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  1. /* USER CODE BEGIN Header */
  2. /**
  3.  ******************************************************************************
  4.  * @file           : main.c
  5.  * @brief          : Main program body
  6.  ******************************************************************************
  7.  * @attention
  8.  *
  9.  * <h2><center>&copy; Copyright (c) 2021 STMicroelectronics.
  10.  * All rights reserved.</center></h2>
  11.  *
  12.  * This software component is licensed by ST under BSD 3-Clause license,
  13.  * the "License"; You may not use this file except in compliance with the
  14.  * License. You may obtain a copy of the License at:
  15.  *                        opensource.org/licenses/BSD-3-Clause
  16.  *
  17.  ******************************************************************************
  18.  */
  19. /* USER CODE END Header */
  20. /* Includes ------------------------------------------------------------------*/
  21. #include "main.h"
  22.  
  23. /* Private includes ----------------------------------------------------------*/
  24. /* USER CODE BEGIN Includes */
  25. #include "libSerial/serial.h"
  26. #include "libPLX/plx.h"
  27. #include "misc.h"
  28.  
  29. #include "libIgnTiming/rpm.h"
  30.  
  31. /* USER CODE END Includes */
  32.  
  33. /* Private typedef -----------------------------------------------------------*/
  34. /* USER CODE BEGIN PTD */
  35.  
  36. /* USER CODE END PTD */
  37.  
  38. /* Private define ------------------------------------------------------------*/
  39. /* USER CODE BEGIN PD */
  40. /* USER CODE END PD */
  41.  
  42. /* Private macro -------------------------------------------------------------*/
  43. /* USER CODE BEGIN PM */
  44. #define ADC_CHANNELS 7
  45.  
  46. #define ADC_MAP_CHAN 2
  47.  
  48. #define ADC_PRESSURE_CHAN 3
  49.  
  50. #define ADC_REF_CHAN 5
  51.  
  52. #define ADC_TEMP_CHAN 6
  53.  
  54. // wait for about 1 second to decide whether or not starter is on
  55.  
  56. #define STARTER_LIMIT 10
  57.  
  58. /* USER CODE END PM */
  59.  
  60. /* Private variables ---------------------------------------------------------*/
  61. ADC_HandleTypeDef hadc1;
  62. DMA_HandleTypeDef hdma_adc1;
  63.  
  64. CAN_HandleTypeDef hcan;
  65.  
  66. SPI_HandleTypeDef hspi1;
  67.  
  68. TIM_HandleTypeDef htim2;
  69. TIM_HandleTypeDef htim3;
  70. TIM_HandleTypeDef htim4;
  71.  
  72. UART_HandleTypeDef huart1;
  73.  
  74. /* USER CODE BEGIN PV */
  75.  
  76. volatile char TimerFlag = 0;
  77.  
  78. volatile char NoSerialInCTR = 0; // Missing characters coming in on USART1
  79. volatile char NoSerialIn = 0;
  80.  
  81.  
  82.  
  83. // storage for ADC
  84. uint16_t ADC_Samples[ADC_CHANNELS] = {[0 ... ADC_CHANNELS - 1] = 0};
  85.  
  86. uint32_t FILT_Samples[ADC_CHANNELS] = {[0 ... ADC_CHANNELS - 1] = 0}; // filtered ADC samples * Scale
  87.  
  88. #define NOM_VREF 3.3
  89. // initial ADC vref
  90. float adc_vref = NOM_VREF;
  91.  
  92. // internal bandgap voltage reference
  93. const float STM32REF = 1.2; // 1.2V typical
  94.  
  95. // scale factor initially assuming
  96. float ADC_Scale = 1 / (Scale * 4096) * NOM_VREF;
  97.  
  98. unsigned int Coded_RPM = 0;
  99. unsigned int Coded_CHT = 0;
  100.  
  101. uint32_t PowerTempTimer;
  102.  
  103. uint16_t Starter_Debounce = 0;
  104.  
  105. /* USER CODE END PV */
  106.  
  107. /* Private function prototypes -----------------------------------------------*/
  108. void SystemClock_Config(void);
  109. static void MX_GPIO_Init(void);
  110. static void MX_DMA_Init(void);
  111. static void MX_ADC1_Init(void);
  112. static void MX_CAN_Init(void);
  113. static void MX_SPI1_Init(void);
  114. static void MX_TIM2_Init(void);
  115. static void MX_TIM3_Init(void);
  116. static void MX_TIM4_Init(void);
  117. static void MX_USART1_UART_Init(void);
  118. /* USER CODE BEGIN PFP */
  119.  
  120. /* USER CODE END PFP */
  121.  
  122. /* Private user code ---------------------------------------------------------*/
  123. /* USER CODE BEGIN 0 */
  124.  
  125. void plx_sendword(int x)
  126. {
  127.   PutCharSerial(&uc1, ((x) >> 6) & 0x3F);
  128.   PutCharSerial(&uc1, (x)&0x3F);
  129. }
  130.  
  131. void filter_ADC_samples()
  132. {
  133.   int i;
  134.   for (i = 0; i < ADC_CHANNELS; i++)
  135.   {
  136.     FILT_Samples[i] += (ADC_Samples[i] * Scale - FILT_Samples[i]) / 2;
  137.   }
  138. }
  139.  
  140. /****!
  141.  * @brief this reads the reference voltage within the STM32L151
  142.  * Powers up reference voltage and temperature sensor, waits 3mS  and takes reading
  143.  * Requires that the ADC be powered up
  144.  */
  145.  
  146. void CalibrateADC(void)
  147. {
  148.   float adc_val = FILT_Samples[ADC_REF_CHAN]; // as set up in device config
  149.  
  150.   float adc_vref = STM32REF * (4096.0 * Scale) / adc_val; // the estimate for checking
  151.  
  152.   ADC_Scale = 1 / (Scale * 4096) * adc_vref;
  153. }
  154.  
  155. void ProcessRPM(int instance)
  156. {
  157.   static unsigned int Coded_RPM = 0;
  158.   int32_t rpm = CalculateRPM();
  159.   if (rpm >= 0)
  160.     Coded_RPM = rpm / 19.55;
  161.  
  162.   // send the current RPM *calculation
  163.   plx_sendword(PLX_RPM);
  164.   PutCharSerial(&uc1, instance);
  165.   plx_sendword(Coded_RPM / Scale);
  166. }
  167.  
  168. // this uses a MAX6675 which is a simple 16 bit read
  169. // SPI is configured for 8 bits so I can use an OLED display if I need it
  170. // must wait > 0.22 seconds between conversion attempts as this is the measurement time
  171. //
  172.  
  173. FunctionalState CHT_Enable = ENABLE;
  174.  
  175. #define CORR 3
  176.  
  177. uint16_t Temp_Observations[NUM_SPI_TEMP_SENS] = {[0 ... NUM_SPI_TEMP_SENS - 1] = 0};
  178.  
  179. /// \param item The array index to send
  180. /// \param instance The instance to send over the bus
  181. /// \param type the code to use for this observation
  182. void ProcessTemp(char item, int instance, enum PLX_Observations type)
  183. {
  184.   if (item > NUM_SPI_TEMP_SENS)
  185.     return;
  186.   plx_sendword(type);
  187.   PutCharSerial(&uc1, instance);
  188.   plx_sendword(Temp_Observations[(int)item]);
  189. }
  190.  
  191. /// \brief Reset the temperature chip select system
  192. void resetTempCS(void)
  193. {
  194.   HAL_GPIO_WritePin(SPI_CS_D_GPIO_Port, SPI_CS_D_Pin, GPIO_PIN_SET);
  195.   HAL_GPIO_WritePin(SPI_CS_Clk_GPIO_Port, SPI_CS_Clk_Pin,
  196.                     GPIO_PIN_SET);
  197.  
  198.   for (int i = 0; i < 8; i++)
  199.   {
  200.     HAL_GPIO_WritePin(SPI_CS_Clk_GPIO_Port, SPI_CS_Clk_Pin,
  201.                       GPIO_PIN_RESET);
  202.     HAL_GPIO_WritePin(SPI_CS_Clk_GPIO_Port, SPI_CS_Clk_Pin,
  203.                       GPIO_PIN_SET);
  204.   }
  205.  
  206.   // prepare for selecting next pin
  207.   HAL_GPIO_WritePin(SPI_CS_D_GPIO_Port, SPI_CS_D_Pin, GPIO_PIN_RESET);
  208. }
  209.  
  210. void nextTempCS(void)
  211. {
  212.   HAL_GPIO_WritePin(SPI_CS_Clk_GPIO_Port, SPI_CS_Clk_Pin,
  213.                     GPIO_PIN_RESET);
  214.   HAL_GPIO_WritePin(SPI_CS_Clk_GPIO_Port, SPI_CS_Clk_Pin,
  215.                     GPIO_PIN_SET);
  216.   HAL_GPIO_WritePin(SPI_CS_D_GPIO_Port, SPI_CS_D_Pin, GPIO_PIN_SET);
  217. }
  218.  
  219. void EnableTempSensors(FunctionalState state)
  220.  
  221. {
  222.   GPIO_InitTypeDef GPIO_InitStruct;
  223.  
  224.   CHT_Enable = state;
  225.  
  226.   /* enable SPI in live mode : assume it and its GPIOs are already initialised in SPI mode */
  227.   if (state == ENABLE)
  228.   {
  229.     HAL_GPIO_WritePin(ENA_AUX_5V_GPIO_Port, ENA_AUX_5V_Pin, GPIO_PIN_SET);
  230.  
  231.     resetTempCS();
  232.  
  233.     /* put the SPI pins back into SPI AF mode */
  234.     GPIO_InitStruct.Pin = SPI1_MOSI_Pin | SPI1_MISO_Pin | SPI1_SCK_Pin;
  235.     GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
  236.     GPIO_InitStruct.Pull = GPIO_NOPULL;
  237.     GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
  238.     HAL_GPIO_Init(SPI1_SCK_GPIO_Port, &GPIO_InitStruct);
  239.   }
  240.   else
  241.   {
  242.     /*  Power down the SPI interface taking signals all low */
  243.     HAL_GPIO_WritePin(ENA_AUX_5V_GPIO_Port, ENA_AUX_5V_Pin, GPIO_PIN_RESET);
  244.  
  245.     HAL_GPIO_WritePin(SPI1_SCK_GPIO_Port,
  246.                       SPI1_MOSI_Pin | SPI1_MISO_Pin | SPI1_SCK_Pin,
  247.                       GPIO_PIN_RESET);
  248.  
  249.     /* put the SPI pins back into GPIO mode */
  250.     GPIO_InitStruct.Pin = SPI1_MOSI_Pin | SPI1_MISO_Pin | SPI1_SCK_Pin;
  251.     GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
  252.     GPIO_InitStruct.Pull = GPIO_NOPULL;
  253.     GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
  254.     HAL_GPIO_Init(SPI1_SCK_GPIO_Port, &GPIO_InitStruct);
  255.   }
  256. }
  257.  
  258. // 1023 is 20.00 volts.
  259. void ProcessBatteryVoltage(int instance)
  260. {
  261.   float reading = FILT_Samples[instance] * ADC_Scale;
  262.   reading = reading * 7.8125; // real voltage
  263.   reading = reading * 51.15;  // PLC scaling =  1023/20
  264.  
  265.   plx_sendword(PLX_Volts);
  266.   PutCharSerial(&uc1, instance);
  267.   plx_sendword((uint16_t)reading);
  268. }
  269.  
  270. void ProcessCPUTemperature(int instance)
  271. {
  272.   // this is defined in the STM32F103 reference manual . #
  273.   // V25 = 1.43 volts
  274.   // Avg_slope = 4.3mV /degree C
  275.   // temperature = {(V25 - VSENSE) / Avg_Slope} + 25
  276.  
  277.   /* get the ADC reading corresponding to ADC channel 16 after turning on the ADC */
  278.  
  279.   float temp_val = FILT_Samples[ADC_TEMP_CHAN] * ADC_Scale;
  280.   /* renormalise temperature value to account for different ADC Vref  : normalise to that which we would get for a 3000mV reference */
  281.   temp_val = (1.43 - temp_val) / 4.3e-3 + 25;
  282.  
  283.   int32_t result = temp_val;
  284.  
  285.   //  int32_t result = 800 * ((int32_t) temp_val - TS_CAL30);
  286.   //  result = result / (TS_CAL110 - TS_CAL30) + 300;
  287.  
  288.   plx_sendword(PLX_FluidTemp);
  289.   PutCharSerial(&uc1, instance);
  290.   plx_sendword(result);
  291. }
  292.  
  293. // the MAP sensor is giving us a reading of
  294. // 4.6 volts for 1019mB or 2.27 volts at the ADC input (resistive divider by 2.016)
  295. // I believe the sensor reads  4.5V at 1000kPa and 0.5V at  0kPa
  296. // Calibration is a bit off
  297. // Real   Displayed
  298. // 989    968
  299. // 994.1    986
  300. // 992.3  984
  301.  
  302. void ProcessMAP(int instance)
  303. {
  304.   // Using ADC_Samples[3] as the MAP input
  305.   float reading = FILT_Samples[ADC_MAP_CHAN] * ADC_Scale;
  306.   reading = reading * 2.016; // real voltage
  307.   // values computed from slope / intercept of map.ods
  308.   // 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
  309.   // using a pressure gauge.
  310.   reading = (reading)*150 + 326;
  311.  
  312.   plx_sendword(PLX_MAP);
  313.   PutCharSerial(&uc1, instance);
  314.   plx_sendword((uint16_t)reading);
  315. }
  316.  
  317. // the Oil pressi sensor is giving us a reading of
  318. // 4.5 volts for 100 PSI or  2.25 volts at the ADC input (resistive divider by 2.016)
  319. // I believe the sensor reads  4.5V at 100PSI and 0.5V at  0PSI
  320. // an observation of 1024 is 200PSI, so observation of 512 is 100 PSI.
  321.  
  322. void ProcessOilPress(int instance)
  323. {
  324.   // Using ADC_Samples[2] as the MAP input
  325.   float reading = FILT_Samples[ADC_PRESSURE_CHAN] * ADC_Scale;
  326.   reading = reading * 2.00;            // real voltage
  327.   reading = (reading - 0.5) * 512 / 4; // this is 1023 * 100/200
  328.  
  329.   plx_sendword(PLX_FluidPressure);
  330.   PutCharSerial(&uc1, instance);
  331.   plx_sendword((uint16_t)reading);
  332. }
  333.  
  334. void ProcessTiming(int instance)
  335. {
  336.   plx_sendword(PLX_Timing);
  337.   PutCharSerial(&uc1, instance);
  338.   plx_sendword(64 - 15); // make it negative
  339. }
  340.  
  341. /* USER CODE END 0 */
  342.  
  343. /**
  344.  * @brief  The application entry point.
  345.  * @retval int
  346.  */
  347. int main(void)
  348. {
  349.   /* USER CODE BEGIN 1 */
  350.  
  351.   /* USER CODE END 1 */
  352.  
  353.   /* MCU Configuration--------------------------------------------------------*/
  354.  
  355.   /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  356.   HAL_Init();
  357.  
  358.   /* USER CODE BEGIN Init */
  359.  
  360.   /* USER CODE END Init */
  361.  
  362.   /* Configure the system clock */
  363.   SystemClock_Config();
  364.  
  365.   /* USER CODE BEGIN SysInit */
  366.  
  367.   /* USER CODE END SysInit */
  368.  
  369.   /* Initialize all configured peripherals */
  370.   MX_GPIO_Init();
  371.   MX_DMA_Init();
  372.   MX_ADC1_Init();
  373.   MX_CAN_Init();
  374.   MX_SPI1_Init();
  375.   MX_TIM2_Init();
  376.   MX_TIM3_Init();
  377.   MX_TIM4_Init();
  378.   MX_USART1_UART_Init();
  379.   /* USER CODE BEGIN 2 */
  380.   HAL_MspInit();
  381.  
  382.   // Not using HAL USART code
  383.   __HAL_RCC_USART1_CLK_ENABLE(); // PLX comms port
  384.   /* setup the USART control blocks */
  385.   init_usart_ctl(&uc1, &huart1);
  386.  
  387.   EnableSerialRxInterrupt(&uc1);
  388.  
  389.   HAL_SPI_MspInit(&hspi1);
  390.  
  391.   HAL_ADC_MspInit(&hadc1);
  392.  
  393.   HAL_ADC_Start_DMA(&hadc1, (uint32_t *)ADC_Samples, ADC_CHANNELS);
  394.  
  395.   HAL_ADC_Start_IT(&hadc1);
  396.  
  397.   HAL_TIM_Base_MspInit(&htim4);
  398.   HAL_TIM_Base_Start_IT(&htim4);
  399.  
  400.   // initialise all the STMCubeMX stuff
  401.   HAL_TIM_Base_MspInit(&htim2);
  402.   // Start the counter
  403.   HAL_TIM_Base_Start(&htim2);
  404.   // Start the input capture and the rising edge interrupt
  405.   HAL_TIM_IC_Start_IT(&htim2, TIM_CHANNEL_1);
  406.   // Start the input capture and the falling edge interrupt
  407.   HAL_TIM_IC_Start_IT(&htim2, TIM_CHANNEL_2);
  408.  
  409.   HAL_TIM_Base_MspInit(&htim3);
  410.   __HAL_TIM_ENABLE_IT(&htim3, TIM_IT_UPDATE);
  411.   uint32_t Ticks = HAL_GetTick() + 100;
  412.   int CalCounter = 0;
  413.  
  414.   PowerTempTimer = HAL_GetTick() + 1000; /* wait 10 seconds before powering up the CHT sensor */
  415.  
  416.   ResetRxBuffer(&uc1);
  417.   /* USER CODE END 2 */
  418.  
  419.   /* Infinite loop */
  420.   /* USER CODE BEGIN WHILE */
  421.   while (1)
  422.   {
  423.     /* USER CODE END WHILE */
  424.  
  425.     /* USER CODE BEGIN 3 */
  426.  
  427.     if (HAL_GetTick() > Ticks)
  428.     {
  429.       Ticks += 100;
  430.       filter_ADC_samples();
  431.       // delay to calibrate ADC
  432.       if (CalCounter < 1000)
  433.       {
  434.         CalCounter += 100;
  435.       }
  436.  
  437.       if (CalCounter == 900)
  438.       {
  439.         CalibrateADC();
  440.       }
  441.     }
  442.     /* when the starter motor is on then power down the CHT sensors as they seem to fail */
  443.  
  444.     if (HAL_GPIO_ReadPin(STARTER_ON_GPIO_Port, STARTER_ON_Pin) == GPIO_PIN_RESET)
  445.     {
  446.       if (Starter_Debounce < STARTER_LIMIT)
  447.       {
  448.         Starter_Debounce++;
  449.       }
  450.     }
  451.     else
  452.     {
  453.       if (Starter_Debounce > 0)
  454.       {
  455.         Starter_Debounce--;
  456.       }
  457.     }
  458.  
  459.     if (Starter_Debounce == STARTER_LIMIT)
  460.     {
  461.       EnableTempSensors(DISABLE);
  462.       PowerTempTimer = HAL_GetTick() + 1000;
  463.     }
  464.     else
  465.     /* if the PowerTempTimer is set then wait for it to timeout, then power up CHT */
  466.     {
  467.       if ((PowerTempTimer > 0) && (HAL_GetTick() > PowerTempTimer))
  468.       {
  469.         EnableTempSensors(ENABLE);
  470.         PowerTempTimer = 0;
  471.       }
  472.     }
  473.  
  474.     // check to see if we have any incoming data, copy and append if so, if no data then create our own frames.
  475.     int c;
  476.     char send = 0;
  477.  
  478.     // poll the  input for a stop bit or timeout
  479.     if (PollSerial(&uc1))
  480.     {
  481.       resetSerialTimeout();
  482.       c = GetCharSerial(&uc1);
  483.       if (c != PLX_Stop)
  484.       {
  485.         PutCharSerial(&uc1, c); // echo all but the stop bit
  486.       }
  487.       else
  488.       {           // must be a stop character
  489.         send = 1; // start our sending process.
  490.       }
  491.     }
  492.  
  493.     // sort out auto-sending
  494.     if (TimerFlag)
  495.     {
  496.       TimerFlag = 0;
  497.       if (NoSerialIn)
  498.       {
  499.         PutCharSerial(&uc1, PLX_Start);
  500.         send = 1;
  501.       }
  502.     }
  503.     if (send)
  504.     {
  505.       send = 0;
  506.  
  507.       // send the observations
  508.       ProcessRPM(0);
  509.       ProcessTemp(0, 0, PLX_X_CHT);
  510.       ProcessTemp(1, 1, PLX_X_CHT);
  511.       ProcessTemp(2, 0, PLX_AIT);
  512.       ProcessTemp(3, 1, PLX_AIT);
  513.       ProcessBatteryVoltage(0); // Batt 1
  514.       ProcessBatteryVoltage(1); // Batt 2
  515.       ProcessCPUTemperature(0); //  built in temperature sensor
  516.  
  517.       ProcessMAP(0);
  518.       ProcessOilPress(0);
  519.  
  520.       PutCharSerial(&uc1, PLX_Stop);
  521.     }
  522.   }
  523.  
  524.   /* USER CODE END 3 */
  525. }
  526.  
  527. /**
  528.  * @brief System Clock Configuration
  529.  * @retval None
  530.  */
  531. void SystemClock_Config(void)
  532. {
  533.   RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  534.   RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
  535.   RCC_PeriphCLKInitTypeDef PeriphClkInit = {0};
  536.  
  537.   /** Initializes the RCC Oscillators according to the specified parameters
  538.    * in the RCC_OscInitTypeDef structure.
  539.    */
  540.   RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
  541.   RCC_OscInitStruct.HSEState = RCC_HSE_ON;
  542.   RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1;
  543.   RCC_OscInitStruct.HSIState = RCC_HSI_ON;
  544.   RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  545.   RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
  546.   RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL9;
  547.   if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  548.   {
  549.     Error_Handler();
  550.   }
  551.  
  552.   /** Initializes the CPU, AHB and APB buses clocks
  553.    */
  554.   RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK | RCC_CLOCKTYPE_SYSCLK | RCC_CLOCKTYPE_PCLK1 | RCC_CLOCKTYPE_PCLK2;
  555.   RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  556.   RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  557.   RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
  558.   RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
  559.  
  560.   if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
  561.   {
  562.     Error_Handler();
  563.   }
  564.   PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_ADC;
  565.   PeriphClkInit.AdcClockSelection = RCC_ADCPCLK2_DIV6;
  566.   if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK)
  567.   {
  568.     Error_Handler();
  569.   }
  570. }
  571.  
  572. /**
  573.  * @brief ADC1 Initialization Function
  574.  * @param None
  575.  * @retval None
  576.  */
  577. static void MX_ADC1_Init(void)
  578. {
  579.  
  580.   /* USER CODE BEGIN ADC1_Init 0 */
  581.  
  582.   /* USER CODE END ADC1_Init 0 */
  583.  
  584.   ADC_ChannelConfTypeDef sConfig = {0};
  585.  
  586.   /* USER CODE BEGIN ADC1_Init 1 */
  587.  
  588.   /* USER CODE END ADC1_Init 1 */
  589.  
  590.   /** Common config
  591.    */
  592.   hadc1.Instance = ADC1;
  593.   hadc1.Init.ScanConvMode = ADC_SCAN_ENABLE;
  594.   hadc1.Init.ContinuousConvMode = DISABLE;
  595.   hadc1.Init.DiscontinuousConvMode = DISABLE;
  596.   hadc1.Init.ExternalTrigConv = ADC_EXTERNALTRIGCONV_T3_TRGO;
  597.   hadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT;
  598.   hadc1.Init.NbrOfConversion = 7;
  599.   if (HAL_ADC_Init(&hadc1) != HAL_OK)
  600.   {
  601.     Error_Handler();
  602.   }
  603.  
  604.   /** Configure Regular Channel
  605.    */
  606.   sConfig.Channel = ADC_CHANNEL_0;
  607.   sConfig.Rank = ADC_REGULAR_RANK_1;
  608.   sConfig.SamplingTime = ADC_SAMPLETIME_71CYCLES_5;
  609.   if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
  610.   {
  611.     Error_Handler();
  612.   }
  613.  
  614.   /** Configure Regular Channel
  615.    */
  616.   sConfig.Channel = ADC_CHANNEL_1;
  617.   sConfig.Rank = ADC_REGULAR_RANK_2;
  618.   if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
  619.   {
  620.     Error_Handler();
  621.   }
  622.  
  623.   /** Configure Regular Channel
  624.    */
  625.   sConfig.Channel = ADC_CHANNEL_2;
  626.   sConfig.Rank = ADC_REGULAR_RANK_3;
  627.   if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
  628.   {
  629.     Error_Handler();
  630.   }
  631.  
  632.   /** Configure Regular Channel
  633.    */
  634.   sConfig.Channel = ADC_CHANNEL_3;
  635.   sConfig.Rank = ADC_REGULAR_RANK_4;
  636.   if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
  637.   {
  638.     Error_Handler();
  639.   }
  640.  
  641.   /** Configure Regular Channel
  642.    */
  643.   sConfig.Channel = ADC_CHANNEL_4;
  644.   sConfig.Rank = ADC_REGULAR_RANK_5;
  645.   if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
  646.   {
  647.     Error_Handler();
  648.   }
  649.  
  650.   /** Configure Regular Channel
  651.    */
  652.   sConfig.Channel = ADC_CHANNEL_VREFINT;
  653.   sConfig.Rank = ADC_REGULAR_RANK_6;
  654.   if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
  655.   {
  656.     Error_Handler();
  657.   }
  658.  
  659.   /** Configure Regular Channel
  660.    */
  661.   sConfig.Channel = ADC_CHANNEL_TEMPSENSOR;
  662.   sConfig.Rank = ADC_REGULAR_RANK_7;
  663.   if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
  664.   {
  665.     Error_Handler();
  666.   }
  667.   /* USER CODE BEGIN ADC1_Init 2 */
  668.  
  669.   /* USER CODE END ADC1_Init 2 */
  670. }
  671.  
  672. /**
  673.  * @brief CAN Initialization Function
  674.  * @param None
  675.  * @retval None
  676.  */
  677. static void MX_CAN_Init(void)
  678. {
  679.  
  680.   /* USER CODE BEGIN CAN_Init 0 */
  681.  
  682.   /* USER CODE END CAN_Init 0 */
  683.  
  684.   /* USER CODE BEGIN CAN_Init 1 */
  685.  
  686.   /* USER CODE END CAN_Init 1 */
  687.   hcan.Instance = CAN1;
  688.   hcan.Init.Prescaler = 16;
  689.   hcan.Init.Mode = CAN_MODE_NORMAL;
  690.   hcan.Init.SyncJumpWidth = CAN_SJW_1TQ;
  691.   hcan.Init.TimeSeg1 = CAN_BS1_1TQ;
  692.   hcan.Init.TimeSeg2 = CAN_BS2_1TQ;
  693.   hcan.Init.TimeTriggeredMode = DISABLE;
  694.   hcan.Init.AutoBusOff = DISABLE;
  695.   hcan.Init.AutoWakeUp = DISABLE;
  696.   hcan.Init.AutoRetransmission = DISABLE;
  697.   hcan.Init.ReceiveFifoLocked = DISABLE;
  698.   hcan.Init.TransmitFifoPriority = DISABLE;
  699.   if (HAL_CAN_Init(&hcan) != HAL_OK)
  700.   {
  701.     Error_Handler();
  702.   }
  703.   /* USER CODE BEGIN CAN_Init 2 */
  704.  
  705.   /* USER CODE END CAN_Init 2 */
  706. }
  707.  
  708. /**
  709.  * @brief SPI1 Initialization Function
  710.  * @param None
  711.  * @retval None
  712.  */
  713. static void MX_SPI1_Init(void)
  714. {
  715.  
  716.   /* USER CODE BEGIN SPI1_Init 0 */
  717.  
  718.   /* USER CODE END SPI1_Init 0 */
  719.  
  720.   /* USER CODE BEGIN SPI1_Init 1 */
  721.  
  722.   /* USER CODE END SPI1_Init 1 */
  723.   /* SPI1 parameter configuration*/
  724.   hspi1.Instance = SPI1;
  725.   hspi1.Init.Mode = SPI_MODE_MASTER;
  726.   hspi1.Init.Direction = SPI_DIRECTION_2LINES;
  727.   hspi1.Init.DataSize = SPI_DATASIZE_8BIT;
  728.   hspi1.Init.CLKPolarity = SPI_POLARITY_LOW;
  729.   hspi1.Init.CLKPhase = SPI_PHASE_1EDGE;
  730.   hspi1.Init.NSS = SPI_NSS_SOFT;
  731.   hspi1.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_32;
  732.   hspi1.Init.FirstBit = SPI_FIRSTBIT_MSB;
  733.   hspi1.Init.TIMode = SPI_TIMODE_DISABLE;
  734.   hspi1.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE;
  735.   hspi1.Init.CRCPolynomial = 10;
  736.   if (HAL_SPI_Init(&hspi1) != HAL_OK)
  737.   {
  738.     Error_Handler();
  739.   }
  740.   /* USER CODE BEGIN SPI1_Init 2 */
  741.  
  742.   /* USER CODE END SPI1_Init 2 */
  743. }
  744.  
  745. /**
  746.  * @brief TIM2 Initialization Function
  747.  * @param None
  748.  * @retval None
  749.  */
  750. static void MX_TIM2_Init(void)
  751. {
  752.  
  753.   /* USER CODE BEGIN TIM2_Init 0 */
  754.  
  755.   /* USER CODE END TIM2_Init 0 */
  756.  
  757.   TIM_ClockConfigTypeDef sClockSourceConfig = {0};
  758.   TIM_MasterConfigTypeDef sMasterConfig = {0};
  759.   TIM_IC_InitTypeDef sConfigIC = {0};
  760.  
  761.   /* USER CODE BEGIN TIM2_Init 1 */
  762.  
  763.   /* USER CODE END TIM2_Init 1 */
  764.   htim2.Instance = TIM2;
  765.   htim2.Init.Prescaler = 719;
  766.   htim2.Init.CounterMode = TIM_COUNTERMODE_UP;
  767.   htim2.Init.Period = 65535;
  768.   htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
  769.   htim2.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
  770.   if (HAL_TIM_Base_Init(&htim2) != HAL_OK)
  771.   {
  772.     Error_Handler();
  773.   }
  774.   sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
  775.   if (HAL_TIM_ConfigClockSource(&htim2, &sClockSourceConfig) != HAL_OK)
  776.   {
  777.     Error_Handler();
  778.   }
  779.   if (HAL_TIM_IC_Init(&htim2) != HAL_OK)
  780.   {
  781.     Error_Handler();
  782.   }
  783.   sMasterConfig.MasterOutputTrigger = TIM_TRGO_UPDATE;
  784.   sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
  785.   if (HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig) != HAL_OK)
  786.   {
  787.     Error_Handler();
  788.   }
  789.   sConfigIC.ICPolarity = TIM_INPUTCHANNELPOLARITY_RISING;
  790.   sConfigIC.ICSelection = TIM_ICSELECTION_DIRECTTI;
  791.   sConfigIC.ICPrescaler = TIM_ICPSC_DIV1;
  792.   sConfigIC.ICFilter = 15;
  793.   if (HAL_TIM_IC_ConfigChannel(&htim2, &sConfigIC, TIM_CHANNEL_1) != HAL_OK)
  794.   {
  795.     Error_Handler();
  796.   }
  797.   sConfigIC.ICPolarity = TIM_INPUTCHANNELPOLARITY_FALLING;
  798.   sConfigIC.ICSelection = TIM_ICSELECTION_INDIRECTTI;
  799.   sConfigIC.ICFilter = 0;
  800.   if (HAL_TIM_IC_ConfigChannel(&htim2, &sConfigIC, TIM_CHANNEL_2) != HAL_OK)
  801.   {
  802.     Error_Handler();
  803.   }
  804.   /* USER CODE BEGIN TIM2_Init 2 */
  805.  
  806.   /* USER CODE END TIM2_Init 2 */
  807. }
  808.  
  809. /**
  810.  * @brief TIM3 Initialization Function
  811.  * @param None
  812.  * @retval None
  813.  */
  814. static void MX_TIM3_Init(void)
  815. {
  816.  
  817.   /* USER CODE BEGIN TIM3_Init 0 */
  818.  
  819.   /* USER CODE END TIM3_Init 0 */
  820.  
  821.   TIM_ClockConfigTypeDef sClockSourceConfig = {0};
  822.   TIM_MasterConfigTypeDef sMasterConfig = {0};
  823.   TIM_OC_InitTypeDef sConfigOC = {0};
  824.  
  825.   /* USER CODE BEGIN TIM3_Init 1 */
  826.  
  827.   /* USER CODE END TIM3_Init 1 */
  828.   htim3.Instance = TIM3;
  829.   htim3.Init.Prescaler = 719;
  830.   htim3.Init.CounterMode = TIM_COUNTERMODE_UP;
  831.   htim3.Init.Period = 199;
  832.   htim3.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
  833.   htim3.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
  834.   if (HAL_TIM_Base_Init(&htim3) != HAL_OK)
  835.   {
  836.     Error_Handler();
  837.   }
  838.   sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
  839.   if (HAL_TIM_ConfigClockSource(&htim3, &sClockSourceConfig) != HAL_OK)
  840.   {
  841.     Error_Handler();
  842.   }
  843.   if (HAL_TIM_OC_Init(&htim3) != HAL_OK)
  844.   {
  845.     Error_Handler();
  846.   }
  847.   if (HAL_TIM_OnePulse_Init(&htim3, TIM_OPMODE_SINGLE) != HAL_OK)
  848.   {
  849.     Error_Handler();
  850.   }
  851.   sMasterConfig.MasterOutputTrigger = TIM_TRGO_OC1;
  852.   sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
  853.   if (HAL_TIMEx_MasterConfigSynchronization(&htim3, &sMasterConfig) != HAL_OK)
  854.   {
  855.     Error_Handler();
  856.   }
  857.   sConfigOC.OCMode = TIM_OCMODE_TIMING;
  858.   sConfigOC.Pulse = 198;
  859.   sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
  860.   sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
  861.   if (HAL_TIM_OC_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
  862.   {
  863.     Error_Handler();
  864.   }
  865.   /* USER CODE BEGIN TIM3_Init 2 */
  866.  
  867.   /* USER CODE END TIM3_Init 2 */
  868. }
  869.  
  870. /**
  871.  * @brief TIM4 Initialization Function
  872.  * @param None
  873.  * @retval None
  874.  */
  875. static void MX_TIM4_Init(void)
  876. {
  877.  
  878.   /* USER CODE BEGIN TIM4_Init 0 */
  879.  
  880.   /* USER CODE END TIM4_Init 0 */
  881.  
  882.   TIM_ClockConfigTypeDef sClockSourceConfig = {0};
  883.   TIM_MasterConfigTypeDef sMasterConfig = {0};
  884.  
  885.   /* USER CODE BEGIN TIM4_Init 1 */
  886.  
  887.   /* USER CODE END TIM4_Init 1 */
  888.   htim4.Instance = TIM4;
  889.   htim4.Init.Prescaler = 719;
  890.   htim4.Init.CounterMode = TIM_COUNTERMODE_UP;
  891.   htim4.Init.Period = 9999;
  892.   htim4.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
  893.   htim4.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
  894.   if (HAL_TIM_Base_Init(&htim4) != HAL_OK)
  895.   {
  896.     Error_Handler();
  897.   }
  898.   sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
  899.   if (HAL_TIM_ConfigClockSource(&htim4, &sClockSourceConfig) != HAL_OK)
  900.   {
  901.     Error_Handler();
  902.   }
  903.   sMasterConfig.MasterOutputTrigger = TIM_TRGO_UPDATE;
  904.   sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
  905.   if (HAL_TIMEx_MasterConfigSynchronization(&htim4, &sMasterConfig) != HAL_OK)
  906.   {
  907.     Error_Handler();
  908.   }
  909.   /* USER CODE BEGIN TIM4_Init 2 */
  910.  
  911.   /* USER CODE END TIM4_Init 2 */
  912. }
  913.  
  914. /**
  915.  * @brief USART1 Initialization Function
  916.  * @param None
  917.  * @retval None
  918.  */
  919. static void MX_USART1_UART_Init(void)
  920. {
  921.  
  922.   /* USER CODE BEGIN USART1_Init 0 */
  923.  
  924.   /* USER CODE END USART1_Init 0 */
  925.  
  926.   /* USER CODE BEGIN USART1_Init 1 */
  927.  
  928.   /* USER CODE END USART1_Init 1 */
  929.   huart1.Instance = USART1;
  930.   huart1.Init.BaudRate = 19200;
  931.   huart1.Init.WordLength = UART_WORDLENGTH_8B;
  932.   huart1.Init.StopBits = UART_STOPBITS_1;
  933.   huart1.Init.Parity = UART_PARITY_NONE;
  934.   huart1.Init.Mode = UART_MODE_TX_RX;
  935.   huart1.Init.HwFlowCtl = UART_HWCONTROL_NONE;
  936.   huart1.Init.OverSampling = UART_OVERSAMPLING_16;
  937.   if (HAL_UART_Init(&huart1) != HAL_OK)
  938.   {
  939.     Error_Handler();
  940.   }
  941.   /* USER CODE BEGIN USART1_Init 2 */
  942.  
  943.   /* USER CODE END USART1_Init 2 */
  944. }
  945.  
  946. /**
  947.  * Enable DMA controller clock
  948.  */
  949. static void MX_DMA_Init(void)
  950. {
  951.  
  952.   /* DMA controller clock enable */
  953.   __HAL_RCC_DMA1_CLK_ENABLE();
  954.  
  955.   /* DMA interrupt init */
  956.   /* DMA1_Channel1_IRQn interrupt configuration */
  957.   HAL_NVIC_SetPriority(DMA1_Channel1_IRQn, 0, 0);
  958.   HAL_NVIC_EnableIRQ(DMA1_Channel1_IRQn);
  959. }
  960.  
  961. /**
  962.  * @brief GPIO Initialization Function
  963.  * @param None
  964.  * @retval None
  965.  */
  966. static void MX_GPIO_Init(void)
  967. {
  968.   GPIO_InitTypeDef GPIO_InitStruct = {0};
  969.  
  970.   /* GPIO Ports Clock Enable */
  971.   __HAL_RCC_GPIOC_CLK_ENABLE();
  972.   __HAL_RCC_GPIOD_CLK_ENABLE();
  973.   __HAL_RCC_GPIOA_CLK_ENABLE();
  974.   __HAL_RCC_GPIOB_CLK_ENABLE();
  975.  
  976.   /*Configure GPIO pin Output Level */
  977.   HAL_GPIO_WritePin(LED_Blink_GPIO_Port, LED_Blink_Pin, GPIO_PIN_RESET);
  978.  
  979.   /*Configure GPIO pin Output Level */
  980.   HAL_GPIO_WritePin(GPIOB, SPI_CS_Clk_Pin | SPI_CS_D_Pin | ENA_AUX_5V_Pin, GPIO_PIN_RESET);
  981.  
  982.   /*Configure GPIO pin : LED_Blink_Pin */
  983.   GPIO_InitStruct.Pin = LED_Blink_Pin;
  984.   GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
  985.   GPIO_InitStruct.Pull = GPIO_NOPULL;
  986.   GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
  987.   HAL_GPIO_Init(LED_Blink_GPIO_Port, &GPIO_InitStruct);
  988.  
  989.   /*Configure GPIO pins : SPI_CS_Clk_Pin SPI_CS_D_Pin ENA_AUX_5V_Pin */
  990.   GPIO_InitStruct.Pin = SPI_CS_Clk_Pin | SPI_CS_D_Pin | ENA_AUX_5V_Pin;
  991.   GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
  992.   GPIO_InitStruct.Pull = GPIO_NOPULL;
  993.   GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
  994.   HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
  995.  
  996.   /*Configure GPIO pin : STARTER_ON_Pin */
  997.   GPIO_InitStruct.Pin = STARTER_ON_Pin;
  998.   GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
  999.   GPIO_InitStruct.Pull = GPIO_NOPULL;
  1000.   HAL_GPIO_Init(STARTER_ON_GPIO_Port, &GPIO_InitStruct);
  1001. }
  1002.  
  1003. /* USER CODE BEGIN 4 */
  1004.  
  1005. /* USER CODE END 4 */
  1006.  
  1007. /**
  1008.  * @brief  This function is executed in case of error occurrence.
  1009.  * @retval None
  1010.  */
  1011. void Error_Handler(void)
  1012. {
  1013.   /* USER CODE BEGIN Error_Handler_Debug */
  1014.   /* User can add his own implementation to report the HAL error return state */
  1015.  
  1016.   /* USER CODE END Error_Handler_Debug */
  1017. }
  1018.  
  1019. #ifdef USE_FULL_ASSERT
  1020. /**
  1021.  * @brief  Reports the name of the source file and the source line number
  1022.  *         where the assert_param error has occurred.
  1023.  * @param  file: pointer to the source file name
  1024.  * @param  line: assert_param error line source number
  1025.  * @retval None
  1026.  */
  1027. void assert_failed(uint8_t *file, uint32_t line)
  1028. {
  1029.   /* USER CODE BEGIN 6 */
  1030.   /* User can add his own implementation to report the file name and line number,
  1031.      tex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
  1032.   /* USER CODE END 6 */
  1033. }
  1034. #endif /* USE_FULL_ASSERT */
  1035.