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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 <string.h>

#include <math.h>

#include "libSerial/serial.h"

#include "libPLX/plx.h"

#include "libPLX/commsLib.h"

#include "misc.h"

#include "libIgnTiming/rpm.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 */

#define ADC_CHANNELS 7

#define ADC_MAP_CHAN 2

#define ADC_PRESSURE_CHAN 3

#define ADC_REF_CHAN 5

#define ADC_TEMP_CHAN 6

// wait for about 1 second to decide whether or not starter is on

#define STARTER_LIMIT 10

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/

ADC_HandleTypeDef hadc1;

DMA_HandleTypeDef hdma_adc1;

CAN_HandleTypeDef hcan;

IWDG_HandleTypeDef hiwdg;

SPI_HandleTypeDef hspi1;

TIM_HandleTypeDef htim2;

TIM_HandleTypeDef htim3;

TIM_HandleTypeDef htim4;

UART_HandleTypeDef huart1;

/* USER CODE BEGIN PV */

// Storage for USART

#define USART_TX_BUFF_SIZE 256

#define USART_RX_BUFF_SIZE 256

uint8_t usartTxBuff[USART_TX_BUFF_SIZE];

uint8_t usartRxBuff[USART_RX_BUFF_SIZE];

// storage for ADC

uint16_t ADC_Samples[ADC_CHANNELS] = {[0 ... ADC_CHANNELS - 1] = 0};

uint32_t FILT_Samples[ADC_CHANNELS] = {[0 ... ADC_CHANNELS - 1] = 0}; // filtered ADC samples * Scale

#define NOM_VREF 3.3

// initial ADC vref

float adc_vref = NOM_VREF;

// internal bandgap voltage reference

const float STM32REF = 1.2; // 1.2V typical

// scale factor initially assuming

float ADC_Scale = 1 / (Scale * 4096) * NOM_VREF;

unsigned int Coded_RPM = 0;

unsigned int Coded_CHT = 0;

uint32_t PowerTempTimer;

uint16_t Starter_Debounce = 0;

/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/

void SystemClock_Config(void);

static void MX_GPIO_Init(void);

static void MX_DMA_Init(void);

static void MX_ADC1_Init(void);

static void MX_CAN_Init(void);

static void MX_SPI1_Init(void);

static void MX_TIM2_Init(void);

static void MX_TIM3_Init(void);

static void MX_TIM4_Init(void);

static void MX_USART1_UART_Init(void);

static void MX_IWDG_Init(void);

/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/

/* USER CODE BEGIN 0 */

void libPLXcallbackRecievedData(PLX_SensorInfo * data)

{

  (void )data;

}

void filter_ADC_samples()

{

  int i;

  for (i = 0; i < ADC_CHANNELS; i++)

  {

    FILT_Samples[i] += (ADC_Samples[i] * Scale - FILT_Samples[i]) / 2;

  }

}

/****!

 * @brief this reads the reference voltage within the STM32L151

 * Powers up reference voltage and temperature sensor, waits 3mS  and takes reading

 * Requires that the ADC be powered up

 */

void CalibrateADC(void)

{

  float adc_val = FILT_Samples[ADC_REF_CHAN]; // as set up in device config

  float adc_vref = STM32REF * (4096.0 * Scale) / adc_val; // the estimate for checking

  ADC_Scale = 1 / (Scale * 4096) * adc_vref;

}

void ProcessRPM(struct usart_ctl * handle)

{

  static unsigned int Coded_RPM = 0;

  int32_t rpm = CalculateRPM();

  // suppress the EDIS "heartbeat" 90 RPM

  if (rpm >= 100)

    Coded_RPM = rpm / 19.55;

  // send the current RPM *calculation

  sendPlxInfo(handle, PLX_RPM, Coded_RPM/ Scale);

}

// this uses a MAX6675 which is a simple 16 bit read

// SPI is configured for 8 bits so I can use an OLED display if I need it

// must wait > 0.22 seconds between conversion attempts as this is the measurement time

//

FunctionalState CHT_Enable = ENABLE;

#define CORR 3

typedef struct  

{

  uint16_t store[TEMP_CORR];

  uint16_t result;

} tempObservation_t;

tempObservation_t Temp_Observations[NUM_SPI_TEMP_SENS];

void ResetTemp()

{

  int i,j;

  for (i=0;i<NUM_SPI_TEMP_SENS;i++)

  {

    Temp_Observations[i].result = 0;

    for (j=0;j<TEMP_CORR;j++)

      Temp_Observations[i].store[j]=0;

  }

}

void AddTempReading(uint16_t reading, int channel)

{

  int j;

  for (j=TEMP_CORR-1; j>=1 ; j--)

  {

    Temp_Observations[channel].store[j] = Temp_Observations[channel].store[j-1];

  }

  Temp_Observations[channel].store[0] = reading;

  // are all the stored values close to the current reading, if so allow it through

  // the check here is for 5 degrees C 

  char good = 1;

  for (j=1; j<TEMP_CORR; j++)

    if (abs((int)Temp_Observations[channel].store[j]- (int)reading)>5)

      good = 0;

  if (good)

    Temp_Observations[channel].result = reading;

}

/// \param item The array index to send

/// \param type the code to use for this observation

void ProcessTemp(struct usart_ctl * handle,char item, enum PLX_Observations type)

{

  if (item > NUM_SPI_TEMP_SENS)

    return;

  sendPlxInfo(handle, type , Temp_Observations[(int)item].result);

}

/// \brief Reset the temperature chip select system

void resetTempCS(void)

{

  HAL_GPIO_WritePin(SPI_CS_D_GPIO_Port, SPI_CS_D_Pin, GPIO_PIN_SET);

  HAL_GPIO_WritePin(SPI_CS_Clk_GPIO_Port, SPI_CS_Clk_Pin,

                    GPIO_PIN_SET);

  for (int i = 0; i < 8; i++)

  {

    HAL_GPIO_WritePin(SPI_CS_Clk_GPIO_Port, SPI_CS_Clk_Pin,

                      GPIO_PIN_RESET);

    HAL_GPIO_WritePin(SPI_CS_Clk_GPIO_Port, SPI_CS_Clk_Pin,

                      GPIO_PIN_SET);

  }

  // prepare for selecting next pin

  HAL_GPIO_WritePin(SPI_CS_D_GPIO_Port, SPI_CS_D_Pin, GPIO_PIN_RESET);

}

void nextTempCS(void)

{

  HAL_GPIO_WritePin(SPI_CS_Clk_GPIO_Port, SPI_CS_Clk_Pin,

                    GPIO_PIN_RESET);

  HAL_GPIO_WritePin(SPI_CS_Clk_GPIO_Port, SPI_CS_Clk_Pin,

                    GPIO_PIN_SET);

  HAL_GPIO_WritePin(SPI_CS_D_GPIO_Port, SPI_CS_D_Pin, GPIO_PIN_SET);

}

void EnableTempSensors(FunctionalState state)

{

  GPIO_InitTypeDef GPIO_InitStruct;

  CHT_Enable = state;

  /* enable SPI in live mode : assume it and its GPIOs are already initialised in SPI mode */

  if (state == ENABLE)

  {

    HAL_GPIO_WritePin(ENA_AUX_5V_GPIO_Port, ENA_AUX_5V_Pin, GPIO_PIN_SET);

    resetTempCS();

    /* put the SPI pins back into SPI AF mode */

    GPIO_InitStruct.Pin = SPI1_MOSI_Pin | SPI1_MISO_Pin | SPI1_SCK_Pin;

    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;

    GPIO_InitStruct.Pull = GPIO_NOPULL;

    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;

    HAL_GPIO_Init(SPI1_SCK_GPIO_Port, &GPIO_InitStruct);

  }

  else

  {

    /*  Power down the SPI interface taking signals all low */

    HAL_GPIO_WritePin(ENA_AUX_5V_GPIO_Port, ENA_AUX_5V_Pin, GPIO_PIN_RESET);

    HAL_GPIO_WritePin(SPI1_SCK_GPIO_Port,

                      SPI1_MOSI_Pin | SPI1_MISO_Pin | SPI1_SCK_Pin,

                      GPIO_PIN_RESET);

    /* put the SPI pins back into GPIO mode */

    GPIO_InitStruct.Pin = SPI1_MOSI_Pin | SPI1_MISO_Pin | SPI1_SCK_Pin;

    GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;

    GPIO_InitStruct.Pull = GPIO_NOPULL;

    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;

    HAL_GPIO_Init(SPI1_SCK_GPIO_Port, &GPIO_InitStruct);

  }

}

// 1023 is 20.00 volts.

/// \param item - used to lookup the index of the local reading

void ProcessBatteryVoltage(struct usart_ctl * handle, int item)

{

  float reading = FILT_Samples[item] * ADC_Scale;

  reading = reading * 7.8125; // real voltage

  reading = reading * 51.15;  // PLC scaling =  1023/20

  sendPlxInfo(handle, PLX_Volts, reading);

}

void ProcessCPUTemperature(struct usart_ctl * handle)

{

  // this is defined in the STM32F103 reference manual . #

  // V25 = 1.43 volts

  // Avg_slope = 4.3mV /degree C

  // temperature = {(V25 - VSENSE) / Avg_Slope} + 25

  /* get the ADC reading corresponding to ADC channel 16 after turning on the ADC */

  float temp_val = FILT_Samples[ADC_TEMP_CHAN] * ADC_Scale;

  /* renormalise temperature value to account for different ADC Vref  : normalise to that which we would get for a 3000mV reference */

  temp_val = (1.43 - temp_val) / 4.3e-3 + 25;

  int32_t result = temp_val;

  sendPlxInfo(handle, PLX_FluidTemp, result);

}

// the MAP sensor is giving us a reading of

// 4.6 volts for 1019mB or 2.27 volts at the ADC input (resistive divider by 2.016)

// I believe the sensor reads  4.5V at 1000kPa and 0.5V at  0kPa

// Calibration is a bit off

// Real   Displayed

// 989    968

// 994.1    986

// 992.3  984

void ProcessMAP(struct usart_ctl * handle)

{

  // Using ADC_Samples[3] as the MAP input

  float reading = FILT_Samples[ADC_MAP_CHAN] * ADC_Scale;

  reading = reading * 2.016; // real voltage

  // values computed from slope / intercept of map.ods

  // reading = (reading) * 56.23 + 743.2; // do not assume 0.5 volt offset : reading from 0 to 4.5 instead of 0.5 to 4.5

  // using a pressure gauge.

  reading = (reading) * 150 + 326;

  sendPlxInfo(handle, PLX_MAP, reading);

}

// the Oil pressi sensor is giving us a reading of

// 4.5 volts for 100 PSI or  2.25 volts at the ADC input (resistive divider by 2.016)

// I believe the sensor reads  4.5V at 100PSI and 0.5V at  0PSI

// an observation of 1024 is 200PSI, so observation of 512 is 100 PSI.

void ProcessOilPress(struct usart_ctl * handle)

{

  // Using ADC_Samples[2] as the MAP input

  float reading = FILT_Samples[ADC_PRESSURE_CHAN] * ADC_Scale;

  reading = reading * 2.00;            // real voltage

  reading = (reading - 0.5) * 512 / 4; // this is 1023 * 100/200

  sendPlxInfo(handle, PLX_FluidPressure, reading);

}

void libPLXcallbackSendUserData(struct usart_ctl * handle)

{

  // send the observations

  ProcessRPM(handle);

  ProcessTemp(handle,0, PLX_X_CHT);

  ProcessTemp(handle,1, PLX_X_CHT);

  ProcessTemp(handle,2, PLX_AIT);

  ProcessTemp(handle,3, PLX_AIT);

  ProcessBatteryVoltage(handle,0); // Batt 1

  ProcessBatteryVoltage(handle,1); // Batt 2

  ProcessCPUTemperature(handle);  //  built in temperature sensor

  ProcessMAP(handle);

  ProcessOilPress(handle);

}

/* USER CODE END 0 */

/**

  * @brief  The application entry point.

  * @retval int

  */

int main(void)

{

  /* USER CODE BEGIN 1 */

  /* USER CODE END 1 */

  /* MCU Configuration--------------------------------------------------------*/

  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */

  HAL_Init();

  /* USER CODE BEGIN Init */

  /* USER CODE END Init */

  /* Configure the system clock */

  SystemClock_Config();

  /* USER CODE BEGIN SysInit */

  /* USER CODE END SysInit */

  /* Initialize all configured peripherals */

  MX_GPIO_Init();

  MX_DMA_Init();

  MX_ADC1_Init();

  MX_CAN_Init();

  MX_SPI1_Init();

  MX_TIM2_Init();

  MX_TIM3_Init();

  MX_TIM4_Init();

  MX_USART1_UART_Init();

  MX_IWDG_Init();

  /* USER CODE BEGIN 2 */

  HAL_MspInit();

  // Not using HAL USART code

  __HAL_RCC_USART1_CLK_ENABLE(); // PLX comms port

  /* setup the USART control blocks */

  init_usart_ctl(&uc1, &huart1,

                 usartTxBuff,

                 usartRxBuff,

                 USART_TX_BUFF_SIZE,

                 USART_RX_BUFF_SIZE);

  EnableSerialRxInterrupt(&uc1);

  HAL_SPI_MspInit(&hspi1);

  HAL_ADC_MspInit(&hadc1);

  HAL_ADC_Start_DMA(&hadc1, (uint32_t *)ADC_Samples, ADC_CHANNELS);

  HAL_ADC_Start_IT(&hadc1);

    ResetTemp(); // reset temperature store 

  HAL_TIM_Base_MspInit(&htim4);

  HAL_TIM_Base_Start_IT(&htim4);

  // initialise all the STMCubeMX stuff

  HAL_TIM_Base_MspInit(&htim2);

  // Start the counter

  HAL_TIM_Base_Start(&htim2);

  // Start the input capture and the rising edge interrupt

  HAL_TIM_IC_Start_IT(&htim2, TIM_CHANNEL_1);

  // Start the input capture and the falling edge interrupt

  HAL_TIM_IC_Start_IT(&htim2, TIM_CHANNEL_2);

  HAL_TIM_Base_MspInit(&htim3);

  __HAL_TIM_ENABLE_IT(&htim3, TIM_IT_UPDATE);

  uint32_t Ticks = HAL_GetTick() + 100;

  int CalCounter = 0;

  PowerTempTimer = HAL_GetTick() + 1000; /* wait 10 seconds before powering up the CHT sensor */

  ResetRxBuffer(&uc1);

  resetPLX();

  /* USER CODE END 2 */

  /* Infinite loop */

  /* USER CODE BEGIN WHILE */

  while (1)

  {

    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */

    if (HAL_GetTick() > Ticks)

    {

      Ticks += 100;

      filter_ADC_samples();

      // delay to calibrate ADC

      if (CalCounter < 1000)

      {

        CalCounter += 100;

      }

      if (CalCounter == 900)

      {

        CalibrateADC();

      }

    }

    /* when the starter motor is on then power down the CHT sensors as they seem to fail */

    if (HAL_GPIO_ReadPin(STARTER_ON_GPIO_Port, STARTER_ON_Pin) == GPIO_PIN_RESET)

    {

      if (Starter_Debounce < STARTER_LIMIT)

      {

        Starter_Debounce++;

      }

    }

    else

    {

      if (Starter_Debounce > 0)

      {

        Starter_Debounce--;

      }

    }

    if (Starter_Debounce == STARTER_LIMIT)

    {

      EnableTempSensors(DISABLE);

      PowerTempTimer = HAL_GetTick() + 1000;

    }

    else

    /* if the PowerTempTimer is set then wait for it to timeout, then power up CHT */

    {

      if ((PowerTempTimer > 0) && (HAL_GetTick() > PowerTempTimer))

      {

        EnableTempSensors(ENABLE);

        PowerTempTimer = 0;

      }

    }

    // check to see if we have any incoming data, copy and append if so, if no data then create our own frames.

    // poll the input data and produce automatic output if the timer expires and no serial input data

    libPLXpollData(&uc1);

    HAL_IWDG_Refresh(&hiwdg);

  }

  /* 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 RCC Oscillators according to the specified parameters

  * in the RCC_OscInitTypeDef structure.

  */

  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_LSI|RCC_OSCILLATORTYPE_HSE;

  RCC_OscInitStruct.HSEState = RCC_HSE_ON;

  RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1;

  RCC_OscInitStruct.HSIState = RCC_HSI_ON;

  RCC_OscInitStruct.LSIState = RCC_LSI_ON;

  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;

  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;

  RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL9;

  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)

  {

    Error_Handler();

  }

  /** Initializes the CPU, AHB and APB buses clocks

  */

  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK

                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;

  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;

  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;

  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;

  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)

  {

    Error_Handler();

  }

  PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_ADC;

  PeriphClkInit.AdcClockSelection = RCC_ADCPCLK2_DIV6;

  if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK)

  {

    Error_Handler();

  }

}

/**

  * @brief ADC1 Initialization Function

  * @param None

  * @retval None

  */

static void MX_ADC1_Init(void)

{

  /* USER CODE BEGIN ADC1_Init 0 */

  /* USER CODE END ADC1_Init 0 */

  ADC_ChannelConfTypeDef sConfig = {0};

  /* USER CODE BEGIN ADC1_Init 1 */

  /* USER CODE END ADC1_Init 1 */

  /** Common config

  */

  hadc1.Instance = ADC1;

  hadc1.Init.ScanConvMode = ADC_SCAN_ENABLE;

  hadc1.Init.ContinuousConvMode = DISABLE;

  hadc1.Init.DiscontinuousConvMode = DISABLE;

  hadc1.Init.ExternalTrigConv = ADC_EXTERNALTRIGCONV_T3_TRGO;

  hadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT;

  hadc1.Init.NbrOfConversion = 7;

  if (HAL_ADC_Init(&hadc1) != HAL_OK)

  {

    Error_Handler();

  }

  /** Configure Regular Channel

  */

  sConfig.Channel = ADC_CHANNEL_0;

  sConfig.Rank = ADC_REGULAR_RANK_1;

  sConfig.SamplingTime = ADC_SAMPLETIME_71CYCLES_5;

  if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)

  {

    Error_Handler();

  }

  /** Configure Regular Channel

  */

  sConfig.Channel = ADC_CHANNEL_1;

  sConfig.Rank = ADC_REGULAR_RANK_2;

  if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)

  {

    Error_Handler();

  }

  /** Configure Regular Channel

  */

  sConfig.Channel = ADC_CHANNEL_2;

  sConfig.Rank = ADC_REGULAR_RANK_3;

  if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)

  {

    Error_Handler();

  }

  /** Configure Regular Channel

  */

  sConfig.Channel = ADC_CHANNEL_3;

  sConfig.Rank = ADC_REGULAR_RANK_4;

  if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)

  {

    Error_Handler();

  }

  /** Configure Regular Channel

  */

  sConfig.Channel = ADC_CHANNEL_4;

  sConfig.Rank = ADC_REGULAR_RANK_5;

  if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)

  {

    Error_Handler();

  }

  /** Configure Regular Channel

  */

  sConfig.Channel = ADC_CHANNEL_VREFINT;

  sConfig.Rank = ADC_REGULAR_RANK_6;

  if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)

  {

    Error_Handler();

  }

  /** Configure Regular Channel

  */

  sConfig.Channel = ADC_CHANNEL_TEMPSENSOR;

  sConfig.Rank = ADC_REGULAR_RANK_7;

  if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)

  {

    Error_Handler();

  }

  /* USER CODE BEGIN ADC1_Init 2 */

  /* USER CODE END ADC1_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 = CAN1;

  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 IWDG Initialization Function

  * @param None

  * @retval None

  */

static void MX_IWDG_Init(void)

{

  /* USER CODE BEGIN IWDG_Init 0 */

  /* USER CODE END IWDG_Init 0 */

  /* USER CODE BEGIN IWDG_Init 1 */

  /* USER CODE END IWDG_Init 1 */

  hiwdg.Instance = IWDG;

  hiwdg.Init.Prescaler = IWDG_PRESCALER_64;

  hiwdg.Init.Reload = 4095;

  if (HAL_IWDG_Init(&hiwdg) != HAL_OK)

  {

    Error_Handler();

  }

  /* USER CODE BEGIN IWDG_Init 2 */

  /* USER CODE END IWDG_Init 2 */

}

/**

  * @brief SPI1 Initialization Function

  * @param None

  * @retval None

  */

static void MX_SPI1_Init(void)

{

  /* USER CODE BEGIN SPI1_Init 0 */

  /* USER CODE END SPI1_Init 0 */

  /* USER CODE BEGIN SPI1_Init 1 */

  /* USER CODE END SPI1_Init 1 */

  /* SPI1 parameter configuration*/

  hspi1.Instance = SPI1;

  hspi1.Init.Mode = SPI_MODE_MASTER;

  hspi1.Init.Direction = SPI_DIRECTION_2LINES;

  hspi1.Init.DataSize = SPI_DATASIZE_8BIT;

  hspi1.Init.CLKPolarity = SPI_POLARITY_LOW;

  hspi1.Init.CLKPhase = SPI_PHASE_1EDGE;

  hspi1.Init.NSS = SPI_NSS_SOFT;

  hspi1.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_32;

  hspi1.Init.FirstBit = SPI_FIRSTBIT_MSB;

  hspi1.Init.TIMode = SPI_TIMODE_DISABLE;

  hspi1.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE;

  hspi1.Init.CRCPolynomial = 10;

  if (HAL_SPI_Init(&hspi1) != HAL_OK)

  {

    Error_Handler();

  }

  /* USER CODE BEGIN SPI1_Init 2 */

  /* USER CODE END SPI1_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 = 719;

  htim2.Init.CounterMode = TIM_COUNTERMODE_UP;

  htim2.Init.Period = 65535;

  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_UPDATE;