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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 "libSerial/serial.h"

#include "libPLX/plx.h"

#include "misc.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

// with a dwell angle of 45 degrees , 4 cylinders and a maximum RPM of 5000

// freq = 5000/60 * 2 = 166Hz.

// the TIM2 counter counts in 10uS increments,

// TODO this is wrong algo. Accept FIRST pulse, skip shorter pulses

// Accept the first pulse with over 2.5mS (1/400 sec)  duration as the closure

#define BREAKER_MIN (RPM_COUNT_RATE/400)

#define RPM_AVERAGE 4

// 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;

SPI_HandleTypeDef hspi1;

TIM_HandleTypeDef htim2;

TIM_HandleTypeDef htim3;

TIM_HandleTypeDef htim4;

UART_HandleTypeDef huart1;

/* USER CODE BEGIN PV */

volatile char TimerFlag = 0;

volatile char NoSerialInCTR = 0; // Missing characters coming in on USART1

volatile char NoSerialIn = 0;

// scale for filtered samples

#define Scale 1024.0

// storage for ADC

uint16_t ADC_Samples[ADC_CHANNELS];

uint32_t FILT_Samples[ADC_CHANNELS]; // 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 ;

// Rev counter processing from original RevCounter Project

uint16_t RPM_Diff = 0;

uint16_t RPM_Count_Latch = 0;

// accumulators

uint16_t RPM_Pulsecount = 0;

unsigned int RPM_FilteredWidth = 0;

// last time we detected end of dwell i.e. ignition pulse

uint16_t last_dwell_end = 0;

uint16_t RPM_Period[RPM_AVERAGE];

unsigned int RPM_Period_Ptr = 0;

unsigned int Coded_RPM = 0;

unsigned int Coded_CHT = 0;

uint32_t Power_CHT_Timer;

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);

/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

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

/* USER CODE BEGIN 0 */

void

plx_sendword (int x)

{

  PutCharSerial (&uc1, ((x) >> 6) & 0x3F);

  PutCharSerial (&uc1, (x) & 0x3F);

}

void

init_ADC_filter ()

{

  int i;

  for (i = 0; i < ADC_CHANNELS; i++)

    {

      FILT_Samples[i] = 0;

    }

}

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 (int instance)

{

// compute the timer values

// snapshot timers

  unsigned long RPM_Pulsewidth;

  // current RPM pulse next slot index

  unsigned long RPM_Count_Val;

  __disable_irq (); // copy the counter value

  RPM_Count_Val = RPM_Count;

  __enable_irq ();

// do calculations

// if there is only one entry, cannot get difference

  if (RPM_Count_Latch != RPM_Count_Val)

    {

      while (1)

        {

          unsigned int base_time;

          unsigned int new_time;

          // if we are at N-1, stop.

          unsigned int next_count = (RPM_Count_Latch + 1) % RPM_SAMPLES;

          if (next_count == RPM_Count_Val)

            {

              break; // completed loop

            }

          base_time = RPM_Time[RPM_Count_Latch];

          new_time = RPM_Time[next_count];

          RPM_Count_Latch = next_count;

          RPM_Pulsewidth = new_time - base_time; // not wrapped

          if (RPM_Pulsewidth > BREAKER_MIN)

            {

              RPM_Diff = new_time - last_dwell_end;

              RPM_Period[RPM_Period_Ptr] = RPM_Diff;

              RPM_Period_Ptr = (RPM_Period_Ptr + 1) % RPM_AVERAGE;

              if (RPM_Pulsecount < RPM_AVERAGE)

                RPM_Pulsecount++; // count one pulse

              last_dwell_end = new_time;

            }

        }

    }

  if (RPM_Pulsecount == RPM_AVERAGE)

    {

      // now have time for N pulses in clocks

      // need to scale by 19.55: one unit is 19.55 RPM

      // 1Hz is 30 RPM

      int i;

      RPM_FilteredWidth = 0;

      for (i = 0; i < RPM_AVERAGE; i++)

        RPM_FilteredWidth += RPM_Period[i];

      Coded_RPM = (Scale * 30.0 * RPM_AVERAGE * RPM_COUNT_RATE)

          / (19.55 * RPM_FilteredWidth);

#if !defined MY_DEBUG

      // reset here unless we want to debug

      RPM_Pulsecount = 0;

      RPM_FilteredWidth = 0;

#endif

    }

// send the current RPM *calculation

  plx_sendword (PLX_RPM);

  PutCharSerial (&uc1, instance);

  plx_sendword (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

uint16_t CHT_Observations[2] =

  { 0, 0 };

// look for the trigger pin being high then low - the points

// are opening, and skip the reading

void

ProcessCHT (int instance)

{

  plx_sendword (PLX_X_CHT);

  PutCharSerial (&uc1, instance);

  plx_sendword (CHT_Observations[instance]);

}

void

EnableCHT (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);

      HAL_GPIO_WritePin (SPI_NS_Temp_GPIO_Port, SPI_NS_Temp_Pin, GPIO_PIN_SET);

      HAL_GPIO_WritePin (SPI_NS_Temp2_GPIO_Port, SPI_NS_Temp2_Pin,

                         GPIO_PIN_SET);

      /* 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 (SPI_NS_Temp_GPIO_Port, SPI_NS_Temp_Pin,

                         GPIO_PIN_RESET);

      HAL_GPIO_WritePin (SPI_NS_Temp2_GPIO_Port, SPI_NS_Temp2_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.

void

ProcessBatteryVoltage (int instance)

{

  float reading = FILT_Samples[instance] * ADC_Scale;

  reading = reading * 7.8125; // real voltage

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

  plx_sendword (PLX_Volts);

  PutCharSerial (&uc1, instance);

  plx_sendword ((uint16_t) reading);

}

void

ProcessCPUTemperature (int instance)

{

   // 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  ;

//  int32_t result = 800 * ((int32_t) temp_val - TS_CAL30);

//  result = result / (TS_CAL110 - TS_CAL30) + 300;

  plx_sendword (PLX_FluidTemp);

  PutCharSerial (&uc1, instance);

  plx_sendword (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 (int instance)

{

// 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;

  plx_sendword (PLX_MAP);

  PutCharSerial (&uc1, instance);

  plx_sendword ((uint16_t) 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 (int instance)

{

// 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

  plx_sendword (PLX_FluidPressure);

  PutCharSerial (&uc1, instance);

  plx_sendword ((uint16_t) reading);

}

void

ProcessTiming (int instance)

{

  plx_sendword (PLX_Timing);

  PutCharSerial (&uc1, instance);

  plx_sendword (64 - 15); // make it negative

}

/* 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();

  /* 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.Instance);

  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);

  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 interrupt

  HAL_TIM_IC_Start_IT (&htim2, TIM_CHANNEL_1);

  HAL_TIM_Base_MspInit (&htim3);

  __HAL_TIM_ENABLE_IT(&htim3, TIM_IT_UPDATE);

  uint32_t Ticks = HAL_GetTick () + 100;

  int CalCounter = 0;

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

  /* 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)

        {

          EnableCHT (DISABLE);

          Power_CHT_Timer = HAL_GetTick () + 1000;

        }

      else

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

        {

          if ((Power_CHT_Timer > 0) && (HAL_GetTick () > Power_CHT_Timer))

            {

              EnableCHT (ENABLE);

              Power_CHT_Timer = 0;

            }

        }

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

      int c;

      char send = 0;

      // poll the  input for a stop bit or timeout

      if (PollSerial (&uc1))

        {

          resetSerialTimeout ();

          c = GetCharSerial (&uc1);

          if (c != PLX_Stop)

            {

              PutCharSerial (&uc1, c); // echo all but the stop bit

            }

          else

            { // must be a stop character

              send = 1; // start our sending process.

            }

        }

      // sort out auto-sending

      if (TimerFlag)

        {

          TimerFlag = 0;

          if (NoSerialIn)

            {

              PutCharSerial (&uc1, PLX_Start);

              send = 1;

            }

        }

      if (send)

        {

          send = 0;

          // send the observations

          ProcessRPM (0);

          ProcessCHT (0);

          ProcessCHT (1);

          ProcessBatteryVoltage (0); // Batt 1

          ProcessBatteryVoltage (1); // Batt 2

          ProcessCPUTemperature (0); //  built in temperature sensor

          ProcessMAP (0);

          ProcessOilPress (0);

          PutCharSerial (&uc1, PLX_Stop);

        }

    }

  /* 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_HSE;

  RCC_OscInitStruct.HSEState = RCC_HSE_ON;

  RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1;

  RCC_OscInitStruct.HSIState = RCC_HSI_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 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_64;

  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 = 359;

  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)