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| 2 | mjames | 1 | /* USER CODE BEGIN Header */ |
| 2 | /** |
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| 3 | ****************************************************************************** |
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| 4 | * @file : main.c |
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| 5 | * @brief : Main program body |
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| 6 | ****************************************************************************** |
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| 7 | * @attention |
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| 8 | * |
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| 9 | * <h2><center>© Copyright (c) 2020 STMicroelectronics. |
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| 10 | * All rights reserved.</center></h2> |
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| 11 | * |
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| 12 | * This software component is licensed by ST under BSD 3-Clause license, |
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| 13 | * the "License"; You may not use this file except in compliance with the |
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| 14 | * License. You may obtain a copy of the License at: |
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| 15 | * opensource.org/licenses/BSD-3-Clause |
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| 16 | * |
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| 17 | ****************************************************************************** |
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| 18 | */ |
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| 19 | /* USER CODE END Header */ |
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| 20 | /* Includes ------------------------------------------------------------------*/ |
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| 21 | #include "main.h" |
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| 22 | |||
| 23 | /* Private includes ----------------------------------------------------------*/ |
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| 24 | /* USER CODE BEGIN Includes */ |
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| 25 | #include "libSerial/serial.h" |
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| 26 | #include "nmea.h" |
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| 27 | /* USER CODE END Includes */ |
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| 28 | |||
| 29 | /* Private typedef -----------------------------------------------------------*/ |
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| 30 | /* USER CODE BEGIN PTD */ |
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| 31 | |||
| 32 | /* USER CODE END PTD */ |
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| 33 | |||
| 34 | /* Private define ------------------------------------------------------------*/ |
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| 35 | /* USER CODE BEGIN PD */ |
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| 36 | /* USER CODE END PD */ |
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| 37 | |||
| 38 | /* Private macro -------------------------------------------------------------*/ |
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| 39 | /* USER CODE BEGIN PM */ |
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| 40 | |||
| 41 | /* USER CODE END PM */ |
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| 42 | |||
| 43 | /* Private variables ---------------------------------------------------------*/ |
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| 44 | CAN_HandleTypeDef hcan; |
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| 45 | |||
| 46 | SPI_HandleTypeDef hspi1; |
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| 47 | |||
| 48 | TIM_HandleTypeDef htim4; |
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| 49 | |||
| 50 | UART_HandleTypeDef huart1; |
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| 51 | |||
| 52 | /* USER CODE BEGIN PV */ |
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| 53 | |||
| 54 | /* USER CODE END PV */ |
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| 55 | |||
| 56 | /* Private function prototypes -----------------------------------------------*/ |
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| 57 | void SystemClock_Config(void); |
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| 58 | static void MX_GPIO_Init(void); |
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| 59 | static void MX_CAN_Init(void); |
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| 60 | static void MX_SPI1_Init(void); |
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| 61 | static void MX_TIM4_Init(void); |
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| 62 | static void MX_USART1_UART_Init(void); |
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| 63 | /* USER CODE BEGIN PFP */ |
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| 64 | |||
| 65 | /* USER CODE END PFP */ |
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| 66 | |||
| 67 | /* Private user code ---------------------------------------------------------*/ |
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| 68 | /* USER CODE BEGIN 0 */ |
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| 69 | |||
| 70 | /* USER CODE END 0 */ |
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| 71 | |||
| 72 | /** |
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| 73 | * @brief The application entry point. |
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| 74 | * @retval int |
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| 75 | */ |
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| 76 | int main(void) |
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| 77 | { |
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| 78 | /* USER CODE BEGIN 1 */ |
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| 79 | |||
| 80 | /* USER CODE END 1 */ |
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| 81 | |||
| 82 | /* MCU Configuration--------------------------------------------------------*/ |
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| 83 | |||
| 84 | /* Reset of all peripherals, Initializes the Flash interface and the Systick. */ |
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| 85 | HAL_Init(); |
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| 86 | |||
| 87 | /* USER CODE BEGIN Init */ |
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| 88 | |||
| 89 | /* USER CODE END Init */ |
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| 90 | |||
| 91 | /* Configure the system clock */ |
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| 92 | SystemClock_Config(); |
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| 93 | |||
| 94 | /* USER CODE BEGIN SysInit */ |
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| 95 | |||
| 96 | /* USER CODE END SysInit */ |
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| 97 | |||
| 98 | /* Initialize all configured peripherals */ |
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| 99 | MX_GPIO_Init(); |
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| 100 | MX_CAN_Init(); |
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| 101 | MX_SPI1_Init(); |
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| 102 | MX_TIM4_Init(); |
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| 103 | MX_USART1_UART_Init(); |
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| 104 | /* USER CODE BEGIN 2 */ |
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| 105 | __HAL_RCC_USART1_CLK_ENABLE(); |
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| 106 | /* setup the USART control blocks */ |
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| 107 | init_usart_ctl(&uc1, huart1.Instance); |
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| 108 | |||
| 109 | EnableSerialRxInterrupt (&uc1); |
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| 110 | |||
| 111 | /* USER CODE END 2 */ |
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| 112 | |||
| 113 | /* Infinite loop */ |
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| 114 | /* USER CODE BEGIN WHILE */ |
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| 115 | while (1) |
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| 116 | { |
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| 117 | |||
| 118 | Location loc; |
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| 119 | uint8_t stat = updateLocation(&loc); |
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| 120 | |||
| 121 | |||
| 122 | /* USER CODE END WHILE */ |
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| 123 | |||
| 124 | /* USER CODE BEGIN 3 */ |
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| 125 | } |
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| 126 | /* USER CODE END 3 */ |
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| 127 | } |
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| 128 | |||
| 129 | /** |
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| 130 | * @brief System Clock Configuration |
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| 131 | * @retval None |
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| 132 | */ |
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| 133 | void SystemClock_Config(void) |
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| 134 | { |
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| 135 | RCC_OscInitTypeDef RCC_OscInitStruct = {0}; |
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| 136 | RCC_ClkInitTypeDef RCC_ClkInitStruct = {0}; |
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| 137 | |||
| 138 | /** Initializes the RCC Oscillators according to the specified parameters |
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| 139 | * in the RCC_OscInitTypeDef structure. |
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| 140 | */ |
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| 141 | RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE; |
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| 142 | RCC_OscInitStruct.HSEState = RCC_HSE_ON; |
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| 143 | RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1; |
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| 144 | RCC_OscInitStruct.HSIState = RCC_HSI_ON; |
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| 145 | RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON; |
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| 146 | RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE; |
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| 147 | RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL8; |
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| 148 | if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK) |
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| 149 | { |
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| 150 | Error_Handler(); |
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| 151 | } |
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| 152 | /** Initializes the CPU, AHB and APB buses clocks |
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| 153 | */ |
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| 154 | RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK |
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| 155 | |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2; |
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| 156 | RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK; |
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| 157 | RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1; |
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| 158 | RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2; |
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| 159 | RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1; |
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| 160 | |||
| 161 | if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK) |
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| 162 | { |
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| 163 | Error_Handler(); |
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| 164 | } |
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| 165 | } |
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| 166 | |||
| 167 | /** |
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| 168 | * @brief CAN Initialization Function |
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| 169 | * @param None |
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| 170 | * @retval None |
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| 171 | */ |
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| 172 | static void MX_CAN_Init(void) |
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| 173 | { |
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| 174 | |||
| 175 | /* USER CODE BEGIN CAN_Init 0 */ |
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| 176 | |||
| 177 | /* USER CODE END CAN_Init 0 */ |
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| 178 | |||
| 179 | /* USER CODE BEGIN CAN_Init 1 */ |
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| 180 | |||
| 181 | /* USER CODE END CAN_Init 1 */ |
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| 182 | hcan.Instance = CAN1; |
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| 183 | hcan.Init.Prescaler = 16; |
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| 184 | hcan.Init.Mode = CAN_MODE_NORMAL; |
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| 185 | hcan.Init.SyncJumpWidth = CAN_SJW_1TQ; |
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| 186 | hcan.Init.TimeSeg1 = CAN_BS1_1TQ; |
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| 187 | hcan.Init.TimeSeg2 = CAN_BS2_1TQ; |
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| 188 | hcan.Init.TimeTriggeredMode = DISABLE; |
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| 189 | hcan.Init.AutoBusOff = DISABLE; |
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| 190 | hcan.Init.AutoWakeUp = DISABLE; |
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| 191 | hcan.Init.AutoRetransmission = DISABLE; |
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| 192 | hcan.Init.ReceiveFifoLocked = DISABLE; |
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| 193 | hcan.Init.TransmitFifoPriority = DISABLE; |
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| 194 | if (HAL_CAN_Init(&hcan) != HAL_OK) |
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| 195 | { |
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| 196 | Error_Handler(); |
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| 197 | } |
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| 198 | /* USER CODE BEGIN CAN_Init 2 */ |
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| 199 | |||
| 200 | /* USER CODE END CAN_Init 2 */ |
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| 201 | |||
| 202 | } |
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| 203 | |||
| 204 | /** |
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| 205 | * @brief SPI1 Initialization Function |
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| 206 | * @param None |
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| 207 | * @retval None |
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| 208 | */ |
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| 209 | static void MX_SPI1_Init(void) |
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| 210 | { |
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| 211 | |||
| 212 | /* USER CODE BEGIN SPI1_Init 0 */ |
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| 213 | |||
| 214 | /* USER CODE END SPI1_Init 0 */ |
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| 215 | |||
| 216 | /* USER CODE BEGIN SPI1_Init 1 */ |
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| 217 | |||
| 218 | /* USER CODE END SPI1_Init 1 */ |
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| 219 | /* SPI1 parameter configuration*/ |
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| 220 | hspi1.Instance = SPI1; |
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| 221 | hspi1.Init.Mode = SPI_MODE_MASTER; |
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| 222 | hspi1.Init.Direction = SPI_DIRECTION_1LINE; |
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| 223 | hspi1.Init.DataSize = SPI_DATASIZE_8BIT; |
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| 224 | hspi1.Init.CLKPolarity = SPI_POLARITY_LOW; |
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| 225 | hspi1.Init.CLKPhase = SPI_PHASE_1EDGE; |
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| 226 | hspi1.Init.NSS = SPI_NSS_SOFT; |
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| 227 | hspi1.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_8; |
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| 228 | hspi1.Init.FirstBit = SPI_FIRSTBIT_MSB; |
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| 229 | hspi1.Init.TIMode = SPI_TIMODE_DISABLE; |
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| 230 | hspi1.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE; |
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| 231 | hspi1.Init.CRCPolynomial = 10; |
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| 232 | if (HAL_SPI_Init(&hspi1) != HAL_OK) |
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| 233 | { |
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| 234 | Error_Handler(); |
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| 235 | } |
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| 236 | /* USER CODE BEGIN SPI1_Init 2 */ |
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| 237 | |||
| 238 | /* USER CODE END SPI1_Init 2 */ |
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| 239 | |||
| 240 | } |
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| 241 | |||
| 242 | /** |
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| 243 | * @brief TIM4 Initialization Function |
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| 244 | * @param None |
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| 245 | * @retval None |
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| 246 | */ |
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| 247 | static void MX_TIM4_Init(void) |
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| 248 | { |
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| 249 | |||
| 250 | /* USER CODE BEGIN TIM4_Init 0 */ |
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| 251 | |||
| 252 | /* USER CODE END TIM4_Init 0 */ |
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| 253 | |||
| 254 | TIM_Encoder_InitTypeDef sConfig = {0}; |
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| 255 | TIM_MasterConfigTypeDef sMasterConfig = {0}; |
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| 256 | |||
| 257 | /* USER CODE BEGIN TIM4_Init 1 */ |
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| 258 | |||
| 259 | /* USER CODE END TIM4_Init 1 */ |
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| 260 | htim4.Instance = TIM4; |
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| 261 | htim4.Init.Prescaler = 0; |
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| 262 | htim4.Init.CounterMode = TIM_COUNTERMODE_UP; |
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| 263 | htim4.Init.Period = 65535; |
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| 264 | htim4.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1; |
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| 265 | htim4.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE; |
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| 266 | sConfig.EncoderMode = TIM_ENCODERMODE_TI12; |
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| 267 | sConfig.IC1Polarity = TIM_ICPOLARITY_RISING; |
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| 268 | sConfig.IC1Selection = TIM_ICSELECTION_DIRECTTI; |
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| 269 | sConfig.IC1Prescaler = TIM_ICPSC_DIV1; |
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| 270 | sConfig.IC1Filter = 8; |
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| 271 | sConfig.IC2Polarity = TIM_ICPOLARITY_RISING; |
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| 272 | sConfig.IC2Selection = TIM_ICSELECTION_DIRECTTI; |
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| 273 | sConfig.IC2Prescaler = TIM_ICPSC_DIV1; |
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| 274 | sConfig.IC2Filter = 8; |
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| 275 | if (HAL_TIM_Encoder_Init(&htim4, &sConfig) != HAL_OK) |
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| 276 | { |
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| 277 | Error_Handler(); |
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| 278 | } |
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| 279 | sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET; |
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| 280 | sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; |
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| 281 | if (HAL_TIMEx_MasterConfigSynchronization(&htim4, &sMasterConfig) != HAL_OK) |
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| 282 | { |
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| 283 | Error_Handler(); |
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| 284 | } |
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| 285 | /* USER CODE BEGIN TIM4_Init 2 */ |
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| 286 | |||
| 287 | /* USER CODE END TIM4_Init 2 */ |
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| 288 | |||
| 289 | } |
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| 290 | |||
| 291 | /** |
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| 292 | * @brief USART1 Initialization Function |
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| 293 | * @param None |
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| 294 | * @retval None |
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| 295 | */ |
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| 296 | static void MX_USART1_UART_Init(void) |
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| 297 | { |
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| 298 | |||
| 299 | /* USER CODE BEGIN USART1_Init 0 */ |
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| 300 | |||
| 301 | /* USER CODE END USART1_Init 0 */ |
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| 302 | |||
| 303 | /* USER CODE BEGIN USART1_Init 1 */ |
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| 304 | |||
| 305 | /* USER CODE END USART1_Init 1 */ |
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| 306 | huart1.Instance = USART1; |
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| 307 | huart1.Init.BaudRate = 115200; |
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| 308 | huart1.Init.WordLength = UART_WORDLENGTH_8B; |
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| 309 | huart1.Init.StopBits = UART_STOPBITS_1; |
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| 310 | huart1.Init.Parity = UART_PARITY_NONE; |
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| 311 | huart1.Init.Mode = UART_MODE_TX_RX; |
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| 312 | huart1.Init.HwFlowCtl = UART_HWCONTROL_NONE; |
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| 313 | huart1.Init.OverSampling = UART_OVERSAMPLING_16; |
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| 314 | if (HAL_UART_Init(&huart1) != HAL_OK) |
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| 315 | { |
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| 316 | Error_Handler(); |
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| 317 | } |
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| 318 | /* USER CODE BEGIN USART1_Init 2 */ |
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| 319 | |||
| 320 | /* USER CODE END USART1_Init 2 */ |
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| 321 | |||
| 322 | } |
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| 323 | |||
| 324 | /** |
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| 325 | * @brief GPIO Initialization Function |
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| 326 | * @param None |
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| 327 | * @retval None |
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| 328 | */ |
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| 329 | static void MX_GPIO_Init(void) |
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| 330 | { |
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| 331 | GPIO_InitTypeDef GPIO_InitStruct = {0}; |
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| 332 | |||
| 333 | /* GPIO Ports Clock Enable */ |
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| 334 | __HAL_RCC_GPIOD_CLK_ENABLE(); |
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| 335 | __HAL_RCC_GPIOA_CLK_ENABLE(); |
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| 336 | __HAL_RCC_GPIOC_CLK_ENABLE(); |
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| 337 | __HAL_RCC_GPIOB_CLK_ENABLE(); |
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| 338 | |||
| 339 | /*Configure GPIO pin Output Level */ |
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| 340 | HAL_GPIO_WritePin(GPIOA, SPI_NSS1_Pin|SPI_CD_Pin, GPIO_PIN_RESET); |
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| 341 | |||
| 342 | /*Configure GPIO pin Output Level */ |
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| 343 | HAL_GPIO_WritePin(SPI_RESET_GPIO_Port, SPI_RESET_Pin, GPIO_PIN_RESET); |
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| 344 | |||
| 345 | /*Configure GPIO pins : SPI_NSS1_Pin SPI_CD_Pin */ |
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| 346 | GPIO_InitStruct.Pin = SPI_NSS1_Pin|SPI_CD_Pin; |
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| 347 | GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; |
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| 348 | GPIO_InitStruct.Pull = GPIO_NOPULL; |
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| 349 | GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; |
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| 350 | HAL_GPIO_Init(GPIOA, &GPIO_InitStruct); |
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| 351 | |||
| 352 | /*Configure GPIO pin : SPI_RESET_Pin */ |
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| 353 | GPIO_InitStruct.Pin = SPI_RESET_Pin; |
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| 354 | GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; |
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| 355 | GPIO_InitStruct.Pull = GPIO_NOPULL; |
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| 356 | GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; |
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| 357 | HAL_GPIO_Init(SPI_RESET_GPIO_Port, &GPIO_InitStruct); |
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| 358 | |||
| 359 | } |
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| 360 | |||
| 361 | /* USER CODE BEGIN 4 */ |
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| 362 | |||
| 363 | /* USER CODE END 4 */ |
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| 364 | |||
| 365 | /** |
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| 366 | * @brief This function is executed in case of error occurrence. |
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| 367 | * @retval None |
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| 368 | */ |
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| 369 | void Error_Handler(void) |
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| 370 | { |
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| 371 | /* USER CODE BEGIN Error_Handler_Debug */ |
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| 372 | /* User can add his own implementation to report the HAL error return state */ |
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| 373 | |||
| 374 | /* USER CODE END Error_Handler_Debug */ |
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| 375 | } |
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| 376 | |||
| 377 | #ifdef USE_FULL_ASSERT |
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| 378 | /** |
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| 379 | * @brief Reports the name of the source file and the source line number |
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| 380 | * where the assert_param error has occurred. |
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| 381 | * @param file: pointer to the source file name |
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| 382 | * @param line: assert_param error line source number |
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| 383 | * @retval None |
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| 384 | */ |
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| 385 | void assert_failed(uint8_t *file, uint32_t line) |
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| 386 | { |
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| 387 | /* USER CODE BEGIN 6 */ |
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| 388 | /* User can add his own implementation to report the file name and line number, |
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| 389 | tex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */ |
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| 390 | /* USER CODE END 6 */ |
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| 391 | } |
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| 392 | #endif /* USE_FULL_ASSERT */ |
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| 393 | |||
| 394 | /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ |