1543 lines
40 KiB
C
1543 lines
40 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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/* Private includes ----------------------------------------------------------*/
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/* USER CODE BEGIN Includes */
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#include "can_port.h"
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#include <math.h>
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#include "timeouts.h"
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#include "FBKW.h"
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#include "tein_detection.h"
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#include "temperature.h"
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#include "injection.h"
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#include "ee_manager.h"
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#include "toothed_wheel.h"
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#include "can_read_pump_data.h"
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/*#include "kline.h"
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#include "IKW1281Connection.h"*/
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#include "kl_api.h"
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#include "kl_protocol.h"
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#include "kl_session.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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/* 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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ADC_HandleTypeDef hadc1;
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ADC_HandleTypeDef hadc2;
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DMA_HandleTypeDef hdma_adc1;
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DMA_HandleTypeDef hdma_adc2;
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COMP_HandleTypeDef hcomp4;
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DAC_HandleTypeDef hdac1;
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FDCAN_HandleTypeDef hfdcan1;
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OPAMP_HandleTypeDef hopamp1;
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OPAMP_HandleTypeDef hopamp2;
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RTC_HandleTypeDef hrtc;
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TIM_HandleTypeDef htim1;
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TIM_HandleTypeDef htim2;
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TIM_HandleTypeDef htim3;
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TIM_HandleTypeDef htim4;
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TIM_HandleTypeDef htim6;
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TIM_HandleTypeDef htim7;
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TIM_HandleTypeDef htim8;
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TIM_HandleTypeDef htim15;
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TIM_HandleTypeDef htim16;
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TIM_HandleTypeDef htim17;
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UART_HandleTypeDef huart1;
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/* USER CODE BEGIN PV */
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FDCAN_FilterTypeDef sFilterConfig;
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FDCAN_TxHeaderTypeDef TxHeader;
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FDCAN_RxHeaderTypeDef RxHeader;
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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_DMA_Init(void);
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static void MX_ADC1_Init(void);
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static void MX_ADC2_Init(void);
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static void MX_COMP4_Init(void);
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static void MX_DAC1_Init(void);
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static void MX_FDCAN1_Init(void);
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static void MX_OPAMP1_Init(void);
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static void MX_TIM2_Init(void);
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static void MX_TIM4_Init(void);
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static void MX_USART1_UART_Init(void);
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static void MX_TIM1_Init(void);
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static void MX_TIM3_Init(void);
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static void MX_TIM6_Init(void);
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static void MX_TIM7_Init(void);
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static void MX_TIM15_Init(void);
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static void MX_TIM16_Init(void);
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static void MX_RTC_Init(void);
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static void MX_TIM8_Init(void);
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static void MX_OPAMP2_Init(void);
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static void MX_TIM17_Init(void);
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/* USER CODE BEGIN PFP */
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void DAC_Voltaje(uint8_t isPeak);
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void EvaluateInjection(void);
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void EvaluateEOI(void);
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//void init_ME_LUT(void);
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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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#define TIMCLOCK 160000000
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#define PRESCALAR 10
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float refClock = TIMCLOCK/(PRESCALAR);
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float ME = 0;
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float MEPI = 0;
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void HAL_ADC_ConvCpltCallback(ADC_HandleTypeDef* hadc){
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if (hadc->Instance == ADC2)
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{
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TeinProcessedTime = TIM2->CNT;
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ProcessTein = 1;
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}else if(hadc == &hadc1){
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process_buffer_Temp(&dma_buffer[0]);
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}
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}
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void HAL_ADC_ConvHalfCpltCallback(ADC_HandleTypeDef* hadc){
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if(hadc == &hadc1){
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process_buffer_Temp(&dma_buffer[DMA_BUFFER_SIZE]);
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}
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}
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volatile uint32_t IC_INJ = 0;
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volatile uint32_t IC_CKP2 = 0;
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uint8_t compensatingEOI = 0;
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void HAL_TIM_IC_CaptureCallback(TIM_HandleTypeDef *htim)
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{
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if(htim == &htim2){
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if (htim->Channel == HAL_TIM_ACTIVE_CHANNEL_1)
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{
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IC_RPM_Val2 = TIM2->CCR1;
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TW_TEETH_CAPTURE();
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}else if(htim->Channel == HAL_TIM_ACTIVE_CHANNEL_3){
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IC_CKP2 = TIM2->CCR3;
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//FBKW_PROCESS_CKP_PULSE();
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TW_CKP_CAPTURE();
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}
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}
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}
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uint8_t forceDC = 0;
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uint8_t safetySHUTOFF;
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void StartSampling(void){
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HAL_ADC_Start_DMA(&hadc2, (uint32_t*)dma_buffer_tein, DMA_BUFFER_SIZE_TEIN);
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}
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float B_PHIAD = 0;
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int16_t B_FB_NW = 0;
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float B_KW_N = 0;
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float PID_PERIOD = 10.0; //in ms
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uint32_t lastPID_t = 0;
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//extern uint8_t forceDC2;
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void OnEnd(){
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safetySHUTOFF = 1;
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#if defined(T06301)
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startup = 2;
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#endif
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startedEngine = 0;
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//forceDC2 = 2;
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HAL_TIM_PWM_Stop(&htim1, TIM_CHANNEL_3); //estos dos los he cambiado de orden, por si se raya..
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INJ_END();
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TEIN_DET_DeInit();
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TW_RESET_SENSOR();
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Timeout_ResetByIndex(4, TIM16->CNT); // Reset CKP timeout
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Timeout_StopByIndex(4); // Reset CKP timeout
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Timeout_ResetByIndex(13, TIM16->CNT); // Reset CKP timeout
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Timeout_StopByIndex(13); // Reset CKP timeout
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Timeout_ResetByIndex(12, TIM16->CNT); // Reset CKP timeout
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Timeout_StopByIndex(12); // Reset CKP timeout
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ProcessTein = 0;
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}
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void HAL_RTCEx_WakeUpTimerEventCallback(RTC_HandleTypeDef *hrtc)
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{
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if(startedEngine){
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IncrementQuartHourCounter(); // Store +1 every 30 minutes
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}
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// Clear and restart the wakeup timer
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HAL_RTCEx_DeactivateWakeUpTimer(hrtc); // REQUIRED
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HAL_RTCEx_SetWakeUpTimer_IT(hrtc, 900, RTC_WAKEUPCLOCK_CK_SPRE_16BITS);
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}
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void CAN_AppInit(void)
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{
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can_port_init(&hfdcan1);
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can_manager_set_startup_reply_msg(&MSG_ID_EMPF3); // Boot reply uses EMPF3
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can_manager_register_handler_msg(&MSG_ID_SEND3, can_manager_rx_boot_reply_always);
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//can_manager_register_handler_msg(&MSG_STARTUP_TRIGGER_RX, can_manager_rx_startup_trigger);
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can_manager_set_request_reply_msg(&MSG_ID_EMPF2); // Answer uses EMPF2
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can_manager_register_handler_msg(&MSG_ID_SEND2, can_manager_rx_address_request);
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if (can_port_apply_rx_filters(&hfdcan1) != HAL_OK) {
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Error_Handler();
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}
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HAL_FDCAN_Start(&hfdcan1);
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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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}
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can_port_boot(); // sends all send_on_boot messages by DEF
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can_read_pump_data_init(); // or set fields then init
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can_read_pump_data_register(); // wraps 0x502 and sends EMPF2 for immobiliser pattern
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}
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uint32_t canfails = 0;
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void HAL_UART_TxCpltCallback(UART_HandleTypeDef *huart) {
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if (huart->Instance == USART1) KL_Phy_TxCpltCB();
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}
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void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart) {
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if (huart->Instance == USART1) KL_Phy_RxCpltCB();
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}
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void EXTI15_10_IRQHandler(void)
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{
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HAL_GPIO_EXTI_IRQHandler(KL_RX_PIN);
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}
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void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin) {
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if (GPIO_Pin == KL_RX_PIN) {
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KL_Session_OnExtiRxFalling();
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}
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}
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void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) {
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if (htim->Instance == TIM17) KL_Session_OnTim17Elapsed();
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}//
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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_ADC2_Init();
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MX_COMP4_Init();
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MX_DAC1_Init();
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MX_FDCAN1_Init();
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MX_OPAMP1_Init();
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MX_TIM2_Init();
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MX_TIM4_Init();
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MX_USART1_UART_Init();
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MX_TIM1_Init();
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MX_TIM3_Init();
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MX_TIM6_Init();
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MX_TIM7_Init();
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MX_TIM15_Init();
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MX_TIM16_Init();
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MX_RTC_Init();
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MX_TIM8_Init();
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MX_OPAMP2_Init();
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MX_TIM17_Init();
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/* USER CODE BEGIN 2 */
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CAN_AppInit(); //ford might be too fast
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HAL_ADCEx_Calibration_Start(&hadc1, ADC_SINGLE_ENDED);
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HAL_ADCEx_Calibration_Start(&hadc2, ADC_SINGLE_ENDED);
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HAL_DAC_Start(&hdac1, DAC_CHANNEL_1);
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//HAL_COMP_Start(&hcomp1);
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HAL_COMP_Start(&hcomp4);
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HAL_OPAMP_Start(&hopamp1);
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HAL_OPAMP_Start(&hopamp2);
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// CAN START //
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//CAN_AppInit();
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init_FuelMap(&PHI_AD);
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FBKW_init();
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//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
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//initPID(&myPID, 40.0*PID_PERIOD/1000, 1.0*PID_PERIOD/1000); //va
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TIM1->DIER |= TIM_DIER_CC1IE | TIM_DIER_CC2IE | TIM_DIER_CC4IE; // | TIM_DIER_CC3IE
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// During TIM1 init (once):
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TIM1->CCMR2 |= TIM_CCMR2_OC4FE; // Fast enable
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TIM1->CCMR2 &= ~TIM_CCMR2_OC4PE; // No preload for CH4 while doing mid-cycle edits
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HAL_TIM_Base_Start_IT(&htim6); //timer PID, 10ms
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HAL_TIM_PWM_Start(&htim4, TIM_CHANNEL_2); // timer PID pwm
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HAL_TIM_Base_Start(&htim16); //timer timeouts, 0.1ms
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HAL_TIM_Base_Start_IT(&htim15); //timer ADCs
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HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_2); //timer inj, will be gated by TIM1_CH5
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HAL_ADC_Start_DMA(&hadc1, (uint32_t*) &dma_buffer, 2 * DMA_BUFFER_SIZE);
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HAL_TIM_IC_Start_IT(&htim2, TIM_CHANNEL_1);
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//HAL_TIM_IC_Start_IT(&htim2, TIM_CHANNEL_2);
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HAL_TIM_IC_Start_IT(&htim2, TIM_CHANNEL_3);
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MEM_Init();
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//MEM_WriteDefault();
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MEM_RetrieveValues();
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TEIN_DET_Init();
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if(FORD_SYNC_PULSE_OUT){
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SYNC_Pulse_EnableTIM8();
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}/*else{
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SYNC_Pulse_EnableGPIO();
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}*/
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KLine_Init();
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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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KLine_Service();
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//KLine_ServiceCommands(); // <-- NEW: react to ISR kick, process full packet
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TW_Service();
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CAN_Service(); // drain queued frames whenever HW has room
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TEIN_DET_Service();
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SYNC_Pulse_Poll();
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Temp = ((temp_avg * 3.3 / 4095 - 0.76)/0.0025)+30;
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uint16_t capture = TIM16->CNT;
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Timeout_CheckAll(capture);
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if(memWrite && (!T_hold || RPM < 5)){
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MEM_WriteAll(); //only write all values on end
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memWrite=0;
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}
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uint32_t can_error = HAL_FDCAN_GetError(&hfdcan1);
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if (can_error != HAL_FDCAN_ERROR_NONE) {
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// Optional: Log or blink an LED here
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HAL_FDCAN_Stop(&hfdcan1); // Stop CAN safely
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HAL_FDCAN_DeInit(&hfdcan1); // Deinitialize
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// Reapply initialization based on baudrate
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hfdcan1.Init.NominalPrescaler = (CAN_BAUDRATE == 250) ? 40 : 20;
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if (HAL_FDCAN_Init(&hfdcan1) != HAL_OK) {
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//Error_Handler(); // You might want to retry or soft-fail
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}
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CAN_AppInit();
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canfails++;
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// Optional: clear errors, or wait for bus to recover
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}
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//Timeout_PollActions();
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FIEONA_Poll();
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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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HAL_PWREx_ControlVoltageScaling(PWR_REGULATOR_VOLTAGE_SCALE1_BOOST);
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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_LSI|RCC_OSCILLATORTYPE_HSE;
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RCC_OscInitStruct.HSEState = RCC_HSE_ON;
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RCC_OscInitStruct.LSIState = RCC_LSI_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 = RCC_PLLM_DIV1;
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RCC_OscInitStruct.PLL.PLLN = 20;
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RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
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RCC_OscInitStruct.PLL.PLLQ = RCC_PLLQ_DIV2;
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RCC_OscInitStruct.PLL.PLLR = RCC_PLLR_DIV2;
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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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|
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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_PLLCLK;
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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_4) != HAL_OK)
|
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{
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Error_Handler();
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}
|
||
}
|
||
|
||
/**
|
||
* @brief ADC1 Initialization Function
|
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* @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 */
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||
|
||
/** 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 = 9999;
|
||
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 */
|