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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 <string.h>
  26. #include "libSerial/serial.h"
  27. #include "libPLX/plx.h"
  28. #include "libPLX/commsLib.h"
  29. #include "misc.h"
  30.  
  31. #include "libIgnTiming/rpm.h"
  32.  
  33. /* USER CODE END Includes */
  34.  
  35. /* Private typedef -----------------------------------------------------------*/
  36. /* USER CODE BEGIN PTD */
  37.  
  38. /* USER CODE END PTD */
  39.  
  40. /* Private define ------------------------------------------------------------*/
  41. /* USER CODE BEGIN PD */
  42. /* USER CODE END PD */
  43.  
  44. /* Private macro -------------------------------------------------------------*/
  45. /* USER CODE BEGIN PM */
  46. #define ADC_CHANNELS 7
  47.  
  48. #define ADC_MAP_CHAN 2
  49.  
  50. #define ADC_PRESSURE_CHAN 3
  51.  
  52. #define ADC_REF_CHAN 5
  53.  
  54. #define ADC_TEMP_CHAN 6
  55.  
  56. // wait for about 1 second to decide whether or not starter is on
  57.  
  58. #define STARTER_LIMIT 10
  59.  
  60. /* USER CODE END PM */
  61.  
  62. /* Private variables ---------------------------------------------------------*/
  63. ADC_HandleTypeDef hadc1;
  64. DMA_HandleTypeDef hdma_adc1;
  65.  
  66. CAN_HandleTypeDef hcan;
  67.  
  68. IWDG_HandleTypeDef hiwdg;
  69.  
  70. SPI_HandleTypeDef hspi1;
  71.  
  72. TIM_HandleTypeDef htim2;
  73. TIM_HandleTypeDef htim3;
  74. TIM_HandleTypeDef htim4;
  75.  
  76. UART_HandleTypeDef huart1;
  77.  
  78. /* USER CODE BEGIN PV */
  79.  
  80. // Storage for USART
  81. #define USART_TX_BUFF_SIZE 256
  82. #define USART_RX_BUFF_SIZE 256
  83. uint8_t usartTxBuff[USART_TX_BUFF_SIZE];
  84. uint8_t usartRxBuff[USART_RX_BUFF_SIZE];
  85.  
  86. // storage for ADC
  87. uint16_t ADC_Samples[ADC_CHANNELS] = {[0 ... ADC_CHANNELS - 1] = 0};
  88.  
  89. uint32_t FILT_Samples[ADC_CHANNELS] = {[0 ... ADC_CHANNELS - 1] = 0}; // filtered ADC samples * Scale
  90.  
  91. #define NOM_VREF 3.3
  92. // initial ADC vref
  93. float adc_vref = NOM_VREF;
  94.  
  95. // internal bandgap voltage reference
  96. const float STM32REF = 1.2; // 1.2V typical
  97.  
  98. // scale factor initially assuming
  99. float ADC_Scale = 1 / (Scale * 4096) * NOM_VREF;
  100.  
  101. unsigned int Coded_RPM = 0;
  102. unsigned int Coded_CHT = 0;
  103.  
  104. uint32_t PowerTempTimer;
  105.  
  106. uint16_t Starter_Debounce = 0;
  107.  
  108. /* USER CODE END PV */
  109.  
  110. /* Private function prototypes -----------------------------------------------*/
  111. void SystemClock_Config(void);
  112. static void MX_GPIO_Init(void);
  113. static void MX_DMA_Init(void);
  114. static void MX_ADC1_Init(void);
  115. static void MX_CAN_Init(void);
  116. static void MX_SPI1_Init(void);
  117. static void MX_TIM2_Init(void);
  118. static void MX_TIM3_Init(void);
  119. static void MX_TIM4_Init(void);
  120. static void MX_USART1_UART_Init(void);
  121. static void MX_IWDG_Init(void);
  122. /* USER CODE BEGIN PFP */
  123.  
  124. /* USER CODE END PFP */
  125.  
  126. /* Private user code ---------------------------------------------------------*/
  127. /* USER CODE BEGIN 0 */
  128. void libPLXcallbackRecievedData(PLX_SensorInfo * data)
  129. {
  130.   (void )data;
  131.  
  132. }
  133.  
  134.  
  135. void filter_ADC_samples()
  136. {
  137.   int i;
  138.   for (i = 0; i < ADC_CHANNELS; i++)
  139.   {
  140.     FILT_Samples[i] += (ADC_Samples[i] * Scale - FILT_Samples[i]) / 2;
  141.   }
  142. }
  143.  
  144. /****!
  145.  * @brief this reads the reference voltage within the STM32L151
  146.  * Powers up reference voltage and temperature sensor, waits 3mS  and takes reading
  147.  * Requires that the ADC be powered up
  148.  */
  149.  
  150. void CalibrateADC(void)
  151. {
  152.   float adc_val = FILT_Samples[ADC_REF_CHAN]; // as set up in device config
  153.  
  154.   float adc_vref = STM32REF * (4096.0 * Scale) / adc_val; // the estimate for checking
  155.  
  156.   ADC_Scale = 1 / (Scale * 4096) * adc_vref;
  157. }
  158.  
  159. void ProcessRPM(struct usart_ctl * handle)
  160. {
  161.   static unsigned int Coded_RPM = 0;
  162.   int32_t rpm = CalculateRPM();
  163.   // suppress the EDIS "heartbeat" 90 RPM
  164.   if (rpm >= 100)
  165.     Coded_RPM = rpm / 19.55;
  166.  
  167.   // send the current RPM *calculation
  168.   sendPlxInfo(handle, PLX_RPM, Coded_RPM/ Scale);
  169. }
  170.  
  171. // this uses a MAX6675 which is a simple 16 bit read
  172. // SPI is configured for 8 bits so I can use an OLED display if I need it
  173. // must wait > 0.22 seconds between conversion attempts as this is the measurement time
  174. //
  175.  
  176. FunctionalState CHT_Enable = ENABLE;
  177.  
  178. #define CORR 3
  179.  
  180. uint16_t Temp_Observations[NUM_SPI_TEMP_SENS] = {[0 ... NUM_SPI_TEMP_SENS - 1] = 0};
  181.  
  182. /// \param item The array index to send
  183. /// \param type the code to use for this observation
  184. void ProcessTemp(struct usart_ctl * handle,char item, enum PLX_Observations type)
  185. {
  186.   if (item > NUM_SPI_TEMP_SENS)
  187.     return;
  188.  
  189.   sendPlxInfo(handle, type , Temp_Observations[(int)item]);
  190.  
  191. }
  192.  
  193. /// \brief Reset the temperature chip select system
  194. void resetTempCS(void)
  195. {
  196.   HAL_GPIO_WritePin(SPI_CS_D_GPIO_Port, SPI_CS_D_Pin, GPIO_PIN_SET);
  197.   HAL_GPIO_WritePin(SPI_CS_Clk_GPIO_Port, SPI_CS_Clk_Pin,
  198.                     GPIO_PIN_SET);
  199.  
  200.   for (int i = 0; i < 8; i++)
  201.   {
  202.     HAL_GPIO_WritePin(SPI_CS_Clk_GPIO_Port, SPI_CS_Clk_Pin,
  203.                       GPIO_PIN_RESET);
  204.     HAL_GPIO_WritePin(SPI_CS_Clk_GPIO_Port, SPI_CS_Clk_Pin,
  205.                       GPIO_PIN_SET);
  206.   }
  207.  
  208.   // prepare for selecting next pin
  209.   HAL_GPIO_WritePin(SPI_CS_D_GPIO_Port, SPI_CS_D_Pin, GPIO_PIN_RESET);
  210. }
  211.  
  212. void nextTempCS(void)
  213. {
  214.   HAL_GPIO_WritePin(SPI_CS_Clk_GPIO_Port, SPI_CS_Clk_Pin,
  215.                     GPIO_PIN_RESET);
  216.   HAL_GPIO_WritePin(SPI_CS_Clk_GPIO_Port, SPI_CS_Clk_Pin,
  217.                     GPIO_PIN_SET);
  218.   HAL_GPIO_WritePin(SPI_CS_D_GPIO_Port, SPI_CS_D_Pin, GPIO_PIN_SET);
  219. }
  220.  
  221. void EnableTempSensors(FunctionalState state)
  222.  
  223. {
  224.   GPIO_InitTypeDef GPIO_InitStruct;
  225.  
  226.   CHT_Enable = state;
  227.  
  228.   /* enable SPI in live mode : assume it and its GPIOs are already initialised in SPI mode */
  229.   if (state == ENABLE)
  230.   {
  231.     HAL_GPIO_WritePin(ENA_AUX_5V_GPIO_Port, ENA_AUX_5V_Pin, GPIO_PIN_SET);
  232.  
  233.     resetTempCS();
  234.  
  235.     /* put the SPI pins back into SPI AF mode */
  236.     GPIO_InitStruct.Pin = SPI1_MOSI_Pin | SPI1_MISO_Pin | SPI1_SCK_Pin;
  237.     GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
  238.     GPIO_InitStruct.Pull = GPIO_NOPULL;
  239.     GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
  240.     HAL_GPIO_Init(SPI1_SCK_GPIO_Port, &GPIO_InitStruct);
  241.   }
  242.   else
  243.   {
  244.     /*  Power down the SPI interface taking signals all low */
  245.     HAL_GPIO_WritePin(ENA_AUX_5V_GPIO_Port, ENA_AUX_5V_Pin, GPIO_PIN_RESET);
  246.  
  247.     HAL_GPIO_WritePin(SPI1_SCK_GPIO_Port,
  248.                       SPI1_MOSI_Pin | SPI1_MISO_Pin | SPI1_SCK_Pin,
  249.                       GPIO_PIN_RESET);
  250.  
  251.     /* put the SPI pins back into GPIO mode */
  252.     GPIO_InitStruct.Pin = SPI1_MOSI_Pin | SPI1_MISO_Pin | SPI1_SCK_Pin;
  253.     GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
  254.     GPIO_InitStruct.Pull = GPIO_NOPULL;
  255.     GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
  256.     HAL_GPIO_Init(SPI1_SCK_GPIO_Port, &GPIO_InitStruct);
  257.   }
  258. }
  259.  
  260. // 1023 is 20.00 volts.
  261. /// \param item - used to lookup the index of the local reading
  262. void ProcessBatteryVoltage(struct usart_ctl * handle, int item)
  263. {
  264.   float reading = FILT_Samples[item] * ADC_Scale;
  265.   reading = reading * 7.8125; // real voltage
  266.   reading = reading * 51.15;  // PLC scaling =  1023/20
  267.  
  268.   sendPlxInfo(handle, PLX_Volts, reading);
  269.  
  270. }
  271.  
  272. void ProcessCPUTemperature(struct usart_ctl * handle)
  273. {
  274.   // this is defined in the STM32F103 reference manual . #
  275.   // V25 = 1.43 volts
  276.   // Avg_slope = 4.3mV /degree C
  277.   // temperature = {(V25 - VSENSE) / Avg_Slope} + 25
  278.  
  279.   /* get the ADC reading corresponding to ADC channel 16 after turning on the ADC */
  280.  
  281.   float temp_val = FILT_Samples[ADC_TEMP_CHAN] * ADC_Scale;
  282.   /* renormalise temperature value to account for different ADC Vref  : normalise to that which we would get for a 3000mV reference */
  283.   temp_val = (1.43 - temp_val) / 4.3e-3 + 25;
  284.  
  285.   int32_t result = temp_val;
  286.  
  287.   sendPlxInfo(handle, PLX_FluidTemp, result);
  288.  
  289. }
  290.  
  291. // the MAP sensor is giving us a reading of
  292. // 4.6 volts for 1019mB or 2.27 volts at the ADC input (resistive divider by 2.016)
  293. // I believe the sensor reads  4.5V at 1000kPa and 0.5V at  0kPa
  294. // Calibration is a bit off
  295. // Real   Displayed
  296. // 989    968
  297. // 994.1    986
  298. // 992.3  984
  299.  
  300. void ProcessMAP(struct usart_ctl * handle)
  301. {
  302.   // Using ADC_Samples[3] as the MAP input
  303.   float reading = FILT_Samples[ADC_MAP_CHAN] * ADC_Scale;
  304.   reading = reading * 2.016; // real voltage
  305.   // values computed from slope / intercept of map.ods
  306.   // 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
  307.   // using a pressure gauge.
  308.   reading = (reading) * 150 + 326;
  309.  
  310.   sendPlxInfo(handle, PLX_MAP, reading);
  311.  
  312. }
  313.  
  314. // the Oil pressi sensor is giving us a reading of
  315. // 4.5 volts for 100 PSI or  2.25 volts at the ADC input (resistive divider by 2.016)
  316. // I believe the sensor reads  4.5V at 100PSI and 0.5V at  0PSI
  317. // an observation of 1024 is 200PSI, so observation of 512 is 100 PSI.
  318.  
  319. void ProcessOilPress(struct usart_ctl * handle)
  320. {
  321.   // Using ADC_Samples[2] as the MAP input
  322.   float reading = FILT_Samples[ADC_PRESSURE_CHAN] * ADC_Scale;
  323.   reading = reading * 2.00;            // real voltage
  324.   reading = (reading - 0.5) * 512 / 4; // this is 1023 * 100/200
  325.  
  326.   sendPlxInfo(handle, PLX_FluidPressure, reading);
  327.  
  328. }
  329.  
  330.  
  331. void libPLXcallbackSendUserData(struct usart_ctl * handle)
  332. {
  333.   // send the observations
  334.   ProcessRPM(handle);
  335.   ProcessTemp(handle,0, PLX_X_CHT);
  336.   ProcessTemp(handle,1, PLX_X_CHT);
  337.   ProcessTemp(handle,2, PLX_AIT);
  338.   ProcessTemp(handle,3, PLX_AIT);
  339.   ProcessBatteryVoltage(handle,0); // Batt 1
  340.   ProcessBatteryVoltage(handle,1); // Batt 2
  341.   ProcessCPUTemperature(handle);  //  built in temperature sensor
  342.  
  343.   ProcessMAP(handle);
  344.   ProcessOilPress(handle);
  345. }
  346. /* USER CODE END 0 */
  347.  
  348. /**
  349.  * @brief  The application entry point.
  350.  * @retval int
  351.  */
  352. int main(void)
  353. {
  354.   /* USER CODE BEGIN 1 */
  355.  
  356.   /* USER CODE END 1 */
  357.  
  358.   /* MCU Configuration--------------------------------------------------------*/
  359.  
  360.   /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  361.   HAL_Init();
  362.  
  363.   /* USER CODE BEGIN Init */
  364.  
  365.   /* USER CODE END Init */
  366.  
  367.   /* Configure the system clock */
  368.   SystemClock_Config();
  369.  
  370.   /* USER CODE BEGIN SysInit */
  371.  
  372.   /* USER CODE END SysInit */
  373.  
  374.   /* Initialize all configured peripherals */
  375.   MX_GPIO_Init();
  376.   MX_DMA_Init();
  377.   MX_ADC1_Init();
  378.   MX_CAN_Init();
  379.   MX_SPI1_Init();
  380.   MX_TIM2_Init();
  381.   MX_TIM3_Init();
  382.   MX_TIM4_Init();
  383.   MX_USART1_UART_Init();
  384.   MX_IWDG_Init();
  385.   /* USER CODE BEGIN 2 */
  386.   HAL_MspInit();
  387.  
  388.   // Not using HAL USART code
  389.   __HAL_RCC_USART1_CLK_ENABLE(); // PLX comms port
  390.   /* setup the USART control blocks */
  391.   init_usart_ctl(&uc1, &huart1,
  392.                  usartTxBuff,
  393.                  usartRxBuff,
  394.                  USART_TX_BUFF_SIZE,
  395.                  USART_RX_BUFF_SIZE);
  396.  
  397.   EnableSerialRxInterrupt(&uc1);
  398.  
  399.   HAL_SPI_MspInit(&hspi1);
  400.  
  401.   HAL_ADC_MspInit(&hadc1);
  402.  
  403.   HAL_ADC_Start_DMA(&hadc1, (uint32_t *)ADC_Samples, ADC_CHANNELS);
  404.  
  405.   HAL_ADC_Start_IT(&hadc1);
  406.  
  407.   HAL_TIM_Base_MspInit(&htim4);
  408.   HAL_TIM_Base_Start_IT(&htim4);
  409.  
  410.   // initialise all the STMCubeMX stuff
  411.   HAL_TIM_Base_MspInit(&htim2);
  412.   // Start the counter
  413.   HAL_TIM_Base_Start(&htim2);
  414.   // Start the input capture and the rising edge interrupt
  415.   HAL_TIM_IC_Start_IT(&htim2, TIM_CHANNEL_1);
  416.   // Start the input capture and the falling edge interrupt
  417.   HAL_TIM_IC_Start_IT(&htim2, TIM_CHANNEL_2);
  418.  
  419.   HAL_TIM_Base_MspInit(&htim3);
  420.   __HAL_TIM_ENABLE_IT(&htim3, TIM_IT_UPDATE);
  421.   uint32_t Ticks = HAL_GetTick() + 100;
  422.   int CalCounter = 0;
  423.  
  424.   PowerTempTimer = HAL_GetTick() + 1000; /* wait 10 seconds before powering up the CHT sensor */
  425.  
  426.   ResetRxBuffer(&uc1);
  427.  
  428.   resetPLX();
  429.   /* USER CODE END 2 */
  430.  
  431.   /* Infinite loop */
  432.   /* USER CODE BEGIN WHILE */
  433.   while (1)
  434.   {
  435.     /* USER CODE END WHILE */
  436.  
  437.     /* USER CODE BEGIN 3 */
  438.  
  439.     if (HAL_GetTick() > Ticks)
  440.     {
  441.       Ticks += 100;
  442.       filter_ADC_samples();
  443.       // delay to calibrate ADC
  444.       if (CalCounter < 1000)
  445.       {
  446.         CalCounter += 100;
  447.       }
  448.  
  449.       if (CalCounter == 900)
  450.       {
  451.         CalibrateADC();
  452.       }
  453.     }
  454.     /* when the starter motor is on then power down the CHT sensors as they seem to fail */
  455.  
  456.     if (HAL_GPIO_ReadPin(STARTER_ON_GPIO_Port, STARTER_ON_Pin) == GPIO_PIN_RESET)
  457.     {
  458.       if (Starter_Debounce < STARTER_LIMIT)
  459.       {
  460.         Starter_Debounce++;
  461.       }
  462.     }
  463.     else
  464.     {
  465.       if (Starter_Debounce > 0)
  466.       {
  467.         Starter_Debounce--;
  468.       }
  469.     }
  470.  
  471.     if (Starter_Debounce == STARTER_LIMIT)
  472.     {
  473.       EnableTempSensors(DISABLE);
  474.       PowerTempTimer = HAL_GetTick() + 1000;
  475.     }
  476.     else
  477.     /* if the PowerTempTimer is set then wait for it to timeout, then power up CHT */
  478.     {
  479.       if ((PowerTempTimer > 0) && (HAL_GetTick() > PowerTempTimer))
  480.       {
  481.         EnableTempSensors(ENABLE);
  482.         PowerTempTimer = 0;
  483.       }
  484.     }
  485.  
  486.     // check to see if we have any incoming data, copy and append if so, if no data then create our own frames.
  487.  
  488.     // poll the input data and produce automatic output if the timer expires and no serial input data
  489.     libPLXpollData(&uc1);
  490.  
  491.     HAL_IWDG_Refresh(&hiwdg);
  492.   }
  493.  
  494.   /* USER CODE END 3 */
  495. }
  496.  
  497. /**
  498.  * @brief System Clock Configuration
  499.  * @retval None
  500.  */
  501. void SystemClock_Config(void)
  502. {
  503.   RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  504.   RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
  505.   RCC_PeriphCLKInitTypeDef PeriphClkInit = {0};
  506.  
  507.   /** Initializes the RCC Oscillators according to the specified parameters
  508.    * in the RCC_OscInitTypeDef structure.
  509.    */
  510.   RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_LSI | RCC_OSCILLATORTYPE_HSE;
  511.   RCC_OscInitStruct.HSEState = RCC_HSE_ON;
  512.   RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1;
  513.   RCC_OscInitStruct.HSIState = RCC_HSI_ON;
  514.   RCC_OscInitStruct.LSIState = RCC_LSI_ON;
  515.   RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  516.   RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
  517.   RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL9;
  518.   if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  519.   {
  520.     Error_Handler();
  521.   }
  522.  
  523.   /** Initializes the CPU, AHB and APB buses clocks
  524.    */
  525.   RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK | RCC_CLOCKTYPE_SYSCLK | RCC_CLOCKTYPE_PCLK1 | RCC_CLOCKTYPE_PCLK2;
  526.   RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  527.   RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  528.   RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
  529.   RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
  530.  
  531.   if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
  532.   {
  533.     Error_Handler();
  534.   }
  535.   PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_ADC;
  536.   PeriphClkInit.AdcClockSelection = RCC_ADCPCLK2_DIV6;
  537.   if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK)
  538.   {
  539.     Error_Handler();
  540.   }
  541. }
  542.  
  543. /**
  544.  * @brief ADC1 Initialization Function
  545.  * @param None
  546.  * @retval None
  547.  */
  548. static void MX_ADC1_Init(void)
  549. {
  550.  
  551.   /* USER CODE BEGIN ADC1_Init 0 */
  552.  
  553.   /* USER CODE END ADC1_Init 0 */
  554.  
  555.   ADC_ChannelConfTypeDef sConfig = {0};
  556.  
  557.   /* USER CODE BEGIN ADC1_Init 1 */
  558.  
  559.   /* USER CODE END ADC1_Init 1 */
  560.  
  561.   /** Common config
  562.    */
  563.   hadc1.Instance = ADC1;
  564.   hadc1.Init.ScanConvMode = ADC_SCAN_ENABLE;
  565.   hadc1.Init.ContinuousConvMode = DISABLE;
  566.   hadc1.Init.DiscontinuousConvMode = DISABLE;
  567.   hadc1.Init.ExternalTrigConv = ADC_EXTERNALTRIGCONV_T3_TRGO;
  568.   hadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT;
  569.   hadc1.Init.NbrOfConversion = 7;
  570.   if (HAL_ADC_Init(&hadc1) != HAL_OK)
  571.   {
  572.     Error_Handler();
  573.   }
  574.  
  575.   /** Configure Regular Channel
  576.    */
  577.   sConfig.Channel = ADC_CHANNEL_0;
  578.   sConfig.Rank = ADC_REGULAR_RANK_1;
  579.   sConfig.SamplingTime = ADC_SAMPLETIME_71CYCLES_5;
  580.   if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
  581.   {
  582.     Error_Handler();
  583.   }
  584.  
  585.   /** Configure Regular Channel
  586.    */
  587.   sConfig.Channel = ADC_CHANNEL_1;
  588.   sConfig.Rank = ADC_REGULAR_RANK_2;
  589.   if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
  590.   {
  591.     Error_Handler();
  592.   }
  593.  
  594.   /** Configure Regular Channel
  595.    */
  596.   sConfig.Channel = ADC_CHANNEL_2;
  597.   sConfig.Rank = ADC_REGULAR_RANK_3;
  598.   if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
  599.   {
  600.     Error_Handler();
  601.   }
  602.  
  603.   /** Configure Regular Channel
  604.    */
  605.   sConfig.Channel = ADC_CHANNEL_3;
  606.   sConfig.Rank = ADC_REGULAR_RANK_4;
  607.   if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
  608.   {
  609.     Error_Handler();
  610.   }
  611.  
  612.   /** Configure Regular Channel
  613.    */
  614.   sConfig.Channel = ADC_CHANNEL_4;
  615.   sConfig.Rank = ADC_REGULAR_RANK_5;
  616.   if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
  617.   {
  618.     Error_Handler();
  619.   }
  620.  
  621.   /** Configure Regular Channel
  622.    */
  623.   sConfig.Channel = ADC_CHANNEL_VREFINT;
  624.   sConfig.Rank = ADC_REGULAR_RANK_6;
  625.   if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
  626.   {
  627.     Error_Handler();
  628.   }
  629.  
  630.   /** Configure Regular Channel
  631.    */
  632.   sConfig.Channel = ADC_CHANNEL_TEMPSENSOR;
  633.   sConfig.Rank = ADC_REGULAR_RANK_7;
  634.   if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
  635.   {
  636.     Error_Handler();
  637.   }
  638.   /* USER CODE BEGIN ADC1_Init 2 */
  639.  
  640.   /* USER CODE END ADC1_Init 2 */
  641. }
  642.  
  643. /**
  644.  * @brief CAN Initialization Function
  645.  * @param None
  646.  * @retval None
  647.  */
  648. static void MX_CAN_Init(void)
  649. {
  650.  
  651.   /* USER CODE BEGIN CAN_Init 0 */
  652.  
  653.   /* USER CODE END CAN_Init 0 */
  654.  
  655.   /* USER CODE BEGIN CAN_Init 1 */
  656.  
  657.   /* USER CODE END CAN_Init 1 */
  658.   hcan.Instance = CAN1;
  659.   hcan.Init.Prescaler = 16;
  660.   hcan.Init.Mode = CAN_MODE_NORMAL;
  661.   hcan.Init.SyncJumpWidth = CAN_SJW_1TQ;
  662.   hcan.Init.TimeSeg1 = CAN_BS1_1TQ;
  663.   hcan.Init.TimeSeg2 = CAN_BS2_1TQ;
  664.   hcan.Init.TimeTriggeredMode = DISABLE;
  665.   hcan.Init.AutoBusOff = DISABLE;
  666.   hcan.Init.AutoWakeUp = DISABLE;
  667.   hcan.Init.AutoRetransmission = DISABLE;
  668.   hcan.Init.ReceiveFifoLocked = DISABLE;
  669.   hcan.Init.TransmitFifoPriority = DISABLE;
  670.   if (HAL_CAN_Init(&hcan) != HAL_OK)
  671.   {
  672.     Error_Handler();
  673.   }
  674.   /* USER CODE BEGIN CAN_Init 2 */
  675.  
  676.   /* USER CODE END CAN_Init 2 */
  677. }
  678.  
  679. /**
  680.  * @brief IWDG Initialization Function
  681.  * @param None
  682.  * @retval None
  683.  */
  684. static void MX_IWDG_Init(void)
  685. {
  686.  
  687.   /* USER CODE BEGIN IWDG_Init 0 */
  688.  
  689.   /* USER CODE END IWDG_Init 0 */
  690.  
  691.   /* USER CODE BEGIN IWDG_Init 1 */
  692.  
  693.   /* USER CODE END IWDG_Init 1 */
  694.   hiwdg.Instance = IWDG;
  695.   hiwdg.Init.Prescaler = IWDG_PRESCALER_64;
  696.   hiwdg.Init.Reload = 4095;
  697.   if (HAL_IWDG_Init(&hiwdg) != HAL_OK)
  698.   {
  699.     Error_Handler();
  700.   }
  701.   /* USER CODE BEGIN IWDG_Init 2 */
  702.  
  703.   /* USER CODE END IWDG_Init 2 */
  704. }
  705.  
  706. /**
  707.  * @brief SPI1 Initialization Function
  708.  * @param None
  709.  * @retval None
  710.  */
  711. static void MX_SPI1_Init(void)
  712. {
  713.  
  714.   /* USER CODE BEGIN SPI1_Init 0 */
  715.  
  716.   /* USER CODE END SPI1_Init 0 */
  717.  
  718.   /* USER CODE BEGIN SPI1_Init 1 */
  719.  
  720.   /* USER CODE END SPI1_Init 1 */
  721.   /* SPI1 parameter configuration*/
  722.   hspi1.Instance = SPI1;
  723.   hspi1.Init.Mode = SPI_MODE_MASTER;
  724.   hspi1.Init.Direction = SPI_DIRECTION_2LINES;
  725.   hspi1.Init.DataSize = SPI_DATASIZE_8BIT;
  726.   hspi1.Init.CLKPolarity = SPI_POLARITY_LOW;
  727.   hspi1.Init.CLKPhase = SPI_PHASE_1EDGE;
  728.   hspi1.Init.NSS = SPI_NSS_SOFT;
  729.   hspi1.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_32;
  730.   hspi1.Init.FirstBit = SPI_FIRSTBIT_MSB;
  731.   hspi1.Init.TIMode = SPI_TIMODE_DISABLE;
  732.   hspi1.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE;
  733.   hspi1.Init.CRCPolynomial = 10;
  734.   if (HAL_SPI_Init(&hspi1) != HAL_OK)
  735.   {
  736.     Error_Handler();
  737.   }
  738.   /* USER CODE BEGIN SPI1_Init 2 */
  739.  
  740.   /* USER CODE END SPI1_Init 2 */
  741. }
  742.  
  743. /**
  744.  * @brief TIM2 Initialization Function
  745.  * @param None
  746.  * @retval None
  747.  */
  748. static void MX_TIM2_Init(void)
  749. {
  750.  
  751.   /* USER CODE BEGIN TIM2_Init 0 */
  752.  
  753.   /* USER CODE END TIM2_Init 0 */
  754.  
  755.   TIM_ClockConfigTypeDef sClockSourceConfig = {0};
  756.   TIM_MasterConfigTypeDef sMasterConfig = {0};
  757.   TIM_IC_InitTypeDef sConfigIC = {0};
  758.  
  759.   /* USER CODE BEGIN TIM2_Init 1 */
  760.  
  761.   /* USER CODE END TIM2_Init 1 */
  762.   htim2.Instance = TIM2;
  763.   htim2.Init.Prescaler = 719;
  764.   htim2.Init.CounterMode = TIM_COUNTERMODE_UP;
  765.   htim2.Init.Period = 65535;
  766.   htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
  767.   htim2.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
  768.   if (HAL_TIM_Base_Init(&htim2) != HAL_OK)
  769.   {
  770.     Error_Handler();
  771.   }
  772.   sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
  773.   if (HAL_TIM_ConfigClockSource(&htim2, &sClockSourceConfig) != HAL_OK)
  774.   {
  775.     Error_Handler();
  776.   }
  777.   if (HAL_TIM_IC_Init(&htim2) != HAL_OK)
  778.   {
  779.     Error_Handler();
  780.   }
  781.   sMasterConfig.MasterOutputTrigger = TIM_TRGO_UPDATE;
  782.   sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
  783.   if (HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig) != HAL_OK)
  784.   {
  785.     Error_Handler();
  786.   }
  787.   sConfigIC.ICPolarity = TIM_INPUTCHANNELPOLARITY_RISING;
  788.   sConfigIC.ICSelection = TIM_ICSELECTION_DIRECTTI;
  789.   sConfigIC.ICPrescaler = TIM_ICPSC_DIV1;
  790.   sConfigIC.ICFilter = 15;
  791.   if (HAL_TIM_IC_ConfigChannel(&htim2, &sConfigIC, TIM_CHANNEL_1) != HAL_OK)
  792.   {
  793.     Error_Handler();
  794.   }
  795.   sConfigIC.ICPolarity = TIM_INPUTCHANNELPOLARITY_FALLING;
  796.   sConfigIC.ICSelection = TIM_ICSELECTION_INDIRECTTI;
  797.   sConfigIC.ICFilter = 0;
  798.   if (HAL_TIM_IC_ConfigChannel(&htim2, &sConfigIC, TIM_CHANNEL_2) != HAL_OK)
  799.   {
  800.     Error_Handler();
  801.   }
  802.   /* USER CODE BEGIN TIM2_Init 2 */
  803.  
  804.   /* USER CODE END TIM2_Init 2 */
  805. }
  806.  
  807. /**
  808.  * @brief TIM3 Initialization Function
  809.  * @param None
  810.  * @retval None
  811.  */
  812. static void MX_TIM3_Init(void)
  813. {
  814.  
  815.   /* USER CODE BEGIN TIM3_Init 0 */
  816.  
  817.   /* USER CODE END TIM3_Init 0 */
  818.  
  819.   TIM_ClockConfigTypeDef sClockSourceConfig = {0};
  820.   TIM_MasterConfigTypeDef sMasterConfig = {0};
  821.   TIM_OC_InitTypeDef sConfigOC = {0};
  822.  
  823.   /* USER CODE BEGIN TIM3_Init 1 */
  824.  
  825.   /* USER CODE END TIM3_Init 1 */
  826.   htim3.Instance = TIM3;
  827.   htim3.Init.Prescaler = 719;
  828.   htim3.Init.CounterMode = TIM_COUNTERMODE_UP;
  829.   htim3.Init.Period = 199;
  830.   htim3.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
  831.   htim3.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
  832.   if (HAL_TIM_Base_Init(&htim3) != HAL_OK)
  833.   {
  834.     Error_Handler();
  835.   }
  836.   sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
  837.   if (HAL_TIM_ConfigClockSource(&htim3, &sClockSourceConfig) != HAL_OK)
  838.   {
  839.     Error_Handler();
  840.   }
  841.   if (HAL_TIM_OC_Init(&htim3) != HAL_OK)
  842.   {
  843.     Error_Handler();
  844.   }
  845.   if (HAL_TIM_OnePulse_Init(&htim3, TIM_OPMODE_SINGLE) != HAL_OK)
  846.   {
  847.     Error_Handler();
  848.   }
  849.   sMasterConfig.MasterOutputTrigger = TIM_TRGO_OC1;
  850.   sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
  851.   if (HAL_TIMEx_MasterConfigSynchronization(&htim3, &sMasterConfig) != HAL_OK)
  852.   {
  853.     Error_Handler();
  854.   }
  855.   sConfigOC.OCMode = TIM_OCMODE_TIMING;
  856.   sConfigOC.Pulse = 198;
  857.   sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
  858.   sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
  859.   if (HAL_TIM_OC_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
  860.   {
  861.     Error_Handler();
  862.   }
  863.   /* USER CODE BEGIN TIM3_Init 2 */
  864.  
  865.   /* USER CODE END TIM3_Init 2 */
  866. }
  867.  
  868. /**
  869.  * @brief TIM4 Initialization Function
  870.  * @param None
  871.  * @retval None
  872.  */
  873. static void MX_TIM4_Init(void)
  874. {
  875.  
  876.   /* USER CODE BEGIN TIM4_Init 0 */
  877.  
  878.   /* USER CODE END TIM4_Init 0 */
  879.  
  880.   TIM_ClockConfigTypeDef sClockSourceConfig = {0};
  881.   TIM_MasterConfigTypeDef sMasterConfig = {0};
  882.  
  883.   /* USER CODE BEGIN TIM4_Init 1 */
  884.  
  885.   /* USER CODE END TIM4_Init 1 */
  886.   htim4.Instance = TIM4;
  887.   htim4.Init.Prescaler = 719;
  888.   htim4.Init.CounterMode = TIM_COUNTERMODE_UP;
  889.   htim4.Init.Period = 9999;
  890.   htim4.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
  891.   htim4.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
  892.   if (HAL_TIM_Base_Init(&htim4) != HAL_OK)
  893.   {
  894.     Error_Handler();
  895.   }
  896.   sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
  897.   if (HAL_TIM_ConfigClockSource(&htim4, &sClockSourceConfig) != HAL_OK)
  898.   {
  899.     Error_Handler();
  900.   }
  901.   sMasterConfig.MasterOutputTrigger = TIM_TRGO_UPDATE;
  902.   sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
  903.   if (HAL_TIMEx_MasterConfigSynchronization(&htim4, &sMasterConfig) != HAL_OK)
  904.   {
  905.     Error_Handler();
  906.   }
  907.   /* USER CODE BEGIN TIM4_Init 2 */
  908.  
  909.   /* USER CODE END TIM4_Init 2 */
  910. }
  911.  
  912. /**
  913.  * @brief USART1 Initialization Function
  914.  * @param None
  915.  * @retval None
  916.  */
  917. static void MX_USART1_UART_Init(void)
  918. {
  919.  
  920.   /* USER CODE BEGIN USART1_Init 0 */
  921.  
  922.   /* USER CODE END USART1_Init 0 */
  923.  
  924.   /* USER CODE BEGIN USART1_Init 1 */
  925.  
  926.   /* USER CODE END USART1_Init 1 */
  927.   huart1.Instance = USART1;
  928.   huart1.Init.BaudRate = 19200;
  929.   huart1.Init.WordLength = UART_WORDLENGTH_8B;
  930.   huart1.Init.StopBits = UART_STOPBITS_1;
  931.   huart1.Init.Parity = UART_PARITY_NONE;
  932.   huart1.Init.Mode = UART_MODE_TX_RX;
  933.   huart1.Init.HwFlowCtl = UART_HWCONTROL_NONE;
  934.   huart1.Init.OverSampling = UART_OVERSAMPLING_16;
  935.   if (HAL_UART_Init(&huart1) != HAL_OK)
  936.   {
  937.     Error_Handler();
  938.   }
  939.   /* USER CODE BEGIN USART1_Init 2 */
  940.  
  941.   /* USER CODE END USART1_Init 2 */
  942. }
  943.  
  944. /**
  945.  * Enable DMA controller clock
  946.  */
  947. static void MX_DMA_Init(void)
  948. {
  949.  
  950.   /* DMA controller clock enable */
  951.   __HAL_RCC_DMA1_CLK_ENABLE();
  952.  
  953.   /* DMA interrupt init */
  954.   /* DMA1_Channel1_IRQn interrupt configuration */
  955.   HAL_NVIC_SetPriority(DMA1_Channel1_IRQn, 0, 0);
  956.   HAL_NVIC_EnableIRQ(DMA1_Channel1_IRQn);
  957. }
  958.  
  959. /**
  960.  * @brief GPIO Initialization Function
  961.  * @param None
  962.  * @retval None
  963.  */
  964. static void MX_GPIO_Init(void)
  965. {
  966.   GPIO_InitTypeDef GPIO_InitStruct = {0};
  967.   /* USER CODE BEGIN MX_GPIO_Init_1 */
  968.   /* USER CODE END MX_GPIO_Init_1 */
  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.   /* USER CODE BEGIN MX_GPIO_Init_2 */
  1003.   /* USER CODE END MX_GPIO_Init_2 */
  1004. }
  1005.  
  1006. /* USER CODE BEGIN 4 */
  1007.  
  1008. /* USER CODE END 4 */
  1009.  
  1010. /**
  1011.  * @brief  This function is executed in case of error occurrence.
  1012.  * @retval None
  1013.  */
  1014. void Error_Handler(void)
  1015. {
  1016.   /* USER CODE BEGIN Error_Handler_Debug */
  1017.   /* User can add his own implementation to report the HAL error return state */
  1018.  
  1019.   /* USER CODE END Error_Handler_Debug */
  1020. }
  1021.  
  1022. #ifdef USE_FULL_ASSERT
  1023. /**
  1024.  * @brief  Reports the name of the source file and the source line number
  1025.  *         where the assert_param error has occurred.
  1026.  * @param  file: pointer to the source file name
  1027.  * @param  line: assert_param error line source number
  1028.  * @retval None
  1029.  */
  1030. void assert_failed(uint8_t *file, uint32_t line)
  1031. {
  1032.   /* USER CODE BEGIN 6 */
  1033.   /* User can add his own implementation to report the file name and line number,
  1034.      tex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
  1035.   /* USER CODE END 6 */
  1036. }
  1037. #endif /* USE_FULL_ASSERT */
  1038.