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78e6a1b8aa49f0e05ccd7f06a223d53547294c3d
DBW/DBW_V2/Core/Src/main.c
v0stap 78e6a1b8aa base
2026-04-05 11:31:20 +02:00

467 lines
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/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file : main.c
* @brief : Main program body
******************************************************************************
* @attention
*
* <h2><center>&copy; Copyright (c) 2021 STMicroelectronics.
* All rights reserved.</center></h2>
*
* This software component is licensed by ST under BSD 3-Clause license,
* the "License"; You may not use this file except in compliance with the
* License. You may obtain a copy of the License at:
* opensource.org/licenses/BSD-3-Clause
*
******************************************************************************
*/
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include <stdio.h>
#include <string.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 hadc;
CAN_HandleTypeDef hcan;
UART_HandleTypeDef huart1;
/* USER CODE BEGIN PV */
/* USER CODE END PV */
/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
static void MX_GPIO_Init(void);
static void MX_ADC_Init(void);
//static void MX_CAN_Init(void);
static void MX_USART1_UART_Init(void);
/* USER CODE BEGIN PFP */
/* USER CODE END PFP */
/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
/* 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_ADC_Init();
// MX_CAN_Init();
MX_USART1_UART_Init();
/* USER CODE BEGIN 2 */
//load flash copy of config to RAM
// memcpy((void*)&config_ram,(void*)(0x0800F000), sizeof(config_t));
memcpy((void*) &config_ram, (void*) &config_flash, sizeof(config_t));
config = &config_ram;
//calculate gain and offset for PPS and TPS calc
Apply_Sensor_Calibration();
config->config_bits &= ~CONFIG_TESTMODE_F;
//clear momms
memset((void*) &var, 0, sizeof(var_t));
//Initialize TS Comms
Comms_Init();
NVIC_EnableIRQ(USART1_IRQn);
// check if safety features are enabled
if (config->config_bits & CONFIG_SAFETY_FEATURES_F) {
Check_Safety_Limits();
Safety_TPS_Safety_Timer_Start();
//TODO Watch_Dog_Init();
// change status
var.status1 |= DBW_STATUS1_SAFETY_F;
}
// if not change status to safy disabled
else
var.status1 &= ~DBW_STATUS1_SAFETY_F;
// Check if CAN has to be initialized
if ((config->pps2tps_option == PPS2TPS_OPTION_MS3_CAN)
|| (config->idle_input_option == IDLE_OPTION_MS_CAN)
|| config->can_ms29bit_options == 0x01) {
// Can_Init();
}
if (config->idle_input_option == IDLE_OPTION_PWM_INPUT1) {
TIM3_Init();
}
if (1) {
TIM14_Init(); //rpm input init
TIM16_Init(); // vss out init
TIM17_Init(); //Mazda rx8 can message init
}
Adc_Init();
DBW_Init();
DBW_Pwm_Init();
//check if program flash is write protected and set status
if (FLASH->WRPR & 0x00003FFF)
var.status0 |= DBW_STATUS0_UNPROTECTED_F;
else
var.status0 &= ~DBW_STATUS0_UNPROTECTED_F;
//check if agreement is set if so start DBW drive
if (config->config_bits & CONFIG_AGREEMENT_F) {
var.status0 |= DBW_STATUS0_AGREEMENT_F;
} else
var.status0 &= ~DBW_STATUS0_AGREEMENT_F;
// check if TPS and PPS are calibrated
if (config->config_bits & CONFIG_SENSORS_CALIBRATED_F) {
var.status0 |= DBW_STATUS0_SENSOR_CAL_F;
}
else {
var.status0 &= ~DBW_STATUS0_SENSOR_CAL_F;
}
// start DBW if sensors are calibrated and agreement is accepted
if ((var.status0 & DBW_STATUS0_AGREEMENT_F)
&& (var.status0 & DBW_STATUS0_SENSOR_CAL_F)) {
DBW_Start();
} else
DBW_Stop();
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1) {
/* USER CODE END WHILE */
// is something to be transmitted on serial
Poll_Tx();
// Update WDT and check ADC range if safety features are enabled
if ((var.status1 & DBW_STATUS1_SAFETY_F) && var.clock > 1000) {
//TODO Watch_Dog_Update();
Check_Adc_Range();
Check_TPS_Target();
}
//check if tesmode is turned on
if (config->config_bits & CONFIG_TESTMODE_F) {
var.status0 &= ~DBW_STATUS0_READY_F;
DBW_TPS_AutoCal();
DBW_Read_sensors();
} else {
DBW_Process();
}
CAN_Send_TX_Buffer();
if (1) {
MAZDA_CAN_Read();
}
/* USER CODE BEGIN 3 */
}
/* USER CODE END 3 */
}
/**
* @brief System Clock Configuration
* @retval None
*/
void SystemClock_Config(void) {
RCC_OscInitTypeDef RCC_OscInitStruct = { 0 };
RCC_ClkInitTypeDef RCC_ClkInitStruct = { 0 };
RCC_PeriphCLKInitTypeDef PeriphClkInit = { 0 };
/** Initializes the CPU, AHB and APB busses clocks
*/
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI14
| RCC_OSCILLATORTYPE_HSE;
RCC_OscInitStruct.HSEState = RCC_HSE_ON;
RCC_OscInitStruct.HSI14State = RCC_HSI14_ON;
RCC_OscInitStruct.HSI14CalibrationValue = 16;
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL12;
RCC_OscInitStruct.PLL.PREDIV = RCC_PREDIV_DIV2;
if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK) {
Error_Handler();
}
/** Initializes the CPU, AHB and APB busses clocks
*/
RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK | RCC_CLOCKTYPE_SYSCLK
| RCC_CLOCKTYPE_PCLK1;
RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1;
if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_1) != HAL_OK) {
Error_Handler();
}
PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_USART1;
PeriphClkInit.Usart1ClockSelection = RCC_USART1CLKSOURCE_PCLK1;
if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK) {
Error_Handler();
}
}
/**
* @brief ADC Initialization Function
* @param None
* @retval None
*/
static void MX_ADC_Init(void) {
/* USER CODE BEGIN ADC_Init 0 */
/* USER CODE END ADC_Init 0 */
ADC_ChannelConfTypeDef sConfig = { 0 };
/* USER CODE BEGIN ADC_Init 1 */
/* USER CODE END ADC_Init 1 */
/** Configure the global features of the ADC (Clock, Resolution, Data Alignment and number of conversion)
*/
hadc.Instance = ADC1;
hadc.Init.ClockPrescaler = ADC_CLOCK_ASYNC_DIV1;
hadc.Init.Resolution = ADC_RESOLUTION_12B;
hadc.Init.DataAlign = ADC_DATAALIGN_RIGHT;
hadc.Init.ScanConvMode = ADC_SCAN_DIRECTION_FORWARD;
hadc.Init.EOCSelection = ADC_EOC_SINGLE_CONV;
hadc.Init.LowPowerAutoWait = DISABLE;
hadc.Init.LowPowerAutoPowerOff = DISABLE;
hadc.Init.ContinuousConvMode = DISABLE;
hadc.Init.DiscontinuousConvMode = DISABLE;
hadc.Init.ExternalTrigConv = ADC_SOFTWARE_START;
hadc.Init.ExternalTrigConvEdge = ADC_EXTERNALTRIGCONVEDGE_NONE;
hadc.Init.DMAContinuousRequests = DISABLE;
hadc.Init.Overrun = ADC_OVR_DATA_PRESERVED;
if (HAL_ADC_Init(&hadc) != HAL_OK) {
Error_Handler();
}
/** Configure for the selected ADC regular channel to be converted.
*/
sConfig.Channel = ADC_CHANNEL_0;
sConfig.Rank = ADC_RANK_CHANNEL_NUMBER;
sConfig.SamplingTime = ADC_SAMPLETIME_1CYCLE_5;
if (HAL_ADC_ConfigChannel(&hadc, &sConfig) != HAL_OK) {
Error_Handler();
}
/** Configure for the selected ADC regular channel to be converted.
*/
sConfig.Channel = ADC_CHANNEL_1;
if (HAL_ADC_ConfigChannel(&hadc, &sConfig) != HAL_OK) {
Error_Handler();
}
/** Configure for the selected ADC regular channel to be converted.
*/
sConfig.Channel = ADC_CHANNEL_2;
if (HAL_ADC_ConfigChannel(&hadc, &sConfig) != HAL_OK) {
Error_Handler();
}
/** Configure for the selected ADC regular channel to be converted.
*/
sConfig.Channel = ADC_CHANNEL_3;
if (HAL_ADC_ConfigChannel(&hadc, &sConfig) != HAL_OK) {
Error_Handler();
}
/** Configure for the selected ADC regular channel to be converted.
*/
sConfig.Channel = ADC_CHANNEL_4;
if (HAL_ADC_ConfigChannel(&hadc, &sConfig) != HAL_OK) {
Error_Handler();
}
/** Configure for the selected ADC regular channel to be converted.
*/
sConfig.Channel = ADC_CHANNEL_5;
if (HAL_ADC_ConfigChannel(&hadc, &sConfig) != HAL_OK) {
Error_Handler();
}
/* USER CODE BEGIN ADC_Init 2 */
/* USER CODE END ADC_Init 2 */
}
/**
* @brief CAN Initialization Function
* @param None
* @retval None
*/
//static void MX_CAN_Init(void) {
//
// /* USER CODE BEGIN CAN_Init 0 */
//
// /* USER CODE END CAN_Init 0 */
//
// /* USER CODE BEGIN CAN_Init 1 */
//
// /* USER CODE END CAN_Init 1 */
// hcan.Instance = CAN;
// hcan.Init.Prescaler = 16;
// hcan.Init.Mode = CAN_MODE_NORMAL;
// hcan.Init.SyncJumpWidth = CAN_SJW_1TQ;
// hcan.Init.TimeSeg1 = CAN_BS1_1TQ;
// hcan.Init.TimeSeg2 = CAN_BS2_1TQ;
// hcan.Init.TimeTriggeredMode = DISABLE;
// hcan.Init.AutoBusOff = DISABLE;
// hcan.Init.AutoWakeUp = DISABLE;
// hcan.Init.AutoRetransmission = DISABLE;
// hcan.Init.ReceiveFifoLocked = DISABLE;
// hcan.Init.TransmitFifoPriority = DISABLE;
// if (HAL_CAN_Init(&hcan) != HAL_OK) {
// Error_Handler();
// }
// /* USER CODE BEGIN CAN_Init 2 */
//
// /* USER CODE END CAN_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.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT;
if (HAL_UART_Init(&huart1) != HAL_OK) {
Error_Handler();
}
/* USER CODE BEGIN USART1_Init 2 */
/* USER CODE END USART1_Init 2 */
}
/**
* @brief GPIO Initialization Function
* @param None
* @retval None
*/
static void MX_GPIO_Init(void) {
GPIO_InitTypeDef GPIO_InitStruct = { 0 };
/* 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(GPIOB,
PWM1_Pin | PWM2_Pin | FAULT_Pin | D2_Pin | D1_Pin | GPO1_Pin
| GPO2_1_Pin | GPO2_2_Pin, GPIO_PIN_RESET);
/*Configure GPIO pins : IN1_Pin IN2_Pin STATUS_FLAG_Pin */
// GPIO_InitStruct.Pin = IN1_Pin|IN2_Pin|STATUS_FLAG_Pin;
// GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
// GPIO_InitStruct.Pull = GPIO_NOPULL;
// HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
/*Configure GPIO pins : PWM1_Pin PWM2_Pin FAULT_Pin D2_Pin
D1_Pin GPO1_Pin GPO2_1_Pin GPO2_2_Pin */
GPIO_InitStruct.Pin = PWM1_Pin | PWM2_Pin | FAULT_Pin | D2_Pin | D1_Pin
| GPO1_Pin | GPO2_1_Pin | GPO2_2_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
}
/* USER CODE BEGIN 4 */
/* 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 */
/* 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(char *file, uint32_t line)
{
/* USER CODE BEGIN 6 */
/* User can add his own implementation to report the file name and line number,
tex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
/* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
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