.NominalSyncJumpWidth = 2; hfdcan1.Init.NominalTimeSeg1 = 13; hfdcan1.Init.NominalTimeSeg2 = 2; hfdcan1.Init.DataPrescaler = 1; hfdcan1.Init.DataSyncJumpWidth = 1; hfdcan1.Init.DataTimeSeg1 = 1; hfdcan1.Init.DataTimeSeg2 = 1; hfdcan1.Init.StdFiltersNbr = 1; hfdcan1.Init.ExtFiltersNbr = 0; hfdcan1.Init.TxFifoQueueMode = FDCAN_TX_FIFO_OPERATION; if (HAL_FDCAN_Init(&hfdcan1) != HAL_OK) { Error_Handler(); } /* USER CODE BEGIN FDCAN1_Init 2 */ // Decide how many STANDARD filters you’ll need from the DB HAL_FDCAN_DeInit(&hfdcan1); size_t need_std = can_port_required_std_filters(); // Typical G4 parts have up to 28 standard filters. Clamp to hardware max if needed. if (need_std > 28) need_std = 28; hfdcan1.Init.StdFiltersNbr = (uint32_t)need_std; //nominal prescaler for 500-> 20, for 250->40 if (hfdcan1.Init.NominalPrescaler != 40 && CAN_BAUDRATE == 250) { hfdcan1.Init.NominalPrescaler = 40; } if (HAL_FDCAN_Init(&hfdcan1) != HAL_OK) { Error_Handler(); } // If you ever have extended RX IDs in DB, set ExtFiltersNbr accordingly too. /* USER CODE END FDCAN1_Init 2 */ } /** * @brief OPAMP1 Initialization Function * @param None * @retval None */ static void MX_OPAMP1_Init(void) { /* USER CODE BEGIN OPAMP1_Init 0 */ /* USER CODE END OPAMP1_Init 0 */ /* USER CODE BEGIN OPAMP1_Init 1 */ /* USER CODE END OPAMP1_Init 1 */ hopamp1.Instance = OPAMP1; hopamp1.Init.PowerMode = OPAMP_POWERMODE_NORMALSPEED; hopamp1.Init.Mode = OPAMP_FOLLOWER_MODE; hopamp1.Init.NonInvertingInput = OPAMP_NONINVERTINGINPUT_IO1; hopamp1.Init.InternalOutput = DISABLE; hopamp1.Init.TimerControlledMuxmode = OPAMP_TIMERCONTROLLEDMUXMODE_DISABLE; hopamp1.Init.UserTrimming = OPAMP_TRIMMING_FACTORY; if (HAL_OPAMP_Init(&hopamp1) != HAL_OK) { Error_Handler(); } /* USER CODE BEGIN OPAMP1_Init 2 */ /* USER CODE END OPAMP1_Init 2 */ } /** * @brief OPAMP2 Initialization Function * @param None * @retval None */ static void MX_OPAMP2_Init(void) { /* USER CODE BEGIN OPAMP2_Init 0 */ /* USER CODE END OPAMP2_Init 0 */ /* USER CODE BEGIN OPAMP2_Init 1 */ /* USER CODE END OPAMP2_Init 1 */ hopamp2.Instance = OPAMP2; hopamp2.Init.PowerMode = OPAMP_POWERMODE_NORMALSPEED; hopamp2.Init.Mode = OPAMP_FOLLOWER_MODE; hopamp2.Init.NonInvertingInput = OPAMP_NONINVERTINGINPUT_IO0; hopamp2.Init.InternalOutput = DISABLE; hopamp2.Init.TimerControlledMuxmode = OPAMP_TIMERCONTROLLEDMUXMODE_DISABLE; hopamp2.Init.UserTrimming = OPAMP_TRIMMING_FACTORY; if (HAL_OPAMP_Init(&hopamp2) != HAL_OK) { Error_Handler(); } /* USER CODE BEGIN OPAMP2_Init 2 */ /* USER CODE END OPAMP2_Init 2 */ } /** * @brief RTC Initialization Function * @param None * @retval None */ static void MX_RTC_Init(void) { /* USER CODE BEGIN RTC_Init 0 */ /* USER CODE END RTC_Init 0 */ /* USER CODE BEGIN RTC_Init 1 */ /* USER CODE END RTC_Init 1 */ /** Initialize RTC Only */ hrtc.Instance = RTC; hrtc.Init.HourFormat = RTC_HOURFORMAT_24; hrtc.Init.AsynchPrediv = 127; hrtc.Init.SynchPrediv = 255; hrtc.Init.OutPut = RTC_OUTPUT_DISABLE; hrtc.Init.OutPutRemap = RTC_OUTPUT_REMAP_NONE; hrtc.Init.OutPutPolarity = RTC_OUTPUT_POLARITY_HIGH; hrtc.Init.OutPutType = RTC_OUTPUT_TYPE_OPENDRAIN; hrtc.Init.OutPutPullUp = RTC_OUTPUT_PULLUP_NONE; if (HAL_RTC_Init(&hrtc) != HAL_OK) { Error_Handler(); } /** Enable the WakeUp */ if (HAL_RTCEx_SetWakeUpTimer_IT(&hrtc, 900, RTC_WAKEUPCLOCK_CK_SPRE_16BITS) != HAL_OK) { Error_Handler(); } /* USER CODE BEGIN RTC_Init 2 */ /* USER CODE END RTC_Init 2 */ } /** * @brief TIM1 Initialization Function * @param None * @retval None */ static void MX_TIM1_Init(void) { /* USER CODE BEGIN TIM1_Init 0 */ /* USER CODE END TIM1_Init 0 */ TIM_ClockConfigTypeDef sClockSourceConfig = {0}; TIM_MasterConfigTypeDef sMasterConfig = {0}; TIM_OC_InitTypeDef sConfigOC = {0}; TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig = {0}; /* USER CODE BEGIN TIM1_Init 1 */ /* USER CODE END TIM1_Init 1 */ htim1.Instance = TIM1; htim1.Init.Prescaler = 20-1; htim1.Init.CounterMode = TIM_COUNTERMODE_UP; htim1.Init.Period = 65535; htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1; htim1.Init.RepetitionCounter = 0; htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE; if (HAL_TIM_Base_Init(&htim1) != HAL_OK) { Error_Handler(); } sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL; if (HAL_TIM_ConfigClockSource(&htim1, &sClockSourceConfig) != HAL_OK) { Error_Handler(); } if (HAL_TIM_PWM_Init(&htim1) != HAL_OK) { Error_Handler(); } if (HAL_TIM_OnePulse_Init(&htim1, TIM_OPMODE_SINGLE) != HAL_OK) { Error_Handler(); } sMasterConfig.MasterOutputTrigger = TIM_TRGO_OC3REF; sMasterConfig.MasterOutputTrigger2 = TIM_TRGO2_RESET; sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; if (HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig) != HAL_OK) { Error_Handler(); } sConfigOC.OCMode = TIM_OCMODE_PWM1; sConfigOC.Pulse = 1000; sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH; sConfigOC.OCNPolarity = TIM_OCNPOLARITY_HIGH; sConfigOC.OCFastMode = TIM_OCFAST_DISABLE; sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET; sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET; if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_3) != HAL_OK) { Error_Handler(); } sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_DISABLE; sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_DISABLE; sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF; sBreakDeadTimeConfig.DeadTime = 0; sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE; sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_HIGH; sBreakDeadTimeConfig.BreakFilter = 0; sBreakDeadTimeConfig.BreakAFMode = TIM_BREAK_AFMODE_INPUT; sBreakDeadTimeConfig.Break2State = TIM_BREAK2_DISABLE; sBreakDeadTimeConfig.Break2Polarity = TIM_BREAK2POLARITY_HIGH; sBreakDeadTimeConfig.Break2Filter = 0; sBreakDeadTimeConfig.Break2AFMode = TIM_BREAK_AFMODE_INPUT; sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE; if (HAL_TIMEx_ConfigBreakDeadTime(&htim1, &sBreakDeadTimeConfig) != HAL_OK) { Error_Handler(); } /* USER CODE BEGIN TIM1_Init 2 */ /* USER CODE END TIM1_Init 2 */ } /** * @brief TIM2 Initialization Function * @param None * @retval None */ static void MX_TIM2_Init(void) { /* USER CODE BEGIN TIM2_Init 0 */ /* USER CODE END TIM2_Init 0 */ TIM_ClockConfigTypeDef sClockSourceConfig = {0}; TIM_MasterConfigTypeDef sMasterConfig = {0}; TIM_IC_InitTypeDef sConfigIC = {0}; /* USER CODE BEGIN TIM2_Init 1 */ /* USER CODE END TIM2_Init 1 */ htim2.Instance = TIM2; htim2.Init.Prescaler = 10-1; htim2.Init.CounterMode = TIM_COUNTERMODE_UP; htim2.Init.Period = 4294967295; htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1; htim2.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE; if (HAL_TIM_Base_Init(&htim2) != HAL_OK) { Error_Handler(); } sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL; if (HAL_TIM_ConfigClockSource(&htim2, &sClockSourceConfig) != HAL_OK) { Error_Handler(); } if (HAL_TIM_IC_Init(&htim2) != HAL_OK) { Error_Handler(); } sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET; sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; if (HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig) != HAL_OK) { Error_Handler(); } sConfigIC.ICPolarity = TIM_INPUTCHANNELPOLARITY_FALLING; sConfigIC.ICSelection = TIM_ICSELECTION_DIRECTTI; sConfigIC.ICPrescaler = TIM_ICPSC_DIV1; sConfigIC.ICFilter = 15; if (HAL_TIM_IC_ConfigChannel(&htim2, &sConfigIC, TIM_CHANNEL_1) != HAL_OK) { Error_Handler(); } sConfigIC.ICFilter = 2; if (HAL_TIM_IC_ConfigChannel(&htim2, &sConfigIC, TIM_CHANNEL_3) != HAL_OK) { Error_Handler(); } if (HAL_TIMEx_TISelection(&htim2, TIM_TIM2_TI3_COMP4, TIM_CHANNEL_3) != HAL_OK) { Error_Handler(); } /* USER CODE BEGIN TIM2_Init 2 */ /* USER CODE END TIM2_Init 2 */ } /** * @brief TIM3 Initialization Function * @param None * @retval None */ static void MX_TIM3_Init(void) { /* USER CODE BEGIN TIM3_Init 0 */ /* USER CODE END TIM3_Init 0 */ TIM_ClockConfigTypeDef sClockSourceConfig = {0}; TIM_SlaveConfigTypeDef sSlaveConfig = {0}; TIM_MasterConfigTypeDef sMasterConfig = {0}; /* USER CODE BEGIN TIM3_Init 1 */ /* USER CODE END TIM3_Init 1 */ htim3.Instance = TIM3; htim3.Init.Prescaler = 160-1; htim3.Init.CounterMode = TIM_COUNTERMODE_UP; htim3.Init.Period = 15; htim3.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1; htim3.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE; if (HAL_TIM_Base_Init(&htim3) != HAL_OK) { Error_Handler(); } sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL; if (HAL_TIM_ConfigClockSource(&htim3, &sClockSourceConfig) != HAL_OK) { Error_Handler(); } sSlaveConfig.SlaveMode = TIM_SLAVEMODE_GATED; sSlaveConfig.InputTrigger = TIM_TS_ITR0; if (HAL_TIM_SlaveConfigSynchro(&htim3, &sSlaveConfig) != HAL_OK) { Error_Handler(); } sMasterConfig.MasterOutputTrigger = TIM_TRGO_UPDATE; sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; if (HAL_TIMEx_MasterConfigSynchronization(&htim3, &sMasterConfig) != HAL_OK) { Error_Handler(); } /* USER CODE BEGIN TIM3_Init 2 */ /* USER CODE END TIM3_Init 2 */ } /** * @brief TIM4 Initialization Function * @param None * @retval None */ static void MX_TIM4_Init(void) { /* USER CODE BEGIN TIM4_Init 0 */ /* USER CODE END TIM4_Init 0 */ TIM_ClockConfigTypeDef sClockSourceConfig = {0}; TIM_MasterConfigTypeDef sMasterConfig = {0}; TIM_OC_InitTypeDef sConfigOC = {0}; /* USER CODE BEGIN TIM4_Init 1 */ /* USER CODE END TIM4_Init 1 */ htim4.Instance = TIM4; htim4.Init.Prescaler = 80-1; htim4.Init.CounterMode = TIM_COUNTERMODE_UP; htim4.Init.Period = 29851; htim4.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1; htim4.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE; if (HAL_TIM_Base_Init(&htim4) != HAL_OK) { Error_Handler(); } sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL; if (HAL_TIM_ConfigClockSource(&htim4, &sClockSourceConfig) != HAL_OK) { Error_Handler(); } if (HAL_TIM_PWM_Init(&htim4) != HAL_OK) { Error_Handler(); } sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET; sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; if (HAL_TIMEx_MasterConfigSynchronization(&htim4, &sMasterConfig) != HAL_OK) { Error_Handler(); } sConfigOC.OCMode = TIM_OCMODE_PWM1; sConfigOC.Pulse = 5000; sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH; sConfigOC.OCFastMode = TIM_OCFAST_DISABLE; if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_2) != HAL_OK) { Error_Handler(); } /* USER CODE BEGIN TIM4_Init 2 */ /* USER CODE END TIM4_Init 2 */ HAL_TIM_MspPostInit(&htim4); } /** * @brief TIM6 Initialization Function * @param None * @retval None */ static void MX_TIM6_Init(void) { /* USER CODE BEGIN TIM6_Init 0 */ /* USER CODE END TIM6_Init 0 */ TIM_MasterConfigTypeDef sMasterConfig = {0}; /* USER CODE BEGIN TIM6_Init 1 */ /* USER CODE END TIM6_Init 1 */ htim6.Instance = TIM6; htim6.Init.Prescaler = 160-1; htim6.Init.CounterMode = TIM_COUNTERMODE_UP; htim6.Init.Period = 11099; htim6.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE; if (HAL_TIM_Base_Init(&htim6) != HAL_OK) { Error_Handler(); } sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET; sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; if (HAL_TIMEx_MasterConfigSynchronization(&htim6, &sMasterConfig) != HAL_OK) { Error_Handler(); } /* USER CODE BEGIN TIM6_Init 2 */ /* USER CODE END TIM6_Init 2 */ } /** * @brief TIM7 Initialization Function * @param None * @retval None */ static void MX_TIM7_Init(void) { /* USER CODE BEGIN TIM7_Init 0 */ /* USER CODE END TIM7_Init 0 */ TIM_MasterConfigTypeDef sMasterConfig = {0}; /* USER CODE BEGIN TIM7_Init 1 */ /* USER CODE END TIM7_Init 1 */ htim7.Instance = TIM7; htim7.Init.Prescaler = 15; htim7.Init.CounterMode = TIM_COUNTERMODE_UP; htim7.Init.Period = 9; htim7.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE; if (HAL_TIM_Base_Init(&htim7) != HAL_OK) { Error_Handler(); } sMasterConfig.MasterOutputTrigger = TIM_TRGO_UPDATE; sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; if (HAL_TIMEx_MasterConfigSynchronization(&htim7, &sMasterConfig) != HAL_OK) { Error_Handler(); } /* USER CODE BEGIN TIM7_Init 2 */ /* USER CODE END TIM7_Init 2 */ } /** * @brief TIM8 Initialization Function * @param None * @retval None */ static void MX_TIM8_Init(void) { /* USER CODE BEGIN TIM8_Init 0 */ /* USER CODE END TIM8_Init 0 */ TIM_MasterConfigTypeDef sMasterConfig = {0}; TIM_OC_InitTypeDef sConfigOC = {0}; TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig = {0}; /* USER CODE BEGIN TIM8_Init 1 */ /* USER CODE END TIM8_Init 1 */ htim8.Instance = TIM8; htim8.Init.Prescaler = 8000-1; htim8.Init.CounterMode = TIM_COUNTERMODE_UP; htim8.Init.Period = 999; htim8.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1; htim8.Init.RepetitionCounter = 0; htim8.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE; if (HAL_TIM_PWM_Init(&htim8) != HAL_OK) { Error_Handler(); } sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET; sMasterConfig.MasterOutputTrigger2 = TIM_TRGO2_RESET; sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; if (HAL_TIMEx_MasterConfigSynchronization(&htim8, &sMasterConfig) != HAL_OK) { Error_Handler(); } sConfigOC.OCMode = TIM_OCMODE_PWM1; sConfigOC.Pulse = 199; sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH; sConfigOC.OCNPolarity = TIM_OCNPOLARITY_HIGH; sConfigOC.OCFastMode = TIM_OCFAST_DISABLE; sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET; sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET; if (HAL_TIM_PWM_ConfigChannel(&htim8, &sConfigOC, TIM_CHANNEL_1) != HAL_OK) { Error_Handler(); } sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_DISABLE; sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_DISABLE; sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF; sBreakDeadTimeConfig.DeadTime = 0; sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE; sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_HIGH; sBreakDeadTimeConfig.BreakFilter = 0; sBreakDeadTimeConfig.BreakAFMode = TIM_BREAK_AFMODE_INPUT; sBreakDeadTimeConfig.Break2State = TIM_BREAK2_DISABLE; sBreakDeadTimeConfig.Break2Polarity = TIM_BREAK2POLARITY_HIGH; sBreakDeadTimeConfig.Break2Filter = 0; sBreakDeadTimeConfig.Break2AFMode = TIM_BREAK_AFMODE_INPUT; sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE; if (HAL_TIMEx_ConfigBreakDeadTime(&htim8, &sBreakDeadTimeConfig) != HAL_OK) { Error_Handler(); } /* USER CODE BEGIN TIM8_Init 2 */ /* USER CODE END TIM8_Init 2 */ } /** * @brief TIM15 Initialization Function * @param None * @retval None */ static void MX_TIM15_Init(void) { /* USER CODE BEGIN TIM15_Init 0 */ /* USER CODE END TIM15_Init 0 */ TIM_ClockConfigTypeDef sClockSourceConfig = {0}; TIM_MasterConfigTypeDef sMasterConfig = {0}; /* USER CODE BEGIN TIM15_Init 1 */ /* USER CODE END TIM15_Init 1 */ htim15.Instance = TIM15; htim15.Init.Prescaler = 160-1; htim15.Init.CounterMode = TIM_COUNTERMODE_UP; htim15.Init.Period = 1000; htim15.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1; htim15.Init.RepetitionCounter = 0; htim15.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE; if (HAL_TIM_Base_Init(&htim15) != HAL_OK) { Error_Handler(); } sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL; if (HAL_TIM_ConfigClockSource(&htim15, &sClockSourceConfig) != HAL_OK) { Error_Handler(); } sMasterConfig.MasterOutputTrigger = TIM_TRGO_UPDATE; sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; if (HAL_TIMEx_MasterConfigSynchronization(&htim15, &sMasterConfig) != HAL_OK) { Error_Handler(); } /* USER CODE BEGIN TIM15_Init 2 */ /* USER CODE END TIM15_Init 2 */ } /** * @brief TIM16 Initialization Function * @param None * @retval None */ static void MX_TIM16_Init(void) { /* USER CODE BEGIN TIM16_Init 0 */ /* USER CODE END TIM16_Init 0 */ /* USER CODE BEGIN TIM16_Init 1 */ /* USER CODE END TIM16_Init 1 */ htim16.Instance = TIM16; htim16.Init.Prescaler = 16000-1; htim16.Init.CounterMode = TIM_COUNTERMODE_UP; htim16.Init.Period = 65535; htim16.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1; htim16.Init.RepetitionCounter = 0; htim16.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE; if (HAL_TIM_Base_Init(&htim16) != HAL_OK) { Error_Handler(); } /* USER CODE BEGIN TIM16_Init 2 */ /* USER CODE END TIM16_Init 2 */ } /** * @brief TIM17 Initialization Function * @param None * @retval None */ static void MX_TIM17_Init(void) { /* USER CODE BEGIN TIM17_Init 0 */ /* USER CODE END TIM17_Init 0 */ /* USER CODE BEGIN TIM17_Init 1 */ /* USER CODE END TIM17_Init 1 */ htim17.Instance = TIM17; htim17.Init.Prescaler = 160-1; htim17.Init.CounterMode = TIM_COUNTERMODE_UP; htim17.Init.Period = 65535; htim17.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1; htim17.Init.RepetitionCounter = 0; htim17.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE; if (HAL_TIM_Base_Init(&htim17) != HAL_OK) { Error_Handler(); } if (HAL_TIM_OnePulse_Init(&htim17, TIM_OPMODE_SINGLE) != HAL_OK) { Error_Handler(); } /* USER CODE BEGIN TIM17_Init 2 */ /* USER CODE END TIM17_Init 2 */ } /** * @brief USART1 Initialization Function * @param None * @retval None */ static void MX_USART1_UART_Init(void) { /* USER CODE BEGIN USART1_Init 0 */ /* USER CODE END USART1_Init 0 */ /* USER CODE BEGIN USART1_Init 1 */ /* USER CODE END USART1_Init 1 */ huart1.Instance = USART1; huart1.Init.BaudRate = 115200; huart1.Init.WordLength = UART_WORDLENGTH_8B; huart1.Init.StopBits = UART_STOPBITS_1; huart1.Init.Parity = UART_PARITY_NONE; huart1.Init.Mode = UART_MODE_TX_RX; huart1.Init.HwFlowCtl = UART_HWCONTROL_NONE; huart1.Init.OverSampling = UART_OVERSAMPLING_16; huart1.Init.OneBitSampling = UART_ONE_BIT_SAMPLE_DISABLE; huart1.Init.ClockPrescaler = UART_PRESCALER_DIV1; huart1.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT; if (HAL_UART_Init(&huart1) != HAL_OK) { Error_Handler(); } if (HAL_UARTEx_SetTxFifoThreshold(&huart1, UART_TXFIFO_THRESHOLD_1_8) != HAL_OK) { Error_Handler(); } if (HAL_UARTEx_SetRxFifoThreshold(&huart1, UART_RXFIFO_THRESHOLD_1_8) != HAL_OK) { Error_Handler(); } if (HAL_UARTEx_DisableFifoMode(&huart1) != HAL_OK) { Error_Handler(); } /* USER CODE BEGIN USART1_Init 2 */ /* USER CODE END USART1_Init 2 */ } /** * Enable DMA controller clock */ static void MX_DMA_Init(void) { /* DMA controller clock enable */ __HAL_RCC_DMAMUX1_CLK_ENABLE(); __HAL_RCC_DMA1_CLK_ENABLE(); /* DMA interrupt init */ /* DMA1_Channel1_IRQn interrupt configuration */ HAL_NVIC_SetPriority(DMA1_Channel1_IRQn, 0, 0); HAL_NVIC_EnableIRQ(DMA1_Channel1_IRQn); /* DMA1_Channel2_IRQn interrupt configuration */ HAL_NVIC_SetPriority(DMA1_Channel2_IRQn, 7, 0); HAL_NVIC_EnableIRQ(DMA1_Channel2_IRQn); } /** * @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_GPIOF_CLK_ENABLE(); __HAL_RCC_GPIOA_CLK_ENABLE(); __HAL_RCC_GPIOB_CLK_ENABLE(); /*Configure GPIO pin Output Level */ HAL_GPIO_WritePin(SYNC_OUT_GPIO_Port, SYNC_OUT_Pin, GPIO_PIN_RESET); /*Configure GPIO pin Output Level */ HAL_GPIO_WritePin(HOLD_CONTROL_GPIO_Port, HOLD_CONTROL_Pin, GPIO_PIN_RESET); /*Configure GPIO pin : SYNC_OUT_Pin */ GPIO_InitStruct.Pin = SYNC_OUT_Pin; GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; GPIO_InitStruct.Pull = GPIO_NOPULL; GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH; HAL_GPIO_Init(SYNC_OUT_GPIO_Port, &GPIO_InitStruct); /*Configure GPIO pins : IDLE_IN_Pin SHUT_OFF_Pin */ GPIO_InitStruct.Pin = IDLE_IN_Pin|SHUT_OFF_Pin; GPIO_InitStruct.Mode = GPIO_MODE_INPUT; GPIO_InitStruct.Pull = GPIO_PULLDOWN; HAL_GPIO_Init(GPIOB, &GPIO_InitStruct); /*Configure GPIO pin : HOLD_CONTROL_Pin */ GPIO_InitStruct.Pin = HOLD_CONTROL_Pin; GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; GPIO_InitStruct.Pull = GPIO_PULLDOWN; GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH; HAL_GPIO_Init(HOLD_CONTROL_GPIO_Port, &GPIO_InitStruct); /**/ __HAL_SYSCFG_FASTMODEPLUS_ENABLE(SYSCFG_FASTMODEPLUS_PB6); /* USER CODE BEGIN MX_GPIO_Init_2 */ /* USER CODE END MX_GPIO_Init_2 */ } /* USER CODE BEGIN 4 */ void HAL_FDCAN_RxFifo0Callback(FDCAN_HandleTypeDef *hfdcan, uint32_t itFlags) { (void)hfdcan; (void)itFlags; // This pulls everything from FIFO0, decodes symbols, and runs per-message handlers. can_port_handle_rx_fifo(0); // If you still want your global “CAN timeout 2” bump each time there’s *any* RX: #if !HAS_PREINJECTION Timeout_ResetByIndex(14, TIM16->CNT); // can general timeout #endif } /* 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 */