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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 "libSerial/serial.h"

#include "libPLX/plx.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;

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;

// an array containing values being one more than incoming index for all observations or zero

// if no incoming index

char obsIndex[PLX_MAX_OBS];

// 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);

/* 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 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(void)

{

  static unsigned int Coded_RPM = 0;

  int32_t rpm = CalculateRPM();

  if (rpm >= 0)

    Coded_RPM = rpm / 19.55;

  // send the current RPM *calculation

  plx_sendword(PLX_RPM);

  PutCharSerial(&uc1, obsIndex[PLX_RPM]++);

  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 Temp_Observations[NUM_SPI_TEMP_SENS] = {[0 ... NUM_SPI_TEMP_SENS - 1] = 0};

/// \param item The array index to send

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

void ProcessTemp(char item, enum PLX_Observations type)

{

  if (item > NUM_SPI_TEMP_SENS)

    return;

  plx_sendword(type);

  PutCharSerial(&uc1, obsIndex[type]++);

  plx_sendword(Temp_Observations[(int)item]);

}

/// \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(int item)

{

  float reading = FILT_Samples[item] * ADC_Scale;

  reading = reading * 7.8125; // real voltage

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

  plx_sendword(PLX_Volts);

  PutCharSerial(&uc1, obsIndex[PLX_Volts]++);

  plx_sendword((uint16_t)reading);

}

void ProcessCPUTemperature(void)

{

  // 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, obsIndex[PLX_FluidTemp]++);

  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(void)

{

  // 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, obsIndex[PLX_MAP]++);

  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(void)

{

  // 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, obsIndex[PLX_FluidPressure]++);

  plx_sendword((uint16_t)reading);

}

void ProcessTiming(void)

{

  plx_sendword(PLX_Timing);

  PutCharSerial(&uc1, obsIndex[PLX_Timing]++);

  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);

  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 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);

  PLX_SensorInfo info; ///< sensor info structure for getting idents

  memset(obsIndex, 0, PLX_MAX_OBS); // zero incoming obsevation index

  int infoCount = -1;               ///< counting bytes when we are copying them across

  /* 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.

    char send = 0;

    // poll the  input for a stop bit or timeout

    if (PollSerial(&uc1))

    {

      resetSerialTimeout();

      uint8_t c = GetCharSerial(&uc1);

      // code added to read in all data, extract the observation index maximum for each type of data

      if (c == PLX_Start)

      {

        infoCount = 0;

      }

      else

      {

        info.bytes[infoCount++] = c;

        // process the sensor info field : discover maximum observation index

        if (infoCount == sizeof(PLX_SensorInfo))

        {

          infoCount = 0;

          int addr = ConvPLXAddr(&info);

          if (addr < PLX_MAX_OBS && (obsIndex[addr] <= info.Instance))

            obsIndex[addr] = info.Instance + 1;

        }

      }

      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();

      ProcessTemp(0, PLX_X_CHT);

      ProcessTemp(1, PLX_X_CHT);

      ProcessTemp(2, PLX_AIT);

      ProcessTemp(3, PLX_AIT);

      ProcessBatteryVoltage(0); // Batt 1

      ProcessBatteryVoltage(1); // Batt 2

      ProcessCPUTemperature();  //  built in temperature sensor

      ProcessMAP();

      ProcessOilPress();

      memset(obsIndex, 0, PLX_MAX_OBS); // zero incoming obsevation index

      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_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;

  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;

  if (HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig) != HAL_OK)

  {

    Error_Handler();

  }

  sConfigIC.ICPolarity = TIM_INPUTCHANNELPOLARITY_RISING;

  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)